The lecture includes:
- Block 1 - State of the Art and Environment I
- Part 1 - Organizational Matter (Rainer Konietschke) - 35 min: You will get a short preview of the lecture. We will form groups of 3-4 students for the assignments and operation room visits. You will get the surgeon contacts to schedule your OR visits. The assignments will be presented, and the first assignment (work with MATLAB/Simulink) is delegated to you.
- Part 2 - Products and Research (Rainer Konietschke) - 90 min: This lecture will, based on the current state of the art surgical robotics, identify and classify various potentials of robotics in the OR. After this lecture, you will have an idea of the opportunities and challenges in surgical robotics and get a starting point for your contribution in this field.
- Part 2 - Surgical Techniques I (Bernhard Kübler) - 60 min: You will learn about the general course of action and processes in ORs, technical basics of endoscopes (flexible endoscopes as well as minimally invasive surgery), and examples of application. Furthermore, basics of sterilization technology (gas, low-temperature plasma, heat, radiation) and notes on design of MIS instruments as well as current trends in surgery (single port surgery, NOTES etc.) will be presented.
- Block 2 - State of the Art and Environment II
- Part 1 - User interface, usability, evaluation, user-centric design (Bernhard Weber) - 60 min: The lecture consists of mainly two parts: (1) a general introduction to human factors methods and (2) an example of applying these methods in the field of robot-assisted minimally invasive surgery. In Part 1, methods of developing, improving and evaluating novel concepts of human-machine interfaces will be reviewed. It will be described how to involve end users in each stage of the product cycle, to determine user requirements as well as limitations and to evaluate concepts or systems accordingly. Besides qualitative methods like systematic field observations, semi-structured interviews, hierarchical task analyses and prototype testing, quantitative experimental methods like part-task or full scale simulations will be presented. In Part 2, the practical application of the user-centered approach will be illustrated by the example of DLR’s surgical robot MIRO for minimally invasive surgery.
- Part 2 - Surgical Techniques II (Bernhard Kübler) - 150 min: see Surgical Techniques I.
- Block 3 - Robotics Basics I
- Part 1 - Midterm presentations (You) - 30 min
- Part 2 - Kinematics (Christopher Schlenk) - 90 min: After a short repetition of rigid body transformation matrices, alternative ways to represent rotations such as Euler- and Kardan-angles, “angle and axis” representation, and unit quaternions will be introduced. Subsequently, the Denavit-Hartenberg convention to describe robot kinematics will be explained. Then, the calculation of the direct and inverse kinematics and of the Jacobi matrix of a robot is derived. Finally, you will learn how to calibrate a tool to the robot coordinate system.
- Part 3 - Kinematics exercises (Christopher Schlenk, Julian Klodmann) - 90 min: At the beginning of this exercise, you will identify the Denavit-Hartenberg parameters of a robotic arm. Using these information, you will investigate the direct and inverse kinematics of this robot in MATLAB/Simulink and plot its workspace.
- Block 4 - Robotics Basics II
- Part 1 - Midterm presentations (You) - 30 min
- Part 2 - Control I (Andreas Tobergte) 90 min: You will learn about basic concepts in control like linear control, laplace transformation, transfer functions, state space formulation, pid controller, state control.
- Part 3 - Exercises (Andreas Tobergte, Rainer Konietschke) 30 min: You will do some exercises using MATLAB/Simulink.
- Part 4 - Control II (Andreas Tobergte) 30 min: In this lecture you will get an introduction to passivity-based robot control.
- Block 5 - Robotics Basics III
- Part 1 - Midterm presentations (You) - 30 min
- Part 2 – Sensors (Florian Steidle) - 45 min: We give an overview about possible sensor types used in robotics as well as fundamentals about physical measurement technologies.
- Part 3 – Actuators (Rainer Konietschke) - 30 min: Introduction to actuators, with focus on electromechanical actuators which are most relevant for surgical robotics.
- Part 4 - Dynamics (Julian Klodmann) - 90 min: The dynamics modeling of robot manipulators is essential for mechanical design, control and simulation of robotic systems. Understanding the dynamics of a robotic system enables to evaluate its capabilities and limitations to perform a certain task. Beginning with the dynamics of a first order mass-spring-damper system, you will form the dynamic equations of motion of robot manipulators. Different algorithms to derive the robot dynamics are summarized.
- Block 6 - Visit to DLR
- Part 1 - Final presentations (You) - 30 min
- Part 2 – Presentation of DLR surgical robotics (DLR surgical robotics group)
- Block 7 - Basics for Designing a Surgical Robotics Application I
- Part 1 - Final presentations (You) - 60 min
- Part 2 - Classification of surgical robotics applications (Rainer Konietschke) - 15 min: We will present different methods to classify surgical robotics applications.
- Part 3 - Calibration/Registration in time and space (Florian Steidle) - 30 min:
- Part 4 - Tracking of natural and artificial landmarks (Martin Gröger) - 45 min:
- Block 8 - Basics for Designing a Surgical Robotics Application II
- Part 1 - Surgical end effectors for Robots (Sophie Lantermann) - 45 min:
- Part 2 - Final exam (You)
- Part 3 - Final presentations (You) - 45 min
- Part 4 - Wrap-up (All) - 15 min
We will have about 30 min of breaks in each block, arranged by the lecturers.
Lecture Schedule
Readings
- Jacob Rosen; Blake Hannaford; Richard M. Satava (Eds.) (2011) Surgical Robotics – Systems Applications and Visions, Springer, ISBN 978-1-4419-1125-4
- John J. Craig. 1989. Introduction to Robotics: Mechanics and Control (2nd ed.). Addison-Wesley Longman Publishing Co., Inc., Boston, MA, USA.
- Hagn, U., Nickl, M., Jörg, S., Tobergte, A., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Konietschke, R., Le-Tien, L., Albu-Schäffer, A., Grebenstein, M., Ortmaier, T. & Hirzinger, G. (2008) DLR MiroSurge – towards versatility in surgical robotics. 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. Proceedings of CURAC, 2008, pp. 143 – 146.
- Selected Workshop and Proceedings of the following congresses: ICRA, IROS, CARS, Curac
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Registration is only possible via TUMonline once the course appears there. There will be a limit of 18 participants, priority is given by time of registration.
