[SOLVED] ENGM300 Medical Robotics Medical Robotics – Coursework Java

ENGM300 – Medical Robotics

Medical Robotics – Coursework

Key informa,on

Learning Outcomes

The learning outcomes for this coursework and for the module can be found at the following link:

hIps://catalogue.surrey.ac.uk/2024-5/module/ENGM300/SEMR1/1.

The par,cular learning outcomes being assessed in the coursework are:

1.    Understand fundamental concepts in robotics and robotic control.

2.    Implement the principles of robotics and robotic control in solving prac,cal problems.

Task

The coursework submission should take the form. of a three-part report with a brief introduction and conclusion.

The report should be 2,000 ± 500 words long and include a word count with your submission. The word count does not include equations, figure captions and/or table captions. Reports should be submiIed as .pdfs and will be subject to the usual Turnitin checks.

Part 1:

In the practical sessions you have been familiarised with the Trossen robot. Using the

engineering drawings at the end of this briefing document (Appendix A), identify the link

parameters and joint variables. Present these parameters using the Denavit-Hartenberg [D-H]

notation. Finally, show the individual link transformation matrices for the robot. You should

provide an explanation of your process but do not need to calculate W(B)! or T(B)!. (25%)

Part 2:

In terms of the subspace, reachable workspace and dextrous workspace, discuss the Trossen

robot’s potential kinematic limita,ons. What are those limitations and how may they impact a robot sharing those limitations in surgical applications?

Taking a healthcare robot [either a research or commercial device], explain its kinematic

differences from the Trossen robot. With illustrations, you should also show how the robot’s

design exploits different features to improve its kinematics. You should not use the PUMA robots  as these have already been covered in depth during classes. (25%)

Part 3:

With the robot you have identified in Part 2, firstly, present its medical application. You should

outline what that application is and why the application is par,cularly suited to robotic delivery

or assistance. You should then discuss any tooling that the robot requires to do its job and why

its kinematics help to perform the task so effectively. (30%)

Introduc4on and Conclusions: In the introduction, briefly outline the context for using

healthcare robots and the aim of the report that follows. Finish the body of the report by

drawing the main conclusions from your work. (5% each)

Presenta4on: As with any technical report, make sure that your work is presented correctly.

Please make use of figures, tables, equations and references to aid the reader. All elements

should be formaIed using the conventions and standards expected from a scientific paper. Take care to use concise, precise and correct language and grammar for the best possible communication. (10%)

Some notes on the requirements:

The word count begins with the first word of the introduction and ends with the last word of the conclusions. It does not include references, citations, equa,ons, and figure/table cap,ons and content. You are encouraged to use figures to illustrate concepts and, as there is no limit on

pages, any figures and tables should be presented at a sensible size. It is not anticipated that you would need an appendix for this report. However, if you feel that there is content suited to

appendices, i.e., supplementary information not for assessment, you may include this.

Healthcare robot is specified in the brief as opposed to surgical robot. You may use any robot

with a medical application, which includes those robots used for surgery. You may also use a

robot that has been covered in the course to-date – though not the PUMA series. However, it is anticipated that the robot has kinematic interest; deliberately choosing a robot with very few

degrees of freedom or highly simplified mechanics should be avoided. Such a simple robot would limit the depth and substance that you can provide in many areas of this coursework!