Medical Robotics (1014)
The aim of the medical robotics is threefold:
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Positioning of a cluster of drug carriers using a KUKA robot and magnet attached to its end-effector
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Scaled tele-manipulation allows us to feel the interaction forces with biological cells and gas bubbles
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Lecture Notes
Introduction to medical robotics
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Design of the Surgical Robot and force control
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Bilateral telemanipulation and passivity
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Scaled bilateral telemanipulation (slides will be updated)
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Biltateral telemanipulation and passivity
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Modeling of continuum robots
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Dynamics of a continuum robot
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Magnetic control of drug carriers
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Flagellar propulsion
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Exercises
Force control
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Bilateral Control
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