Degree in Health Engineering La Salle Campus Barcelona

Bachelor in Health Engineering

Lead the biomedical engineering that will define the medicine of the future

Medical robotics

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Description: 

The course aims to introduce students to the field of medical robotics, exploring the fundamental principles and applications of robotic systems in healthcare and assistive technology. It seeks to provide an understanding of how robotics can transform clinical practice, surgery, rehabilitation, and patient care. The course focuses on the essential concepts that underpin robotics applied to medicine. It will cover the fundamentals of robotics, including the different types of robots used in clinical and assistive environments, as well as their key components such as sensors and actuators adapted for safe human interaction. To reinforce learning and provide tangible experience, the course will include practical laboratory sessions using a UR3e collaborative robot from Universal Robots, where students can apply programming and control concepts. It will delve into the specific aspects of the design and control of robotic systems that must operate in medical contexts. Finally, various practical and emerging applications will be analyzed, from robot-assisted minimally invasive surgery to rehabilitation systems and robotic devices supporting personal autonomy.

Type Subject
Obligatoria no de Primer
Semester
Second
Course
3
Credits
3.00

Titular Professors

Javier Marina Miranda
Previous Knowledge: 

This course requires prior knowledge of linear algebra, mathematical analysis, and physics, particularly in the areas of kinematics and dynamics. Students are also recommended to have a basic understanding of mechanical design, sensors and actuators, as well as computer science and programming. Additionally, a general knowledge of the medical context in which robotic systems are applied is advisable, especially regarding the fundamental principles of minimally invasive surgery.

Objectives: 

The course aims to introduce students to the field of medical robotics, providing a solid foundation in the fundamental principles and applications of robotic systems within the healthcare and assistive technology sectors. Furthermore, it seeks to develop the ability to understand and apply essential concepts regarding the design and control of robotic platforms so they can operate safely in clinical, surgical, and rehabilitation contexts. Ultimately, the objective is to enable students of the Degree in Health Engineering to integrate cutting-edge technological tools that contribute to transforming clinical practice, improving patient care, and supporting personal autonomy.

Contents: 

Module 1. Introduction to Robotics

  1. Introduction
  2. Definition of a Robot
  3. Robotics as a Multidisciplinary Field
  4. History of Robotics

Module 2. Types of Robots

  1. Robot Classification
  2. Industrial Robotics
  3. Mobile Robotics
  4. Other Types

Module 3. Robotic Systems Design

  1. Mathematical Representation of Space
  2. Kinematic Chain
  3. Typical Robot Configurations
  4. Example: Universal Robots UR3e
  5. Appendix: Quaternions
  6. Appendix: Transformation Matrices

Module 4. Robotic Control

  1. Kinematics
  2. Dynamics: Forces and Torques
  3. Trajectory Planning

Module 5. Robotic Sensors and Actuators

  1. Introduction
  2. Sensors
  3. Actuators
  4. End Effector
  5. Transmission and Reduction Gear

Module 6. Robotics for Health and Assistance Applications

  1. Introduction
  2. History
  3. Classification of Medical Robots
  4. Levels of Autonomy in Surgical Robotics
  5. Future Research
  6. Appendix: Ethical, Legal, and Social Implications (ELSI)

Methodology: 

The methodology used in the Medical Robotics course combines lectures with a series of seminars co-taught by professionals in the field of medical robotics, as well as a number of continuous assessment practical assignments that the student must solve with the help of peers and the course teaching team. The theoretical content acquired in in-person classes is reinforced through the completion of group practicals, which are submitted throughout the course. This course uses a virtual platform as a means of communication between the student and the professor. On this platform, the materials needed throughout the course will be published (theoretical content, tool user manuals, practical session statements, support content, etc.).

Evaluation: 

The course evaluation is structured into two mandatory blocks: theory and practicals. The final grade is obtained from the following elements:

  • Individual final exam (multiple-choice): 50%
  • Practicals (code submissions, interview, and demonstration on a physical robot): 50%

To pass the course, it is necessary to obtain a final grade equal to or greater than 5 out of 10, calculated by averaging both blocks. Attendance at the final exam and the submission of the 5 proposed practicals are mandatory (failure to submit results in a 0 for that practical). Grades from previous academic years are not kept. Furthermore, plagiarism or the unauthorized use of AI in official evaluations will be strictly penalized according to academic regulations.

Evaluation Criteria: 

The following will be assessed:

  • The understanding of basic robotics concepts and knowledge of the most widely used robots on the market.
  • The proper use of software and computer tools to design and create robotic systems.
  • The correct programming and proper functioning of the proposed solutions, both in the virtual simulator and on the actual physical robot.
  • The clarity, coherence, and fluency when explaining and defending the work done during the practical assignment interviews.
  • The overall mastery of the subject (theory and practice) demonstrated through the answers in the multiple-choice exam.

Basic Bibliography: 

Considine, D. M., & Considine, G. D. (2012). Standard Handbook of Industrial Automation.

Kebria, P. M., Al-wais, S., Abdi, H., & Nahavandi, S. (2016). Kinematic and dynamic modelling of UR5 manipulator.

Coordinates and Transformations. Retrieved from https://motion.cs.illinois.edu/RoboticSystems/CoordinateTransformations.html

Spong, M. W., Hutchinson, S., & Vidyasagar, M. (2005). Robot Modeling and Control.

How Do Robot Manipulators Move? Retrieved from https://roboticseabass.com/2024/06/30/how-do-robot-manipulators-move/

Lynch, K. M., & Park, F. C. (2017). Modern Robotics: Mechanics, Planning, and Control.

Dupont, P. E., Nelson, B. J., Goldfarb, M., Hannaford, B., Menciassi, A., O'Malley, M. K., Simaan, N., Valdastri, P., & Yang, G.-Z. (2021). A decade retrospective of medical robotics research from 2010 to 2020.

Reddy, K., Gharde, P., Tayade, H., Patil, M., Reddy, L. S., & Surya, D. (2023). Advancements in Robotic Surgery: A Comprehensive Overview of Current Utilizations and Upcoming Frontiers.

Yip, M., Salcudean, S., Goldberg, K., Althoefer, K., Menciassi, A., Opfermann, J. D., Krieger, A., Swaminathan, K., Walsh, C. J., & Huang, H. (2023). Artificial intelligence meets medical robotics.

Attanasio, A., Scaglioni, B., De Momi, E., Fiorini, P., & Valdastri, P. (2021). Autonomy in Surgical Robotics.

Cruz, E. M. G. N. V., Oliveira, S., & Correia, A. (2024). Robotics Applications in the Hospital Domain: A Literature Review.

Mataric, M. J., & Scassellati, B. (2016). Socially assistive robotics.

Yang, G.-Z., Cambias, J., Cleary, K., Daimler, E., Drake, J., Dupont, P. E., Hata, N., Kazanzides, P., Martel, S., Patel, R. V., Santos, V. J., & Taylor, R. H. (2017) Medical robotics-Regulatory, ethical, and legal considerations for increasing levels of autonomy.

Shah, J., Vyas, A., & Vyas, D. (2014). The History of Robotics in Surgical Specialties

Pugin, F., Bucher, P., & Morel, P. (2011). History of robotic surgery: From AESOP(R) and ZEUS(R) to da Vinci(R).

Additional Material: 

Universal Robots Academy (https://academy.universal-robots.com/)