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Selected Publications

1. Hagn, U. (2011) The Aspect of Versatility in the Design of a Lightweight Robot for Surgical Applications, doctor thesis, University of Hannover, 2011, ISBN 978-3-86853-797-0
2. Thielmann, S., Seibold, U., Haslinger, R., Passig, G., Bahls, T., Joerg, S., Nickl, M., Nothhelfer, A., Hagn, U., Hirzinger G. (2010) MICA - A new generation of versatile instruments in robotic surgery. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 871-878, 2010, DOI: 10.1109/IROS.2010.5649984
3. Tobergte, A., Passig, G., Kuebler, B., Seibold, U., Hagn, U., Fröhlich, F.A., Konietschke, R., Jörg, S., Nickl, M., Thielmann, S., Haslinger, R., Gröger, M., Nothhelfer, A., Le-Tien, L., Gruber, R., Albu-Schäffer, A., Hirzinger, G. (2010) MiroSurge – Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. PRESENCE - Teleoperators and Virtual Environments, MIT Press Journal, Oct. 2010;19(5):400-414. DOI: 10.1162/pres_a_00022.
4. Bauernschmitt, R., Buss, M., Deml, B., Diepold, K., Färber, B., Färber, G., Hagn, U., Hirzinger, G., Hirche, S., Knoll, A., Müller, H., Ortmaier, T., Peer, A., Popp, M., Preusche, C., Reinhart, G., Shi, Z., Steinbach, E., Ulbrich, H., Walter, U., Zäh, M. (2010) High-Fidelity Telepresence and Teleaction. Video presentation, In Proceedings of the ICRA-2010 IEEE International Conference on Robotics and Automation, pp. 1092-1093, 2010 DOI: 10.1109/ROBOT.2010.5510000
5. Strobl, Klaus und Mair, Elmar und Bodenmüller, Tim und Kielhöfer, Simon und Sepp, Wolfgang und Burschka, Darius und Hirzinger, Gerd (2009) The Self-Referenced DLR 3D-Modeler. In: Proceedings . IROS, International Conference on Intelligent Robots and Systems , 11. Okt. -15. Okt. 2009 , St. Louis, USA.
6. Hagn, U.; Konietschke, R.; Tobergte, A.; Nickl, M.; Jörg, S.; Kuebler, B.; Passig, G.; Gröger, M.; Fröhlich, F.; Seibold, U.; Le-Tien, L.; Albu-Schäffer, A.; Nothelfer, A.; Hacker, F.; Grebenstein, M.; Hirzinger, G. (2009) DLR MiroSurge - A Versatile System for Research in Endoscopic Telesurgery. In: International Journal of Computer Assisted Radiology and Surgery, Volume 5, (2) 2010, pages 183-193. published online Doi: 10.1007/s11548-009-0372-4, 2009
7. Hirzinger, G., Hagn, U. (2009) MiroSurge - ein innovatives Robotik-System, Zentralbl Chir, 134(5): 397-400, DOI: 10.1055/s-0029-1241106
8. Konietschke, R.; Hagn, U.; Nickl, M.; Jörg, S.; Tobergte, A.; Passig, G.; Seibold, U.; Le.Tien, L.; Kuebler, B.; Gröger, M.; Fröhlich, F.; Rink, Ch.; Albu-Schäffer, A.; Grebenstein, M.; Ortmaier, T.; Hirzinger, G. (2009) The DLR Miro Surge - A Robotic System for Surgery. Video contribution presented at ICRA
9. Tobergte, Andreas und Pomarlan, Mihai und Hirzinger, Gerd (2009) Robust Multi Sensor Pose Estimation for Medical Applications. In: Proceedings . IROS, International Conference on Intelligent Robots and Systems , 11. Okt. -15. Okt. 2009 , St. Louis, USA.
