Zur Merkliste hinzufügen
Zurück

 

70409-01 - Vorlesung mit Übungen: Medical Robotics 3 KP

Semester Herbstsemester 2024
Angebotsmuster Jedes Herbstsemester
Dozierende Nicolas Gerig (nicolas.gerig@unibas.ch, BeurteilerIn)
Georg Rauter (georg.rauter@unibas.ch)
Inhalt Course contents Lecture (Nicolas Gerig, 26 (13x2) lessons)
• presentation/discussion of a medical robot example from the market or research each week.
• classifications of different devices fields of medical robots
• actuation and control principles
• digital and cascaded control
• control paradigms
• multi-objective control realizations
• principles and application of sensory fusion
Exercises (Nicolas Gerig or assistant(s), 13 lessons)
• mathematical, programming, or control tuning assignments in e.g. MATLAB / Simulink to consolidate frontal teaching from lectures.
Potential Group Projects (Nicolas Gerig and/or Phd students, ~13 update meetings)
• practical group work (2-3 students) on a related challenging topic (e.g. multi-objective control, sensory fusion) with robotic demonstrator or haptic user interfaces at the BIROMED-Lab.
Lernziele After completing the module, students will be able to…
• classify different types of medical robots (surgical robots, robotic prosthetics/orthoses, assistive devices, rehabilitation training devices, medical simulators).
• remember covered examples from industry and research.
• understand the functionality of covered medical robots.
• remember different actuation principles and their benefits/limitations.
• understand limitations of digital control.
• design control charts reflecting cascaded feedback control loops.
• compare different control paradigms (such as Position vs. Force control, Impedance vs. Admittance control, dynamics-based vs. kinematic control).
• implement simple feedback controllers and tune their parameters.
• evaluate different forms of user-robot interaction.
• understand challenges of multi-objective control.
• implement state estimation based on sensory fusion from multiple sensors with different update rates and delays
Literatur Bibliography Books
• Schweikard, A / Ernst, F.: Medical robotics, Springer 2015
• Siciliano, B. / Khatib, O. (Eds.): Springer Handbook of Robotics, Springer 2016
• Corke, P.: Robotics, vision and control: fundamental algorithms in MATLAB, Springer 2011

 

Teilnahmebedingungen • bachelor level of engineering/informatics
• basic programming skills in MATLAB and the ability to adapt to other programming languages.
• basic knowledge on control system modelling (C14 “Introduction to LTI Systems and Control)
• basic knowledge of digital signal acquisition and filtering (C20 “Sensors and Signal Processing”)
• experience on applying closed-loop feedback control (C35 “Applied Control”)
• basic knowledge on serial robot kinematics or concurrent enrolment in C45 “Fundamentals in robotics
Unterrichtssprache Englisch
Einsatz digitaler Medien kein spezifischer Einsatz

 

Intervall Wochentag Zeit Raum
wöchentlich Donnerstag 08.15-10.00 Hegenheimermattweg 167B, Lecture Hall 02. 097

Einzeltermine

Datum Zeit Raum
Donnerstag 19.09.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 26.09.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 03.10.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 10.10.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 17.10.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 24.10.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 31.10.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 07.11.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 14.11.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 21.11.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 28.11.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 05.12.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 12.12.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Donnerstag 19.12.2024 08.15-10.00 Uhr Hegenheimermattweg 167B, Lecture Hall 02. 097
Module Modul: Computer Assisted Surgery (Masterstudium: Biomedical Engineering)
Leistungsüberprüfung Leistungsnachweis
An-/Abmeldung zur Leistungsüberprüfung Anm.: Belegen Lehrveranstaltung; Abm.: stornieren
Wiederholungsprüfung eine Wiederholung, bester Versuch zählt
Skala 1-6 0,1
Wiederholtes Belegen beliebig wiederholbar
Zuständige Fakultät Medizinische Fakultät
Anbietende Organisationseinheit Departement Biomedical Engineering (DBE)

Zurück