Name
Abstract | ||
|---|---|---|
This video presents the in-house developed DLR MiroSurge robotic system for surgery. As shown, the system is suitable for both minimally invasive and open surgery. Essential part of the system is the MIRO robot: The soft robotics feature enables intuitive interaction with the robot. In the presented minimally invasive robotic setup three MIROs guide an endoscopic stereo camera and two endoscopic instruments with force feedback sensors. The master console for teleoperation consists of an autostereoscopic monitor and force reflecting input devices for both hands. Versatility is shown with two additional applications: For assistance in manual minimally invasive surgery a MIRO robot automatically guides the endoscope such that the surgical instrument is always in view. In a biopsy application the MIRO robot is positioning the needle with navigation system support. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152361 | ICRA |
Keywords | Field | DocType |
force feedback sensor,endoscopic stereo camera,open surgery,dlr mirosurge,manual minimally invasive surgery,minimally invasive robotic setup,minimally invasive,navigation system support,endoscopic instrument,dlr mirosurge robotic system,miro robot,force feedback,force,input device | Robotic systems,Simulation,Control engineering,Soft robotics,Engineering,Robot vision systems,Surgery,Robot,Haptic technology,MiroSurge | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 14 | 0.93 |
References | Authors | |
2 | 16 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Rainer Konietschke | 1 | 196 | 18.41 |
| Ulrich Hagn | 2 | 152 | 12.16 |
| Mathias Nickl | 3 | 27 | 4.02 |
| Stefan Jörg | 4 | 73 | 12.85 |
| Andreas Tobergte | 5 | 61 | 6.33 |
| Georg Passig | 6 | 25 | 2.52 |
| Ulrich Seibold | 7 | 54 | 5.85 |
| Luc Le Tien | 8 | 88 | 8.93 |
| Bernhard Kübler | 9 | 14 | 1.60 |
| Martin Gröger | 10 | 103 | 10.76 |
| Florian Fröhlich | 11 | 14 | 0.93 |
| Christian Rink | 12 | 88 | 5.99 |
| Alin Albu-Schaffer | 13 | 2831 | 262.17 |
| Markus Grebenstein | 14 | 332 | 37.94 |
| Tobias Ortmaier | 15 | 237 | 54.21 |
| gerd hirzinger | 16 | 5185 | 617.40 |