Surgical Robotics (2014/2015)

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Paolo Fiorini
Other available courses
Other available courses
    Academic sector
    Language of instruction
    Teaching is organised as follows:
    Activity Credits Period Academic staff Timetable
    teoria 4 II sem. Paolo Fiorini
    laboratorio di interazione non visuale e robotica chirurgica 2 II sem. Paolo Fiorini

    Lesson timetable

    II sem.
    Activity Day Time Type Place Note
    teoria Monday 8:30 AM - 10:30 AM lesson Lecture Hall I  
    teoria Thursday 2:30 PM - 4:30 PM lesson Lecture Hall C  
    laboratorio di interazione non visuale e robotica chirurgica Tuesday 4:30 PM - 6:30 PM practice session Lecture Hall I  

    Learning outcomes

    The objective of this course is to give students the basic concepts of robotic surgery, which is one of the most complex example of "physical" (haptic) and physical-visual interaction between a computerized system, such as a surgical robot, and its surrounding environment. The robot can be in direct contact with a human operator, or it can be at a large distance. Several real systems belong to this specific situation, such as teleoperation systems, tele-driving systems, and rehabilitation systems. For this reason, the course will also address some aspect of tele-driving of robotic vehicles.

    In this course, we will set the theoretical basis of haptic and haptic-visual interaction between an operator, a computerized system and an environment. More advanced topics will be addressed in the course "Robotics". This course will consist of a theoretical and a laboratory part.

    In the theory part, we will address the basic methods for the interaction analysis of haptic devices and robotic vehicles with their environment and with the operator, including basic concepts of kinematics and dynamics. Furthermore, we will define the basic equations for the control of haptic devices and for planning their motion.

    Furthermore, more specific topics related to interaction will be addressed, with specific reference to mono and bi-lateral teleoperation systems. We will discuss a few mathematical models of teleoperation systems and derived the main stability and transparency conditions for such systems in the case of communication without time delay. We will also address the basic concept of interaction quality by using psychophysics experiments with haptic and haptic-visual systems.

    In the laboratory part of the course, the theoretical concepts will be demonstrated with practical implementations based on the LEGO Mindstorm kit and the KUKA youBot educational robots. Then, students will be shown the main aspects of robotic surgery, and the operational characteristics of the surgical robot ZEUS will be presented. Finally, students will perform simple surgical tasks using the Zeus robot on the laboratory phantoms.


    Module: Theory

    First Part

    - Introduction to the course: motivation and state of the art.
    - Planar and spatial kinematics.
    - Mathematical representation of translations and rotations.
    - Denavit-Hartenberg convention.
    - Direct, inverse and differential kinematics of haptic devices.
    - Kinematics of wheeled vehicles.
    - Motion planning: path and trajectory.
    - Overview of haptic dynamics.
    - Overview of haptic control.

    Second Part

    - Teleoperation systems.
    - Physical layout and software architecture.
    - Bond graphs.
    - Bilateral teleoperation: force feedback.
    - Stability condition.
    - Transparency condition.
    - Haptic and visual interaction.
    - Simulation of a teleoperation system.
    - Psychophysics experiments.
    - Basics of statistical analysis: z-test, t-test, linear regression, ANOVA.

    Module: Laboratory
    - description of the software environment (ROS-OROCOS)
    - description of the LEGO MindStorm Kits
    - demonstration of basic concepts using a simulator
    - implementation of a fixed robot
    - implementation of a mobile robot
    - description and examples of the KUKA youBot
    - minimally invasive surgery
    - robotic surgery
    - introduction to the Zeus robot
    - practice sessions on the Zeus robot

    Assessment methods and criteria

    The exam of the course consists of a project that addresses advanced topics, with respect to those discussed in the course. Together with the teacher, the student will:
    - choose one, or more, scientific papers on a topic of his/her interest related to the course,
    - prepare a simulation (or experiment) demonstrating the topics addressed by the papers
    - prepare a detailed report on the work done
    - give a short presentation summarizing the main points of the study done.