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| Semester | fall semester 2024 |
| Course frequency | Every fall sem. |
| Lecturers |
Nicolas Gerig (nicolas.gerig@unibas.ch, Assessor)
Georg Rauter (georg.rauter@unibas.ch) |
| Content | 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. |
| Learning objectives | 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 |
| Bibliography | 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 |
| Admission requirements | • 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 |
| Language of instruction | English |
| Use of digital media | No specific media used |
| Interval | Weekday | Time | Room |
|---|---|---|---|
| wöchentlich | Thursday | 08.15-10.00 | Hegenheimermattweg 167B, Lecture Hall 02. 097 |
| Modules |
Modul: Computer Assisted Surgery (Master's Studies: Biomedical Engineering) |
| Assessment format | record of achievement |
| Assessment registration/deregistration | Reg.: course registration, dereg: cancel course registration |
| Repeat examination | one repetition, best attempt counts |
| Scale | 1-6 0,1 |
| Repeated registration | as often as necessary |
| Responsible faculty | Faculty of Medicine |
| Offered by | Departement Biomedical Engineering (DBE) |