A5083611255- Soft Robotics and Applications
- Surgical Simulation and Training
- Anatomy and Medical Technology
- Augmented Reality Applications
- Robotics and Sensor-Based Localization
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Prosthetics and Rehabilitation Robotics
- Dynamics and Control of Mechanical Systems
- Robotic Mechanisms and Dynamics
- Pediatric Urology and Nephrology Studies
- Kidney Stones and Urolithiasis Treatments
- Surgical Sutures and Adhesives
- Minimally Invasive Surgical Techniques
- Digitalization, Law, and Regulation
- Robotics and Automated Systems
- Traumatic Ocular and Foreign Body Injuries
- Digital Innovation in Industries
- AI in Service Interactions
- Advanced Vision and Imaging
- Modular Robots and Swarm Intelligence
- Advanced Radiotherapy Techniques
- Context-Aware Activity Recognition Systems
- Erosion and Abrasive Machining
- Real-Time Systems Scheduling
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2011-2024
University of Freiburg
2024
Charing Cross Hospital
2023
Technical University of Munich
2023
Imperial College London
2023
Honda (United States)
2011
Abstract Purpose of Review Robotic assistance systems for diagnosis and therapy have become technically mature widely available. Thus, they play an increasingly important role in patient care. This paper provides overview the general concepts robotically assisted surgical systems, briefly revisiting historical current developments robotics market discussing focus areas research. Comprehensiveness cannot be achieved this format, but besides overview, references to further readings more...
Safety is one of the key issues in use robots, especially when human-robot interaction targeted. Although unforeseen environment situations, such as collisions or unexpected user interaction, can be handled with specially tailored control algorithms, hard- software failures typically lead to situations where too large torques are controlled, which cause an emergency state: hitting end stop, exceeding a torque, and so on-which often halts robot it late. No sufficiently fast reliable methods...
We propose an approach to robotic ultrasound scanning and interaction control with arbitrary surfaces using a passivity-based impedance scheme. First, we introduce task coordinates depending on the geometry of surface, which enable hands-on guidance robot along as well teleoperated autonomous image acquisition. Our allow controlling signed distance surface alignment tool normal classical control. This corresponds implicitly obtaining foliation parallel surfaces. By setting desired negative,...
Minimally invasive robotic surgery copes with some disadvantages for the surgeon of minimally while preserving advantages patient. Most commercially available systems are telemanipulated haptic input devices. The exploitation haptics channel, e.g., by means Virtual Fixtures, would allow an individualized enhancement surgical performance contextual assistance. However, it remains open field research as is non-trivial to estimate task context itself during a surgery. In contrast, training...
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due challenges with image interpretation and the physical scanning, this tool has yet achieve widespread adoption in neurosurgery. In paper, we introduce components workflow of a novel, versatile robotic platform for intraoperative tissue scanning An RGB-D camera attached arm allows automatic object localisation ArUco markers, 3D surface reconstruction as triangular mesh using ImFusion Suite...
In ureteroscopy a flexible ureteroscope is used to inspect the kidneys and ureters. this context, we investigate robotic solutions that leverage recent developments from Simultaneous Localization Mapping (SLAM) provide 3D map of organ be explored ureteroscope's pose. With aid, surgeoncan navigate through more precisely. Additionally, for final inspection, risk missing certain regions minimized. paper, propose visual, monocular SLAM system based on ORB-SLAM3 able estimate pose tip. order...
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used such applications due technical physical limitations as long varying delays, packet loss, limited bandwidth, well high reliability, precision, task duration requirements. In order close this gap, we research model-augmented haptic (MATM) that uses two kinds of models: a remote model...
This paper presents a method to calibrate the model of serial and flexible lightweight robots with joint sided torque sensors in assembled state. The calibration is done an iterative three-step process, based on static robot poses. In first step kinematics stiffnesses components are calibrated. Second models integrated identified linear least square solution. third masses, centers gravity sensor offsets estimated using regression. steps repeated stepwise account for their dependencies....