10. Bauernschmitt, Robert und Braun, Eva U. und Buss, Martin und Fröhlich, Florian und Hirche, Sandra und Hirzinger, Gerd und Kammerl, Julius und Knoll , Alois und Konietschke , Rainer und Kübler, Bernhard und Lange, Rüdiger und Mayer , Hermann und Rank , Markus und Schillhuber, Gerhard und Staub, Christoph und Steinbach, Eckehard und Tobergte, Andreas und Ulbrich, Heinz und Vittorias, Iason und Zhao, Chen (2009) On the Role of Multimodal Communication in Telesurgery Systems. In: Proceedings . IEEE . 11th International Congress of the IUPESM, World Congress on Medical Physics and Biomedical Engineering , 5. Okt. – 7. Okt. 2009 , Rio de Janeiro, Brazil.
11. Kübler, Bernhard und Gruber, Robin und Joppek, Christoph und Port, Johannes und Passig, Georg und Nagel, J.H. und Hirzinger, Gerd (2009) Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery –Preliminary Results of a New Approach. In: Proceedings , 25 (VI) , Seiten 299-302. Springer . 11th International Congress of the IUPESM, World Congress on Medical Physics and Biomedical Engineering , München, Germany.
12. Hagn, U.; Ortmaier, T.; Konietschke, R.; Kuebler, B.; Seibold, U.; Tobergte, A.; Nickl, M.; Joerg, S.; Hirzinger, G. (2008) Telemanipulators for Remote Minimally Invasive Surgery. In: IEEE Robotics and Automation Magazine (RAM), 2008;15(4):28-38. DOI: 10.1109/MRA.2008.929925
13. Hagn, U., Nickl, M., Jörg, S., Tobergte, A., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Konietschke, R., Le-Tien, L., Albu-Schäffer, A., Grebenstein, M., Ortmaier, T. & Hirzinger, G. (2008) DLR MiroSurge -- towards versatility in surgical robotics 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. Proceedings of CURAC, 2008, pp. 143 - 146
14. Hagn, U., Nickl, M., Jörg, S., Passig, G., Bahls, T., Nothhelfer, A., Hacker, F., Le-Tien, L., Albu-Schäffer, A., Konietschke, R., Grebenstein, M., Warpup, R., Haslinger, R., Frommberger, M. & Hirzinger, G. (2008) The DLR MIRO: A versatile lightweight robot for surgical applications Industrial Robot: An International Journal, EMERALD GROUP PUBLISHING LIMITED, 2008, Vol. 35(4), pp. 324 - 336
15. R. Konietscke, H. Weiss, T. Ortmaier and G. Hirzinger: “A Preoperative Planning Procedure for Robotically Assisted Minimally Invasive Interventions”. 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), October 8-9, 2004, Munich, Germany
16. H. Weiss, T. Ortmaier, and G. Hirzinger: “A New Robot for Minimally Invasive Surgery”. 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), October 8-9, 2004, Munich, Germany
17. B. Kübler, U. Seibold, and G. Hirzinger: “Development of actuated and sensor integrated forceps for minimally invasive robotic surgery”. 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), October 8-9, 2004, Munich, Germany
18. T. Ortmaier: "Telepresence Issues in Minimally Invasive Surgery " in Raul Marin, Pedro J. Sanz, and Klaus Schilling (eds.), "Methodology and Tools in Telemanipulation Systems via Internet", E-Book, 32 Pages + DVD-ROM
19. R. Konietschke, T. Ortmaier, H. Weiss, G. Hirzinger, and R. Engelke: "Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery", 9th International Symposium on Advances in Robot Kinematics, International Federation for the Promotion of Mechanism and Machine Science, June 28 - July 1, 2004, Sestri Levante, Italy
20. B. Deml, T. Ortmaier, and H. Weiss: "Minimally Invasive Surgery: Empirical Comparison of Manual and Robot Assisted Force Feedback Surgery", EuroHaptics 2004, 4th International Conference, June 5-7, 2004, Munich, Germany
21. U. Seibold, B. Kübler, H. Weiss, T. Ortmaier, and G. Hirzinger: "Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery". EuroHaptics 2004, 4th International Conference, June 5-7, 2004, Munich, Germany
22. T. Ortmaier, H. Weiss, and G. Hirzinger: "Telepräsenz und Teleaktion in der minimal invasiven Chirurgie". Robotik 2004 - Leistungsstand - Anwendungen - Visionen - Trends, Veranstalter: VDI/GMA und DGR, June 17-18, 2004, Munich – Germany
23. D. Reintsema, C. Preusche, T. Ortmaier, and G. Hirzinger: "Towards High Fidelity Telepresence in Space and Surgery Robotics". In: Presence, Vol. 13(1), pp. 77-98, February 2004
24. Th. Schmid, R. Gruber, W. Schiller, D. Liepsch, G. Hirzinger, and A. Welz: "Transcoutaneous Energy System for Implantable Artifcial Hearts." Int J Artif Organs 27: 622, 2004.
