RMI & Anatomy (WS 2026/27)

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Current Semester Note (Wintersemester 2026/27)

Lecture notes and slide summaries for the Wintersemester 2026/27 curriculum.

🗂️ Course Assets (Google Drive)

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🔬 Core Disciplines & Intersections

• Robotic Medical Interventions (RMI): Kinematics, tracking systems, surgical guidance, and registration of anatomical models with real-time sensor streams.
• Coordinate Systems & Anatomical Planes:
  • Sagittal plane: Bisects body into left and right.
  • Coronal (Frontal) plane: Bisects body into anterior and posterior.
  • Transverse (Axial) plane: Bisects body into superior and inferior.
• Rigid Body Transformations in 3D Space: Representing spatial transformations using homogeneous transformation matrices in $SE(3)$:

$$T = \begin{bmatrix} R & \mathbf{t} \\ \mathbf{0}^T & 1 \end{bmatrix} \in \mathbb{R}^{4 \times 4}, \quad R \in SO(3), \; \mathbf{t} \in \mathbb{R}^3$$