01 Robotica Medica

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Medical RoboticsRobtica Mdica

Wen Yu

Departamento de Control Automtico

CINVESTAV-IPN

A.P. 14-740, Av.IPN 2508, Mxico D.F., 07360, Mxico

(CINVESTAV-IPN) Introduction January 8, 2015 1 / 26
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Medical Robotics:

1 Surgical and medical assistance systems:

Robotics to assist doctors and surgeonsOrigin of the word robot

2

Assistive technologies and rehabilitation robotics:Robotics to assist people (elderly, disabled, injured, . . . )

1 Articial limbs, orthotic devices2 Functional electro-stimulation3 Robotic moving and manipulation aids

4 Rehabilitation robotics

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Denition: Robot

A robot is a

re-programmable

multi-functional manipulator designed to move material, parts, toolsor specialized devices through variable programmed motions for theperformance 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 anintelligent creatureusually a human.

To qualify as a robot, a machine must be able to:

1 Sensing and perception: get information from its surroundings2 Carry out dierent tasks: Locomotion or manipulation, do something

physicalsuch as move or manipulate objects3 Re-programmable: can do dierent things4 Function autonomously and/or interact with human beings

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Why Use Robots?

Application in 4D environments

1 Dangerous2 Dirty3 Dull4 Dicult

4A tasks

1 Automation2 Augmentation

3 Assistance4 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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1961George 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-castingmachine (Unimate)incorporating force feedback is developed

1963: the rst robot vision system is developed

1973: the rst robot programming language (WAVE) is developed atStanford

1972 : the rst intelligent mobile robot system was built at Stanford

Research Institute, California

1974: Cincinnati Milacron introduced the T3 robot with computercontrol

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1976: Robot arms are used on the Viking I and II space probes andland on Mars

1978: Unimation introduces the PUMA robot, 1979:the SCARA robot

1981: the rst direct-drive robot is developed at Carnegie-MellonUniversity

1983: Adept Technology is founded and successfully markets thedirect drive robot

1986: the underwater robot, Jason, explores the wreck of the Titanic

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1988: the IEEE Robotics and Automation Society is formed

1993: the experimental robot, ROTEX, was own aboard the spaceshuttle Columbia

1996: Honda unveils its Humanoid robot

1997: the rst robot soccer competition, RoboCup-97, is held inNagoya, Japan

1997: the Sojourner mobile robot travels to Mars aboard NASAsMars PathFinder mission

2001: Sony begins to mass produce the rst household robot, a robotdog named Aibo

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2001: the rst telesurgery is performed when surgeons in New Yorkperformed a laparoscopic gall bladder removal on a woman inStrasbourg, France

2002: Hondas Humanoid Robot ASIMO rings the opening bell at the

New York Stock Exchange on February 15thNow:

Assembly, automationMilitary applicationsSpace exploration

Cleaning robotsMedical robotsEntertainment robotsapp

(CINVESTAV-IPN) Introduction January 8, 2 01 5 1 0 / 2 6
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Topics (Introduction to Robotics) -dynamic model ofrobots

Introduction

Forward kinematicInverse kinematic

Velocity kinematic

Dynamic model

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Topics (Introduction to Robotics) - robot control

Joint PD/PID control

Multivariable ControlSliding 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

1 Medical Robotics Edited by Jocelyne Troccaz, Wiley, 2012.

2 Medical Robotics Edited by Vanja Bozovic, I-Tech Education andPublishing , 2008.

3 M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, JohnWiley and Sons, 1989.

4 F. L. Lewis, D.M. Dawson, C.T. Abdallah, Robot ManipulatorControl: Theory and Practice, 2nd Edition , MARCEL DEKKER,

INC. 2004.5 J. Craig, Introduction to Robotics. Addison Wesley Co., 1989.

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Syllabus

IEEE Transactions on Robotics & Automation, special issue onmedical 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 Biorob2006, vol 26(11-12), 2007.

IEEE Transactions on Biomedical Engineering, special issue onmedical robotics, 2008.

IEEE Engineering in Medecine and Biology Magazine, special issue onMRI Robotics, vol 27(3), 2008

IEEE Robotics and Automation Magazine, Surgical and InterventionalRobotics Tutorial, Vol 15, (2), pp 122-130, (3), pp. 94-102, (4), pp.84-93.

International Journal of Robotics Research, special issue on MedicalRobotics, 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-manipulationForce feedback control

Vision based control


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Topics (Medical Robotics) - Exoskeletons

1 Design method

Upper armLower leg

2

Control methodJoint spaceTask spaceImpedance /attendance control

3 Human machine interface

4 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


Mi i ll I i S
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Minimally Invasive Surgery


T l t d R b t A i t d
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Teleoperated Robot-Assisted


Force feedback
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Force feedback


Force feedback
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Force feedback


Training
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Training


Training
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Training


Challege
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Challege

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01 Robotica Medica

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