Medical Robotics

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:

Surgical and medical assistance systems:

Robotics to assist doctors and surgeonsOrigin of the word robot

Assistive technologies and rehabilitation robotics:

Robotics to assist people (elderly, disabled, injured, . . . )
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Articial limbs, orthotic devices

Functional electro-stimulation
Robotic moving and manipulation aids
Rehabilitation 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
(Robotics Institute of America)

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What is a robot?

By general agreement, a robot is:

A programmable machine that imitates the actions or appearance of an
intelligent creatureusually a human.
To qualify as a robot, a machine must be able to:
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Sensing and perception: get information from its surroundings

Carry out dierent tasks: Locomotion or manipulation, do something
physicalsuch as move or manipulate objects
Re-programmable: can do dierent things
Function autonomously and/or interact with human beings

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Why Use Robots?

Application in 4D environments
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Dangerous
Dirty
Dull
Di cult

4A tasks
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Automation
Augmentation
Assistance
Autonomous

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Milestones in the History of Robotics

1947: the rst servoed electric powered teleoperator

1948: incorporating force feedback
1949: numerically controlled milling machine is initiated
1954: the rst programmable robot: George Devol
1956: Unimation (Universal Automation): Joseph Engelberger

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Milestones in the History of Robotics

1961
George Devol obtains the rst U.S. robot patent, No. 2,998,237.
The rst robot is installed in a plant of General Motors, a die-casting
machine (Unimate)
incorporating force feedback is developed

1963: the rst robot vision system is developed

1973: the rst robot programming language (WAVE) is developed at
Stanford
1972 : the rst intelligent mobile robot system was built at Stanford
Research Institute, California
1974: Cincinnati Milacron introduced the T3 robot with computer
control

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Milestones in the History of Robotics

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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Milestones in the History of Robotics

1988: the IEEE Robotics and Automation Society is formed

1993: the experimental robot, ROTEX, was own aboard the space
shuttle Columbia
1996: Honda unveils its Humanoid robot
1997: the rst robot soccer competition, RoboCup-97, is held in
Nagoya, Japan
1997: the Sojourner mobile robot travels to Mars aboard NASAs
Mars PathFinder mission
2001: Sony begins to mass produce the rst household robot, a robot
dog named Aibo

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Milestones in the History of Robotics

2001: the rst telesurgery is performed when surgeons in New York

performed a laparoscopic gall bladder removal on a woman in
Strasbourg, France
2002: Hondas Humanoid Robot ASIMO rings the opening bell at the
New York Stock Exchange on February 15th
Now:
Assembly, automation
Military applications
Space exploration
Cleaning robots
Medical robots
Entertainment robotsapp

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Topics (Introduction to Robotics) -dynamic model of

robots

Introduction
Forward kinematic
Inverse kinematic
Velocity kinematic
Dynamic model

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Topics (Introduction to Robotics) - robot control

Joint PD/PID control

Multivariable Control
Sliding model control
Visual servoing

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Topics (Introduction to Robotics) - advanced control

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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Medical Robotics Edited by Jocelyne Troccaz, Wiley, 2012.

Medical Robotics Edited by Vanja Bozovic, I-Tech Education and

Publishing , 2008.

M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John

Wiley and Sons, 1989.

F. L. Lewis, D.M. Dawson, C.T. Abdallah, Robot Manipulator

Control: Theory and Practice, 2nd Edition , MARCEL DEKKER,
INC. 2004.

J. Craig, Introduction to Robotics. Addison Wesley Co., 1989.

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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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Topics (Medical Robotics) - Surgery robots

Tele-operation
Co-manipulation
Force feedback control
Vision based control

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Topics (Medical Robotics) - Exoskeletons

Design method
Upper arm
Lower leg

Control method
Joint space
Task space
Impedance /attendance control

Human machine interface

Learning from demonstrations

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Topics (Medical Robotics) - Rehabilitation

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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Minimally Invasive Surgery

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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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