2019 Kinematics and mechanism of medical robotics

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Academic unit or major
Graduate major in Human Centered Science and Biomedical Engineering
Instructor(s)
Omata Toru  Takayama Toshio 
Course component(s)
Lecture
Day/Period(Room No.)
Tue3-4(B221,I124)  
Group
-
Course number
HCB.M561
Credits
1
Academic year
2019
Offered quarter
1Q
Syllabus updated
2019/3/24
Lecture notes updated
-
Language used
English
Access Index

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.

Keywords

medical robot, surgical robot

Competencies that will be developed

Intercultural skills Communication skills Specialist 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 Cable driven mechanisms Understand cable-driven and differential mechanisms for medical robots
Class 5 Differential mechanisms Understand cable-driven and differential 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
Class 8 Review and achievment confirmation Deepen the understandings of this course by review and solving questions

Textbook(s)

None

Reference books, course materials, etc.

Course material will be provided when necessary.

Assessment criteria and methods

Final exam, report and attendance

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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