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Kinematic Modeling of a Robotic Arthroscope
This master thesis focuses on the kinematic modeling of a 4-DoF hand-held robotic arthroscope. The main challenge will be to find fast and accurate forward (and backward) kinematics for a non-holonomic robot.
LAROCARE is a joint project between three labs at the Department of Biomedical Engineering and aims to improve the outcome of chondral and osteochondral defects regeneration in the knee by combining two approaches. First, by precise, controlled, and standardized shaping of the chondral and osteochondral defects using a laser. We call this robotic device “minimally-invasive smart robotic laser arthroscope” because we are aiming at an arthroscopic-assisted or a mini-arthrotomy procedure. Second, we combine this precise bed preparation with novel regenerative cell-based methods and biopolymer-based hydrogel.
LAROCARE is a joint project between three labs at the Department of Biomedical Engineering and aims to improve the outcome of chondral and osteochondral defects regeneration in the knee by combining two approaches. First, by precise, controlled, and standardized shaping of the chondral and osteochondral defects using a laser. We call this robotic device “minimally-invasive smart robotic laser arthroscope” because we are aiming at an arthroscopic-assisted or a mini-arthrotomy procedure. Second, we combine this precise bed preparation with novel regenerative cell-based methods and biopolymer-based hydrogel.
This master thesis focuses on the kinematic modeling of a 4-DoF hand-held robotic arthroscope. The main challenge will be to find fast and accurate forward (and backward) kinematics for a non-holonomic robot. Your tasks include:
- Model the kinematic strain of the robot and identify the system boundary parameters
- Develop a simulation tool for the arthroscope (e.g., in Gazebo)
- Derive the parameterized kinematic equations
- Analyze the robot’s manipulability and optimize the geometry if necessary
Start date: January 2025 or upon agreement. You will work at the DBE located in the new SIP Basel Area campus in Allschwil, an exciting and modern working environment with various research groups.
This master thesis focuses on the kinematic modeling of a 4-DoF hand-held robotic arthroscope. The main challenge will be to find fast and accurate forward (and backward) kinematics for a non-holonomic robot. Your tasks include:
- Model the kinematic strain of the robot and identify the system boundary parameters
- Develop a simulation tool for the arthroscope (e.g., in Gazebo)
- Derive the parameterized kinematic equations
- Analyze the robot’s manipulability and optimize the geometry if necessary
Start date: January 2025 or upon agreement. You will work at the DBE located in the new SIP Basel Area campus in Allschwil, an exciting and modern working environment with various research groups.
Not specified
- You are pursuing a master’s degree in mechanical engineering or a closely related discipline
- You have solid skills in kinematics and geometry
- You like to work with simulation
- You are curious, motivated and self driven
- You are a team player and eager to work with other students
- You want to work in and contribute to an interdisciplinary and applied research environment
- Experience with Matlab, Gazebo, or a similar simulation tool is advantageous
- You are pursuing a master’s degree in mechanical engineering or a closely related discipline
- You have solid skills in kinematics and geometry
- You like to work with simulation
- You are curious, motivated and self driven
- You are a team player and eager to work with other students
- You want to work in and contribute to an interdisciplinary and applied research environment
- Experience with Matlab, Gazebo, or a similar simulation tool is advantageous
Michael Sommerhalder
Postdoctoral Researcher
BIROMED-Lab, DBE, University of Basel
4123 Allschwil
michael.sommerhalder@unibas.ch
2024_10_18_LAROCARE_MT_KinematicModeling.pdf