To enhance the capability of DLR MIRO for physical human robot interaction (pHRI), six buttons were integrated as additional input interface along structure. A ring eight RGB-LEDs at instrument informs user output about robot’s state. The mechatronic design, which is transferable to other robots, adapts existing communication infrastructure and therefore offers real-time capability. Besides with itself, it also allows control third party devices connected its network. Both interfaces can be...
Objective We evaluated the clinical potential of a novel robotic system for autonomous performance waterjet wound debridement. Summary background data Within last decade, debridement has proven to be valid alternative conventional approach using sharp spoons and scalpel. Methods The DLR MIRO robot MICA instrument surgery was adapted actuation an ERBEJET 2 flexible endoscopic probe. Waterjet various shapes sizes porcine skin model compared between this control group human medical...
Preoperative planning and intra-operative system setup are crucial steps to successfully integrate robotically assisted surgical systems (RASS) into the operating room. Efficiency in terms of directly affects overall procedural costs increases acceptance RASS by surgeons clinical personnel. Due kinematic limitations RASS, selecting an optimal robot base location surgery access point for patient is essential avoid potentially critical complications due reachability issues. To this end, work...
The dynamic performance and steady-state control errors of many schemes improve with increasing model accuracy. This paper presents a method to determine the symbolic expressions base inertial parameters corresponding regressor matrix for models robotic systems that are linear in parameters. is achieved using transformation based on row space initially rank-deficient observation matrix. Compared state-of-the-art methods proposed approach can handle complex multibody structures instance...
Abstract Purpose The robotic system CoFlex for kidney stone removal via flexible ureteroscopy (fURS) by a single surgeon (solo surgery, abbreviated SSU) is introduced. It combines versatile arm and commercially available ureteroscope to enable gravity compensation safety functions like virtual walls. haptic feedback from the operation site comparable manual fURS, as actuates all DoF manually. Methods hardware software well design of an exploratory user study on simulator model with...
Urolithiasis is a common disease with increasing prevalence across all ages.A treatment option for smaller kidney stones flexible ureterorenoscopy (fURS), where ureteroscope (FU) used stone removal and to inspect the renal collecting system.The handling of end effectors (EEs), however, challenging requires two surgeons.In this article, we introduce modular robotic system endoscope manipulation, which enables solo surgery (SSU) adaptable various hand-held FUs.Both developed hardware...
In flexible ureteroscopy (fURS) for kidney stones, the renal collecting system is inspected and stones are removed with a ureteroscope (FU).One alternative to fragmentation of their removal help graspers or extraction baskets dusting laser light.To support single surgeon during fURS procedure, in particular fine manipulation dusting, we developed CoFlex TOP teleoperation handheld FU three degrees freedom.This paper describes overall structure system, its kinematics hardware software...
Abstract Suturing is an integral part of surgery. Specialized instrumentation facilitates manual needle handling to support laparoscopic suturing tasks, e.g. uterine closure, in minimally invasive Current solutions for robotassisted laparoscopy lack the possibility integrate these instruments, making them suitable only conventional This paper introduces a novel end effector design actuating instrument. The integrated into DLR MiroSurge system facilitate telemanipulated suturing. mechanical...
This work considers the control of manipulators mounted on a translationally flexible base and extends previous publication authors. The contribution is twofold. Firstly, based previously proposed coordinate transformation, new strategy developed, which features two enhancements: stiffness allowed to be nonlinear; A momentum-based for vibration damping enables avoid feedback linearization, was required apply linear stability theory before. Secondly, strategies are evaluated in experiments...
We present a method to reconstruct indoor environments from stereo image pairs, suitable for the navigation of robots. To enable robot navigate solely using visual cues it receives camera, depth information needs be extracted pairs and combined into common representation. The initially determined raw depthmaps are fused two level heightmap representation which contains floor ceiling height level. reduce noise in maps we employ total variation regularized energy functional.With this 2.5D...