Medicine and Surgery HT

Part 1: Foundations of Robotics Kinematics of manipulators: representations of rigid body orientation; direct and inverse kinematics of robot manipulators; differential kinematics: analytic and geometric Jacobians. Statics: transformations of forces. Control: control system architectures; kinematic control laws (in joint or in task/Cartesian space). Part 2: surgical robotics Introduction: course outline and historical perspective; analysis of the main surgical functions: the engineer point of view; high level description of successful surgical systems. Classification of robotic surgical systems. Kinematic design of surgical robots. Control: control of semi-autonomous systems; task control with Remote Center of Motion (RCM) constraint in Minimally Invasive Surgery (MIS); teleoperation; cooperative or “hands-on” systems; virtual fixtures for cooperative control. Robot registration. Technical description of the da Vinci surgical system.

Part 1: B. Siciliano, L. Villani, G. Oriolo, A. De Luca - Foundations of Robotics, Springer, September 2025 Part 2: Course materials provided by professor