I05: Robotics

The aim of the project "Robotics" is to research and develop knowledge-based, real-time-capable components for the clinically established da Vinci® System and for the research platform, consisting of lightweight robot arms from KUKA and the Germany's national research center for aeronautics and space (DLR). Situation-adaptive, contextually sensitive and knowledge-based collision-free path planning should be developed as well as a camera guidance system. A flexible instrument should also be realized to ensure the avoidance of collision and to extend the workspace of the robot. The ultimate aim is to develop and test a situation-adaptive and knowledge-based robotic system with various operation modes und human machine interfaces, such as haptics and Augmented Reality.

Project Leaders

Prof. Dr. med. Beat Müller
Prof. Dr.-Ing. Heinz Wörn

Our Team


Bihlmaier A and Wörn H. 2014.

“Automated Endoscopic Camera Guidance: A Knowledge-Based System Towards Robot Assisted Surgery”.

Proceedings for the Joint Conference of ISR 2014 (45th International Symposium on Robotics) and ROBOTIK 2014 (8th German Conference on Robotics): 617–22.

doi: 10.3390/robotics3030310.

Bihlmaier A and Wörn H. 2014.

“Robot Unit Testing”.

Proceedings of the International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR): 255–66.

doi: 10.1007/978-3-319-11900-7_22.

Bihlmaier A, Hadlich M and Wörn H. Forthcoming. 2015.

“Advanced ROS Network Introspection (ARNI)”. Englisch. Robot Operating System (ROS) - The Complete Reference.

Bihlmaier A and Wörn H. Forthcoming. 2015.

“Learning Surgical Know-How: Dexterity for a Cognitive Endoscope Robot”.

7th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and 7th IEEE International Conference on Robotics, Automation and Mechatronics (RAM).

Bihlmaier A, Beyl T, Nicolai P, Kunze M, Mintenbeck J, et al. Forthcoming. 2015.

“ROS-based Cognitive Surgical Robotics”. Englisch. Robot Operating System (ROS) - The Complete Reference.

Hutzl J, Oertel D and Wörn H. 2014.

“Knowledge-based Direction Prediction to Optimize the Null-space Parameter of a Redundant Robot in a Telemanipulation Scenario”.

International Symposium on Robotic and Sensors Environments IEEE: 25–30.

doi: 10.1109/ROSE.2014.6952978.

Hutzl J and Wörn H. 2015.

“Spatial Probability Distribution for Port Planning in Minimal Invasive Robotic Surgery (MIRS).”

Proceedings of the 6th International Conference on Automation, Robotics and Applications: 204–10.

doi: 10.1109/ICARA.2015.7081148.

Kenngott H, Wünscher J, Wagner M, Preukschas A, Wekerle A, et al.

”OpenHELP (Heidelberg laparoscopy phantom): development of an open-source surgical evaluation and training tool.”

Surgical Endoscopy 29 (11): 3338-47.

doi: 10.1007/s00464-015-4094-0.

Wagner M, Bihlmaier A, Mietkowski P, Bodenstedt S, Speidel S, et al. 2015.

“Cognitive Camera Robot for Cognition-Guided Laparoscopic Surgery.”

Proceedings of the Hamlyn Symposium on Medical Robotics: 23-24.

Weede O, Bihlmaier A, Hutzl J, Müller-Stich B and Wörn H. 2013.

“Towards Cognitive Medical Robotics in Minimal Invasive Surgery”.

Proceedings of Conference on Advances In Robotics AIR ’13 ACM: 1–8.

doi: 10.1145/2506095.2506137.