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.
Our Team
Publications
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. |