25. Th. Schmid, W. Schiller, A. Mittelschulte, D. Liepsch, B. Laschka, G. Hirzinger, and A. Welz:
    "Flow Measurements in the Chamber of a Pulsatile Left Ventricular Assist Device with Particle Image Velocimetry (PIV)." Int J Artif Organs 27: 570, 2004.
26. H. Weiss, T. Ortmaier, H. Maass, G. Hizinger, and U. Kühnapfel: "A Virtual Reality Based Haptic Surgical Training System". 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), November 4-7, 2003, Nürnberg, Germany
27. R. Konietschke, T. Ortmaier, H. Weiss, R. Engelke, and G. Hirzinger: "Optimal Design of a Medical Robot for Minimally Invasive Surgery". 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), November 4-7, 2003, Nürnberg, Germany
28. U. Seibold, U. and G. Hirzinger: “A 6-axis Force/torque Sensor Design for Haptic Feedback in Minimally Invasive Robotic Surgery”. In: Proceedings of the 2nd VDE World Microtechnologies Congress, October, 2003, Munich, Germany
29. T. Ortmaier, H. Weiss, and G. Hirzinger: "Mechatronics and Autonomy in Minimally Invasive Robotic Surgery". Humanoids 2003 - Third IEEE International Conference on Humanoid Robots, October 1-3, 2003, Munich and Karlsruhe - Germany
30. T. Ortmaier, H. Weiss, and G. Hirzinger: "Minimally Invasive Robotic Surgery: Foundations and Perspectives". ICRA 2003 - IEEE International Conference on Robotics and Automation, Workshop IV: Recent Advances in Medical Robotics, September 15, 2003, Taipei - Taiwan
31. R. Konietschke, T. Ortmaier, H. Weiss, R. Engelke, and G. Hirzinger: "Link Length Optimisation of a Medical Robot in Minimally Invasive Surgery". CARS 2003; Computer Assisted Radiology and Surgery, 17th International Congress and Exhibition, June 25-28, 2003, London, QEII Conference Centre, United Kingdom
32. T. Ortmaier: "Motion Compensation in Minimally Invasive Robotic Surgery". Doctoral Thesis, Technical University of Munich, April 2003
33. Th. Schmid, and W. Schiller: "A New Artificial Heart for Regeneration and Support of Severe Cardiac Insufficiency." Medical Technology in Bavaria, 2003.
34. Th. Schmid, W. Schiller, D. Liepsch, G. Hirzinger, and A. Welz: "Linksventrikuläre Unterstützung mit Hilfe einer voll implantierbaren, pulsatilen Zweikammerpumpe:37." 3. Jahrestagung der Deutschen Gesellschaft für Biomechanik, München, 29-5-2003.
35. Th. Schmid, W. Schiller, D. Liepsch, B. Laschka, G. Hirzinger, and A. Welz: "A New Implantable Left Ventricular Assist Device With Two Chambers:174." The 7th Conference of the European Society for Engineering and Medicine (ESEM), Halle/Saale, 18-9-2003.
36. Th. Schmid, W. Schiller, D. Liepsch, B. Laschka, M. Marcus, G. Hirzinger, and A.Welz: "The DLR Left Ventricular Assist Device: First In Vitro and In Vivo Results." Int J Artif Organs 7: 590, 2003.
