MEDICAL ROBOTICS

Main lecturer

Mail address

Phone number

Michel DE MATHELIN, Director of the ICube Laboratory

demathelin@unistra.fr, office XXX,

fax +33 (0)3 68 85 44 55

Other instructor(s)

Adlane HABED (ICube), Florent NAGEOTTE (ICube), Hyewon SEO (ICube), Toby COLLINS (IRCAD), Nicolas ANDREFF(Femto-ST), Didier MUTTER (IRCAD/HUS)

APOGEE code

Track - Year - Option - Semester

Coefficient = ECTS

Duration

EP12GU26

Master - 1Y IMed - S1

Master - 2Y IRMC HCI + Doctors - S3

International program

6 / 4 (IP)

45h CM

EXAMS

Duration

Authorized documents

If yes, which ones :

School calculator authorized

Session 1

4h CT

Andreff : A4 sheet handwritten double-sided

Nageotte : courses documents

Yes / No

Andreff : no

Nageotte : yes

Session 2

to complete

Yes / No

Yes / No

Prerequisites

Basis of Geometry, Algebra, Control Theory, Digital Signal and Image Processing

Lecture goals

• To provide necessary knowledge in order to start research projects in the area of medical robotics;

• To give an exposure to the specific constraints of an operating room;

• To present the robotics devices and systems (sensors, actuators, mechanical structures, control

architectures, ...) used for computer aided surgery;

• To become able to analyze medical procedure in order to provide adapted assistive technologies

and systems.

Detailed outline

• Fundamental of robotics :

- Modeling and parametrization of articulated objects in 3D space

- Forward and inverse kinematics

- Differential kinematics and visual servoing

• Robot vision :

- Vision models

- 3D reconstruction

- Calibration

• Medical robotics and computer aided surgery:

- Medical robotis main characteristics

- Operating room equipment

- Basis of laparoscopic surgery and NOTES

- Sensors, registration, navigation and visual servoing

- Augmented reality

- Geometric modelling

- Virtual reality

- Haptics and telemanipulation

Applications

• Kinematic control of robot in Cartesian space and image based visual servoing

• Experimental laboratory in the surgical suite of IRCAD

Acquired skills

After this lecture, the student will be able to ...