Control Engineering

Course contents vary on a yearly basis. The list reported below includes the core topics treated during the course. Introduction to the course Historical perspective and surgical systems overview Classification of surgical systems supported by robots Kinematic design of medical robots Control Control modalities of medical robots vs their domain of use Physical interaction control: basic principles and case studies Shared control and virtual fixtures Virtual fixtures: examples of application Constrained manipulation and constrained targeting: task control with Remote Center of Motion (RCM) constraint Teleoperation 1: general principles Teleoperation 2: the 4-channel architecture, transparency and stability Visual servoing: concept and mathematical formulation for monocular cameras Visual servoing for medical procedures assisted by robots Principles of medical imaging (ultrasound, TC, MR) Applications of visual servoing autonomous retrieval and positioning of surgical tools 3D ultrasound-guided needle steering Optimization of Ultrasound Image Quality via Visual Servoing Automatic Tracking of an Organ Section with US Haptics Introduction to haptics Haptic rendering Case study: needle-tissue interaction force identification and haptic rendering in teleoperated needle insertion Robot registration Introduction and formulation of the problem Case study: robot registration in a robot-assisted superficial hyperthermia system Exoskeletons and biomechanics of walking Exoskeletons: introductory concepts and examples Human gait analysis Case study: comparative gait analysis on twins for childrens affected by celebral palsy Simulation tools the da Vinci Research Kit (dVRK) kinematic simulator the dVRK dynamic simulator visuo-haptic interaction with virtual patients Safety General concepts Synthetic description of the IEC 80601-2-77 (safety of robotically assisted surgical equipment and systems) European Regulation on Medical Devices The AI act and the healthcare technologies Integration of AI methods Temperature estimation of internal body targets from superficial measurements Simulation of deformable structures Hands-on sessions decided yearly

Control of linear dynamic systems.

Scientific papers and slides prepared by the instructor.

Traditional lectures illustrate the methodological bases of the course topics. The application of the methodologies is illustrated through case studies and the nalysis of systems in use in clinical practice. Multiple choice tests are periodically proposed in the Sapienza e-learning environment for a quick check of the acquired knowledge.

Not mandatory.

The exam consists in the preparation of a project in groups of three students or, in alternative, in a written exam and an oral discussion. The project usually requires programming work.

Traditional lectures illustrate the methodological bases of the course topics. The application of the methodologies is illustrated through case studies and the nalysis of systems in use in clinical practice. Multiple choice tests are periodically proposed in the Sapienza e-learning environment for a quick check of the acquired knowledge.

Course contents vary on a yearly basis. The list reported below includes the core topics treated during the course. Introduction to the course Historical perspective and surgical systems overview Classification of surgical systems supported by robots Kinematic design of medical robots Control Control modalities of medical robots vs their domain of use Physical interaction control: basic principles and case studies Shared control and virtual fixtures Virtual fixtures: examples of application Constrained manipulation and constrained targeting: task control with Remote Center of Motion (RCM) constraint Teleoperation 1: general principles Teleoperation 2: the 4-channel architecture, transparency and stability Visual servoing: concept and mathematical formulation for monocular cameras Visual servoing for medical procedures assisted by robots Principles of medical imaging (ultrasound, TC, MR) Applications of visual servoing autonomous retrieval and positioning of surgical tools 3D ultrasound-guided needle steering Optimization of Ultrasound Image Quality via Visual Servoing Automatic Tracking of an Organ Section with US Haptics Introduction to haptics Haptic rendering Case study: needle-tissue interaction force identification and haptic rendering in teleoperated needle insertion Robot registration Introduction and formulation of the problem Case study: robot registration in a robot-assisted superficial hyperthermia system Exoskeletons and biomechanics of walking Exoskeletons: introductory concepts and examples Human gait analysis Case study: comparative gait analysis on twins for childrens affected by celebral palsy Simulation tools the da Vinci Research Kit (dVRK) kinematic simulator the dVRK dynamic simulator visuo-haptic interaction with virtual patients Safety General concepts Synthetic description of the IEC 80601-2-77 (safety of robotically assisted surgical equipment and systems) European Regulation on Medical Devices The AI act and the healthcare technologies Integration of AI methods Temperature estimation of internal body targets from superficial measurements Simulation of deformable structures Hands-on sessions decided yearly

Control of linear dynamic systems.

Scientific papers and slides prepared by the instructor.

Traditional lectures illustrate the methodological bases of the course topics. The application of the methodologies is illustrated through case studies and the nalysis of systems in use in clinical practice. Multiple choice tests are periodically proposed in the Sapienza e-learning environment for a quick check of the acquired knowledge.

Not mandatory.

The exam consists in the preparation of a project in groups of three students or, in alternative, in a written exam and an oral discussion. The project usually requires programming work.

Traditional lectures illustrate the methodological bases of the course topics. The application of the methodologies is illustrated through case studies and the nalysis of systems in use in clinical practice. Multiple choice tests are periodically proposed in the Sapienza e-learning environment for a quick check of the acquired knowledge.