2021 Kinematics and mechanism of medical robotics

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Academic unit or major
Graduate major in Human Centered Science and Biomedical Engineering
Omata Toru  Takayama Toshio 
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Course description and aims

Developments of medical devices in medical-engineering collaboration are quite important to meet the contemporary social needs. Especially many robot technologies have been introduced into medical front. Research and development of medical robots become the central core of medical-engineering collaboration. This course presents elemental techniques on kinematics and mechanisms necessary for developing medical robots and introduces development examples of medical robots. Students are expected to learn knowledge and way of thinking useful in the development of medical robots.

Student learning outcomes

Acquire ability to design new medical robots understanding the followings:
・Understand the current state, types, rolls of medical robots, and advantages and disadvantages of various mechanisms.
・Understand the difficulties in designing medical robots, which is necessary to acquire the ability to cope with the difficulties.


medical robot, surgical robot

Competencies that will be developed

Specialist skills Intercultural skills Communication skills Critical thinking skills Practical and/or problem-solving skills

Class flow

At the end of class, students are given exercise problems related to the lecture as necessary.

Course schedule/Required learning

  Course schedule Required learning
Class 1 Introduction to medical robotics Understand the current state, types, and rolls of medical robots.
Class 2 Linkage mechanisms I Understand planar linkage mechanisms for medical robots.
Class 3 Linkage mechanisms II Understand spacial linkage mechanisms for medical robots.
Class 4 Differential mechanisms Understand differential mechanisms for medical robots
Class 5 Cable driven mechanisms Understand cable-driven mechanisms for medical robots
Class 6 Soft actuators Understand principles and characteristics of soft actuators for medical robots
Class 7 Design examples Understand the design of medical robots from examples

Out-of-Class Study Time (Preparation and Review)

To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.



Reference books, course materials, etc.

Course material will be provided when necessary.

Assessment criteria and methods

Final exam, report and attendance.
If the final exam cannot be conducted face-to-face, evaluate the score by small tests, reports, etc. as an alternative.
If your report contains inappropriate citations or plagiarism, the score of this subject will be 0 points.

Related courses

  • MEC.I211 : Robot Kinematics
  • MEC.H532 : Kinematic Analysis and Synthesis of Robots

Prerequisites (i.e., required knowledge, skills, courses, etc.)

Students must have basic knowledge of mechanics in undergraduate level. The focus of this course is NOT on the outline of medical robotics but on technical issues on mechanical engineering for medical robots.

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