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Robtica Mdica
Wen Yu
Departamento de Control Automtico
CINVESTAV-IPN
A.P. 14-740, Av.IPN 2508, Mxico D.F., 07360, Mxico
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Medical Robotics:
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Denition: Robot
A robot is a
re-programmable
multi-functional manipulator designed to move material, parts, tools
or specialized devices through variable programmed motions for the
performance of a variety of tasks
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What is a robot?
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4
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Application in 4D environments
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2
3
4
Dangerous
Dirty
Dull
Di cult
4A tasks
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Automation
Augmentation
Assistance
Autonomous
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1976: Robot arms are used on the Viking I and II space probes and
land on Mars
1978: Unimation introduces the PUMA robot, 1979:the SCARA robot
1981: the rst direct-drive robot is developed at Carnegie-Mellon
University
1983: Adept Technology is founded and successfully markets the
direct drive robot
1986: the underwater robot, Jason, explores the wreck of the Titanic
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Introduction
Forward kinematic
Inverse kinematic
Velocity kinematic
Dynamic model
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Path planning 2
Trajectory planning 2
Force control 4
Adaptive control 2
Neural control 4
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Syllabus
Referencias
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Syllabus
IEEE Transactions on Robotics & Automation, special issue on
medical robotics, vol 19(5), octobre 2003.
Proceedings of the IEEE, special issue on medical robotics, vol 94(9)
september 2006.
International Journal of Robotics Research, special issue on Biorob
2006, vol 26(11-12), 2007.
IEEE Transactions on Biomedical Engineering, special issue on
medical robotics, 2008.
IEEE Engineering in Medecine and Biology Magazine, special issue on
MRI Robotics, vol 27(3), 2008
IEEE Robotics and Automation Magazine, Surgical and Interventional
Robotics Tutorial, Vol 15, (2), pp 122-130, (3), pp. 94-102, (4), pp.
84-93.
International Journal of Robotics Research, special issue on Medical
Robotics, vol 28, (9) and (10), 2009.
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Syllabus
Course Website:
http://www.ctrl.cinvestav.mx/~yuw/teach.htm
Grading:
Homework and attendance: 30%
Projects: 30%
Final Exam: 40%
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Tele-operation
Co-manipulation
Force feedback control
Vision based control
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Design method
Upper arm
Lower leg
Control method
Joint space
Task space
Impedance /attendance control
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Disabilities
Autism: Social Rehabilitation
Stroke: Assessment and Physical Therapy of Upper Limbs of Patients
Human-Care: Risk Evaluation of Robots
Motor Therapy: Bio-inspired Interaction Control
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Teleoperated Robot-Assisted
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Force feedback
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Force feedback
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Training
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Training
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Challege
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