BIOMEDICAL ROBOTICS

iten
Code
86744
ACADEMIC YEAR
2021/2022
CREDITS
6 credits during the 1st year of 11159 BIOENGINEERING (LM-21) GENOVA
SCIENTIFIC DISCIPLINARY SECTOR
ING-INF/06
TEACHING LOCATION
GENOVA (BIOENGINEERING)
semester
1° Semester
Teaching materials

OVERVIEW

The purpose of this course is to provide a perspective on robotic technologies applied to (and inspired by) themes of biomedical research and practice. Robotics is a multidisciplinary technology, with elements from computer, electrical and mechanical engineering and with an increasing spectrum of biomedical applications. These include basic research in sensory-motor systems, advanced surgical and diagnostic techniques, human  machine interfaces, robots for assistance and rehabilitation. In addition to learning the contents of the course, students are required to engage in different activities, including software development and scientific discussions in the classroom, both individually and in groups.

AIMS AND CONTENT

LEARNING OUTCOMES

Lo scopo di questo corso è fornire una prospettiva sulle tecnologie robotiche applicate a (e ispirate da) temi di ricerca e pratica biomedica. La robotica è un ambito multidisciplinare, con elementi che afferiscono all'ingegneria informatica, elettrica e meccanica e con uno spettro crescente di applicazioni biomediche. La prima parte del corso intende fornire un insieme di nozioni generali per il controllo di dispositivi robotici. La seconda parte è dedicata all'analisi approfondita di applicazioni specifiche. Queste includono la ricerca di base sul sistema sensorimotorio, tecniche chirurgiche e diagnostiche avanzate, interfacce uomo-macchina, robot per l'assistenza e la riabilitazione, biorobotica

AIMS AND LEARNING OUTCOMES

The purpose of this course is to provide a perspective on robotics technologies applied to (and inspired by) themes of biomedical research and practice. Robotics is a multidisciplinary domain, with elements from computer, electrical and mechanical engineering and with an increasing spectrum of biomedical applications. These include basic research in sensory-motor systems, advanced surgical and diagnostic techniques, human-machine interfaces, robots for assistance and rehabilitation. The course aims at reaching an appropriate balance between basic notions of robotics and applications. Students are requested to engage in a number of activities, including software development, lecturing and develop research projects, both individually and as teams.

After completing this course the students will be able to:

  • Identify and describe different types of medical robots and their potential applications
  • Know basic concepts in kinematics, dynamics, and control relevant to  robotics and more specifically to robots for clinical applications
  • understand hardware components of robotic devices.
  • Control robots with with biosignals
  • Develop the analytical and experimental skills necessary to design and implement robotic assistance (or force fields) for different biomedical applications
  • Be familiar with the state of the art in applied medical robotics and medical robotics research
  • Understand the various roles that robotics can play in healthcare

PREREQUISITES

Mathematics

Physics

Control Theory

TEACHING METHODS

 The course aims at reaching an appropriate balance between basic notions and applications.

Students, in addition to being involved in lectures and discussions with invited experts for specific course topics, take part in a number of activities, including software development, learning  how to control a robot, lecturing (flipped classroom or paper presentation), both individually and in groups.

The final assigment consists on the control of a haptic robot in the laboratory

SYLLABUS/CONTENT

The purpose of this course is to provide a perspective on robotic technologies applied to (and inspired by) themes of biomedical research and practice. The first part of the course aims to provide the formal tools to understand the kinematics, dynamics, control of biomedical robotic devices and their hardware and software components. The second part is devoted to in-depth analysis of the specific applications.The two parts into which the course is divided will be articulated as described below.

Part 1. Foundations

This will be a series of formal lectures  involving the simulation applications The purpose of the lectures is to provide the student with a sufficient mathematical basis for focusing on specific applications

  •  Introduction, rigid motions, homogeneous transformations
  • Direct kinematics and degrees of freedom  
  • Inverse kinematics
  • Jacobian and singularities
  •  Dynamics and inverse dynamics
  • Force and motion control      

2. Applications

  • Biological movement control, Human-machine interfaces (including sensory feedback)
  • Surgery robotics, teleoperation, cooperative manipulation, robots for endoscopy
  • Robots for biomedical research
  • Rehabilitation Robotics
  • Assistive robotics 
  • Biomimetic robotics
  • soft robotics: biomedical applications

RECOMMENDED READING/BIBLIOGRAPHY

Siciliano,Khatib, Springer Handbook of Robotics, Springer or Spong, M. W., Hutchison, S., and M. Vidyasagar. (2005) Robot Modeling and Control, Wiley & Sons. In addition, the class will review several specialized articles, readings will be distributed via the course website

Additional material will be provide (aulaweb)

TEACHERS AND EXAM BOARD

Office hours: on demand, by e-mail contact at: maura.casadio@unige.it or mobile phone at: 3474419095. Teacher office: via All’Opera Pia 13, building E, second floor. Office direct phone number: 010-3352749

Exam Board

MAURA CASADIO (President)

CAMILLA PIERELLA

SERENA RICCI

ANDREA CANESSA (President Substitute)

LESSONS

TEACHING METHODS

 The course aims at reaching an appropriate balance between basic notions and applications.

Students, in addition to being involved in lectures and discussions with invited experts for specific course topics, take part in a number of activities, including software development, learning  how to control a robot, lecturing (flipped classroom or paper presentation), both individually and in groups.

The final assigment consists on the control of a haptic robot in the laboratory

Class schedule

All class schedules are posted on the EasyAcademy portal.

EXAMS

EXAM DESCRIPTION

Students will be evaluated based on

a) Assignements  in which the students write and comment a computer simulation or a hardware project related to one of the robotics topics presented in the first part of the course

 b) Their active participation to the second part of the course, where students are request to present research articles on specific robotic applications and/or discuss with invited speakers (experts in the field).

c) Final exam 

a and b are ongoing assessments (continous evaluation), while c is at the end of the course. Also for students not attending classes a and b precede the final exam (b can be part of the exam itself).  

ASSESSMENT METHODS

The assessment methods here refers to the exams description above.

a) The assigments  aim at evaluating the ability to understand, explain and solve problems related to the topics of the first part of the course on basic concepts of robotics.

b) The active participation part aims at evaluating the ability to learn, deepen and explain topics of the second part, related to robotic applications in the biomedical field.

c) The final exam aims at assessing that the course contents have been assimilated, that the student knows how to use them critically and explain them appropriately.

 In addition to the knowledge of the course contents, the quality of the presentations, the correct use of the specialized vocabulary, the ability to reason critically and to apply the acquired knowledge in specific exercises will be assessed.

Exam schedule

Date Time Location Type Notes
17/02/2022 09:00 GENOVA Esame su appuntamento
16/09/2022 09:00 GENOVA Esame su appuntamento