Robotic Arms, Drives and Instrument Interfaces

Students will delve into the principles of robotic kinematics and dynamics as applied to surgical manipulators, exploring various joint types, gear trains, and motor technologies used for precise motion control. The course covers the integration of sensory feedback systems, safety interlocks, and the electromechanical design of interchangeable surgical instruments and end-effectors. Emphasis is placed on practical skills necessary for maintaining system performance, ensuring patient safety, and adhering to regulatory standards. Through hands-on exercises and simulated scenarios, technicians will learn to diagnose common faults, perform preventive maintenance, and execute service procedures on robotic arm assemblies and their connected instrumentation, preparing them for field service roles.

InstructorJacob Calhoun

Prerequisites

SRB 101

Course outline

Lectures, virtual labs, and graded assignments — completed in your browser.

01Lesson 1: Introduction to Surgical Robotic Arm Architectureslecture

02Lesson 2: Kinematics and Degrees of Freedom in Robotic Manipulatorslecture

03Lesson 3: Joint Types, Bearings, and Mechanical Power Transmissionlecture

04Hands-on Lab: Robotic Arm Mechanical Component Identificationlab

05Lesson 5: Principles of Electric Motors and Actuators for Roboticslecture

06Lesson 6: Drive Systems: Gearboxes, Harmonic Drives, and Cable-Driven Mechanismslecture

07Lesson 7: Encoders, Resolvers, and Positional Feedback Systemslecture

08Hands-on Lab: Motor and Drive System Disassembly & Midterm Reviewlab

09Lesson 9: Surgical Instrument Interface Design and Integrationlecture

10Lesson 10: Electromechanical Tool Actuation and End-Effector Controllecture

11Hands-on Lab: Instrument Interface Calibration and Tool Swappinglab

12Lesson 12: Safety Mechanisms and Emergency Stop Systemslecture

13Lesson 13: Troubleshooting Common Robotic Arm and Drive Failureslecture

14Capstone Service Project: Comprehensive Robotic Arm System Inspection and Servicingassignment

Syllabus

["Week 1: Lesson 1: Introduction to Surgical Robotic Arm Architectures","Week 2: Lesson 2: Kinematics and Degrees of Freedom in Robotic Manipulators","Week 3: Lesson 3: Joint Types, Bearings, and Mechanical Power Transmission","Week 4: Hands-on Lab: Robotic Arm Mechanical Component Identification","Week 5: Lesson 5: Principles of Electric Motors and Actuators for Robotics","Week 6: Lesson 6: Drive Systems: Gearboxes, Harmonic Drives, and Cable-Driven Mechanisms","Week 7: Lesson 7: Encoders, Resolvers, and Positional Feedback Systems","Week 8: Hands-on Lab: Motor and Drive System Disassembly & Midterm Review","Week 9: Lesson 9: Surgical Instrument Interface Design and Integration","Week 10: Lesson 10: Electromechanical Tool Actuation and End-Effector Control","Week 11: Hands-on Lab: Instrument Interface Calibration and Tool Swapping","Week 12: Lesson 12: Safety Mechanisms and Emergency Stop Systems","Week 13: Lesson 13: Troubleshooting Common Robotic Arm and Drive Failures","Week 14: Capstone Service Project: Comprehensive Robotic Arm System Inspection and Servicing"]