CBM365: Robotics in Medicine syllabus for BME 2021 regulation (Professional Elective-VII)

Robotics in Medicine detailed syllabus for Biomedical Engineering (BME) for 2021 regulation curriculum has been taken from the Anna Universities official website and presented for the BME students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.

For Biomedical Engineering 6th Sem scheme and its subjects, do visit BME 6th Sem 2021 regulation scheme. For Professional Elective-VII scheme and its subjects refer to BME Professional Elective-VII syllabus scheme. The detailed syllabus of robotics in medicine is as follows.

Course Objectives:

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Unit I

Fundamentals – Classification, Advantages and disadvantages, Components, Degrees of freedom, Joints, Coordinates, Reference frames, Programming modes, Characteristics, Workspace, Languages, Collaborative robots, Position analysis – Robots as mechanisms, Conventions, Transformations, Forward and inverse kinematics, Denavit Hartenberg Representation, Degeneracy and Dextrerity, Screw based robots, Position analysis of Articulated robot Case studies

Unit II

Parallel robots – Physical characteristics, Forward and Inverse Kinematic approaches, Planar and Spatial parallel robots, Differential relationships, The Jacobian, Large scale motions, Frame vs Robot, Differential motions and change, Hand frame, Operator, Jacobian and Inverse for Screw based and Parallel Robots, Differential operator, Lagarangian mechanics, Moments of Inertia, Dynamic Equations of Multiple DOF Robots, Static force analysis, Transformation of forces and moments between coordinate framesCase studies

Unit III

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Unit IV

Sensor Characteristics, Position, Velocity, Acceleration, Force, Pressure and Torque, Microswitches, Visible and IR, Touch, Proximity, Range finders, Sniff, Vision, Transforms – Fourier, Hough, Resolution, Quantization, Sampling, Image processing, Segmentation, Region growing and splitting, Operations, Object recognition, Depth, Specialized lighting, Compression, Colour images, Heuristics,Case studies

Unit V

Fuzzy control – Crisp vs Fuzzy, Sets, Inference rules, Defuzzification, Simulation, Applications in Biomedical Engineering, Applications in rehabilitation, Nanobots in medicine, Clinical diagnosis and Surgery – Cardiac and abdominal procedures with teleoperated robots, Orthopedic surgery with cooperative robotsCase studies

Course Outcomes:

Upon successful completion of the course, students will be able to

  1. Describe the fundamental of robotics and position analysis
  2. Outline the functioning of parallel robots, different types of motions and force analysis.
  3. Portray the basics of trajectory planning, Motion control systems and actuators. CO4: Recognize and explain the use of various sensors and vision systems in robotics. CO5: Employ Fuzzy control in robotics and apply it to Robotics in Medicine

Text Books:

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Reference Books:

  1. Grover, Wiess, Nagel and Oderey, Industrial Robotics, McGraw Hill, 2012.
  2. Klafter, Chmielewski and Negin, Robot Engineering, Prentice Hall Of India, 1989.
  3. Mittal, Nagrath, Robotics and Control, Tata McGraw Hill publications, 2003.
  4. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor – Based integration, Academic Press, 1999.
  5. Mikell P. Groover, Mitchell Weiss, Industrial robotics, technology, Programming and Applications, McGraw Hill International Editions, 1986.
  6. Richard D. Klafter, Thomas A. Chmielewski and Michael Negin, Robotic engineering – An Integrated Approach, Prentice Hall Inc, Englewoods Cliffs, NJ, USA, 1989.

Online Resources

  2. me49/preview

For detailed syllabus of all the other subjects of Biomedical Engineering 6th Sem, visit BME 6th Sem subject syllabuses for 2021 regulation.

For all Biomedical Engineering results, visit Anna University BME all semester results direct link.

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