Magnetically Actuated and MRI Compatible Robots

Course Description

In many futuristic science fiction scenes, complex surgical procedures are conducted autonomously and non-invasively, leading to incredible patient outcomes and recovery times. While robots have been employed to assist surgeons in performing complex procedures, current state-of-the-art mechanical manipulator based surgical robots are still a long way from the envisioned. Removing the mechanical manipulator could lead to ultra-minimally invasive procedures, like the closing of a hole in the heart or repairing a hernia with just a pin prick for access. Magnetic fields are safe, can penetrate inside the human body, provide exquisite 3D imaging using magnetic resonance imaging (MRI), and provide a means of transmitting power and manipulating magnetic objects. With appropriately designed control algorithms and external hardware, simple medical tools such as needles, forceps, and scissors can become wireless end-effectors of electromagnetic actuation systems. The primary goal of this course is to acquaint the students with the fundamentals of robot design, development, magnetic control, and MRI imaging and other areas of research that lead to the development of MRI compatible and magnetically actuated robotic systems. We will also cover additional topics specific to medical robotics such as medical image guidance focusing on MRI. The course will include two team projects, where students will learn to design, develop, build, and control medical robots. The class will be held synchronously in person with asynchronous accommodations.

Code

EN.530.666

Credits

3

Subject

Mechanical Engineering