37. T. Ortmaier, M. Groeger, and G. Hirzinger: "Robuste Prädiktion der Herzbewegung für die robotergestützte Chirurgie mit EKG und Atemdrucksignal". Human Centered Robotic Systems - HCRS, December 5-6, 2002, Karlsruhe - Germany
38. C. Preusche, T. Ortmaier, and G. Hirzinger: "Teleoperation Concepts in Minimally Invasive Surgery". Control Engineering Practice Journal Volume 10, Issue 11, November 2002, Elsevier
39. T. Ortmaier, M. Groeger, and G. Hirzinger: "Multisensorielle Schätzung der Herzbewegung in der minimal invasiven Chirurgie". CURAC-Jahrestagung, October 4-5, 2002, Leipzig - Germany
40. T. Ortmaier, M. Groeger, and G. Hirzinger: "Robust Motion Estimation in Robotic Surgery on the Beating Heart". CARS 2002; Computer Assisted Radiology and Surgery, June 26-29, 2002, Paris - France
41. T. Ortmaier, M. Groeger, and D. Kotzor: "Bewegungsschätzung in der minimal invasiven Herzchirurgie". at-Schwerpunktheft "Neuroprothetik und Medizinrobotik", pp. 262-270, Oldenbourg Verlag, June 2002
42. M. Groeger, T. Ortmaier, W. Sepp, and G. Hirzinger: "Tracking Local Motion on the Beating Heart". SPIE Medical Imaging Conference, San Diego, California, February 2002
43. Th. Schmid, D. Liepsch, W. Schiller, M. Nadler, G. Hirzinger, A. Welz, and E. Richter: "Flow visualisation and flow measurement with particle image velocimetry (PIV) in the chamber of a new left ventricular assist device (DLR-Heart)." Acta of Bioengineering and Biomechanics 4: 522-523, 2002.
44. Th. Schmid, W. Schiller, D. Liepsch, and G. Hirzinger: "The DLR-Heart: A New Implantable, Left Ventricular Assist Device." First In Vitro Testing:12th International Conference on Mechanics in Medicine and Biology (ICMMB), Lemnos, Greece, 9-9-2002.
45. M. Groeger, W. Sepp, T. Ortmaier, and G. Hirzinger: "Reconstruction of Image Structure in Presence of Specular Reflections". Mustererkennung 2001: DAGM 2001, September, 2001, Munich - Germany
46. C. Preusche, T. Ortmaier, and G. Hirzinger: "Teleoperation Concepts in Minimal Invasive Surgery". Proc. of the 1. IFAC Conference on Telematics Application in Automation and Robotics, July, 2001, Weingarten - Germany
47. T. Ortmaier, U. Seibold, U. Hagn, D. Boehm, H. Reichenspurner, and G. Hirzinger: "Autonomy and Haptic Feedback in Minimally Invasive Robotic Surgery". Fourth Annual Meeting of the International Society for Minimally Invasive Cardiac Surgery (ISMICS), Published online at http://www.hsforum.com/, June, 27-30, 2001, Munich - Germany
48. T. Ortmaier, D. Reintsema, U. Seibold, U. Hagn, and G. Hirzinger: "The DLR Minimally Invasive Robotics Surgery Scenario". Workshop on Advances in Interactive Multimodal Telepresence Systems, March, 29 – 30, 2001, Munich – Germany
49. T. Ortmaier and G. Hirzinger: "Cartesian Control Issues for Minimally Invasive Robot Surgery".
    IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2000, October 30 - November 5, Takamatsu - Japan
50. T. Ortmaier and G. Hirzinger: "Cartesian Control of Robots with Working-Position Dependent Dynamics". 6th International IFAC Symposium on Robot Control - Syroco 2000, September 21-23, Vienna – Austria
51. K. Omote, A. Ungeheuer, H. Feussner, K. Arbter, G.-Q. Wei, J. R. Siewert, and G. Hirzinger:
    “Self-guided robotic camera control for laparoscopic surgery compared with human camera control”. American Journal of Surgery, 177, pp. 321-324, April 1999