Medical Robotics

Recommended Prerequisites

Robotics, Control Systems.

Teaching Methods

Theoretical classes with detailed presentation, using audiovisual means, of the concepts, principles and fundamental theories and solving basic practical exercises to illustrate the practical interest of discussed topics.

Laboratory classes are for implementing a mini-project addressing robot control for medical applications.

Evaluation consists of a final exam covering all course materials (40%) and a report with experimental demonstration of the mini-project (60%).

Learning Outcomes

The central objectives include the design and development of robust control architectures for minimally invasive robotic systems, ensuring precision and safety. Additionally, the design of robotic tele-medicine systems, addressing challenges of latency and communication, is also an objective. Finally, the course aims at the rigorous and quantitative evaluation of robot performance and usability in simulated clinical scenarios. The main skill to be developed is the ability to design, implement, and control robotic systems for medical applications.

Work Placement(s)

No

Syllabus

Chapter 1 : Introduction to medical robotics. Assistive technologies, rehabilitation robotics, surgical robotics and robotics for diagnosis. Historical perspective.

Chapter 2: Design of Surgical Manipulators. Security issues. Manipulators with serial and parallel configurations. European directives. Minimally invasive surgery. Passive and active joints. Remote rotation center. Master-slave mechatronic systems. Da Vinci system.

Chapter 3: Motion control and force control in medical robotics. Motion Control: Joint space control and task space control. Force Control: Indirect force control (compliant control, impedance control) and direct force control (hybrid position/force control, external force control). 3) Kalman Active Observers. Design of null space / task space controllers for minimally invasive surgery.

Chapter 4: Haptic Telemanipulation. Haptic control architectures. Telepresence, stability and robustness analysis. Contact parameter estimation.

Head Lecturer(s)

Rui Pedro Duarte Cortesão

Assessment Methods

Assessment
Exam: 40.0%
Project: 60.0%

Bibliography

• Guo, Y., Dagnino, G., Yang, G-Z. (2023), Medical Robotics: History, Challenges, and Future Directions, Springer.

• Van-Wynsberghe, A. (2021), Healthcare Robots: Ethics, Design and Implementation, Taylor and Francis Group.

• Cortesão, R. (2025) - Medical Robotics Course, DEEC-FCTUC.

• Gupta, P. (2024), Biomedical Robots and Devices in Healthcare: Opportunities and Challenges for Future Applications, Elsevier Science & Technology.

• Siciliano, B., Sciavicco, L., Villani L., Oriolo, G.(2010), Robotics: Modeling, planning and Control, Springer.

• Khalil, W, Dombre E. (2002), Modeling, Identification and Control of Robots, HPS.