Further information

Publications



2014

2013

T.Bahls, F.A. Fröhlich and A. O. Albu-Schäffer, "Towards Robot Guided Waterjet Surgery" in 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Innsbruck, Austria, November 2013. http://elib.dlr.de/86452/

Andreas Tobergte, and Patrick Helmer, "A Disturbance Observer for the sigma.7 Haptic Device" in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013.

Bastian Deutschmann, Rainer Konietschke, and Alin Albu-Schäffer, "Task Specific Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery" in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013.

Stefan Jörg, Rainer Konietschke, and Julian Klodmann, "Classification of Modeling for Versatile Simulation Goals in Robotic Surgery" in Intelligent Autonomous Systems 12, Sukhan Lee, Hyungsuck Cho, Kwang-Joon Yoon, and Jangmyung Lee, Eds., Berlin, Germany: Springer Berlin Heidelberg, 2013, pp. 131-141. ISBN 978-3-642-33931-8

Bernhard Weber, Anja Hellings, Andreas Tobergte, and Martin Lohmann, "Human Performance and Workload Evaluation of Input Modalities for Telesurgery" in 59. Frühjahrskongress der Gesellschaft für Arbeitswissenschaft (GfA), Krefeld, Germany, February/March 2013. ISBN 3-978-3-936804-14-0

2012

Martin Lohmann, Rainer Konietschke, Anja Hellings, Christoph Borst, and Gerd Hirzinger, "A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS)", in 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Düsseldorf, Germany, November 2012.

Florian Steidle, Andreas Tobergte, and Gerd Hirzinger, "Optical-inertial tracking with active markers and changing visibility" in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vila Moura, Portugal, October 2012.

Michael Panzirsch, Jordi Artigas, and Andreas Tobergte, "A peer-to-peer Trilateral Passivity Control for delayed collaborative Teleoperation" in EuroHaptics 2012, Tampere, Finland, June 2012.

Andreas Tobergte, and Alin Albu-Schäffer, "Direct Force Reflecting Teleoperation with a Flexible Joint Robot" in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA, May 2012.

2011

Julian Klodmann, Rainer Konietschke, Alin Albu-Schäffer, and Gerd Hirzinger, "Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors" in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011.

Andreas Tobergte, Patrick Helmer, Ulrich Hagn, Patrice Rouiller, Sophie Thielmann, Sebastien Grange, Alin Albu-Schäffer, Francois Conti, and Gerd Hirzinger, "The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console" in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011.

Andreas Tobergte, Patrick Helmer, Ulrich Hagn, Sophie Thielmann, and Gerd Hirzinger, "Eine Chirurgenkonsole für MiroSurge", in 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Magdeburg, Germany, September 2011.

Andreas Tobergte, Mihai Pomarlan, Georg Passig, and Gerd Hirzinger, "An approach to ultra-tightly coupled data fusion for handheld input devices in robotic surgery", in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011. ISBN 978-1-61284-380-3

2010

Andreas Tobergte, Georg Passig, Bernhard Kübler, Ulrich Seibold, Ulrich Hagn, Florian Fröhlich, Rainer Konietschke, Stefan Jörg, Mathias Nickl, Sophie Thielmann, Robert Haslinger, Martin Gröger, Alexander Nothhelfer, Luc Le-Tien, Robin Gruber, Alin Albu-Schäfer, and Gerd Hirzinger, "MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery", MIT Press Journals: PRESENCE - Teleoperators and Virtual Environments, vol. 19, no. 5, pp. 400-414, October 2010. DOI: 10.1162/pres_a_00022 2010

Sophie Thielmann, Ulrich Seibold, Robert Haslinger, Georg Passig, Thomas Bahls, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Ulrich Hagn and Gerd Hirzinger, "MICA - A new generation of versatile instruments in robotic surgery", in Proc. of the IEEE International Conference on Intelligent Robots and Systems (IROS), Taipeh, Taiwan, October 2010. http://elib.dlr.de/68322/

Rainer Konietschke, Andreas Tobergte, Carsten Preusche, Paolo Tripicchio, Emanuele Ruffaldi, Sabine Webel, and Ulrich Bockholt, "A Multimodal Training Platform for Minimally Invasive Robotic Surgery", in Proceedings of the 19th International Symposium in Robot und Human Interactive Communication, Viareggio, Italy, September 2010, pp. 449-454. ISBN 978-1-4244-7989-4

R. Bauernschmitt, M. Buss, B. Deml, K. Diepold, B. Färber, G. Färber, U. Hagn, G. Hirzinger, S. Hirche, A. Knoll, H. Müller, T. Ortmaier, A. Peer, M. Popp, C. Preusche, G. Reinhart, Z. Shi, E. Steinbach, H. Ulbrich, U. Walter, and M. Zäh, "High-Fidelity Telepresence and Teleaction", in Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, May 2010, pp. 1092-1093. doi: 10.1109/ROBOT.2010.5510000

2009

Klaus Strobl, Elmar Mair, Tim Bodenmüller, Simon Kielhöfer, Wolfgang Sepp, Darius Burschka, and Gerd Hirzinger, "The Self-Referenced DLR 3D-Modeler", in Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 2009.

Andreas Tobergte, Mihai Pomarlan, Gerd Hirzinger, "Robust Multi Sensor Pose Estimation for Medical Applications", in Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 2009.

Robert Bauernschmitt, Eva U. Braun, Martin Buss, Florian Fröhlich, Sandra Hirche, Gerd Hirzinger, Julius Kammerl, Alois Knoll , Rainer Konietschke , Bernhard Kübler, Rüdiger Lange, Hermann Mayer , Markus Rank , Gerhard Schillhuber, Christoph Staub, Eckehard Steinbach, Andreas Tobergte, Heinz Ulbrich, Iason Vittorias, and Chen Zhao, "On the Role of Multimodal Communication in Telesurgery Systems", in Proc. of the 11th International Congress of the IUPESM, Rio de Janeiro, Brazil, October 2009.

Bernhard Kübler, Robin Gruber, Christoph Joppek, Johannes Port, Georg Passig, J.H. Nagel, and Gerd Hirzinger, "Tactile Feedback for Artery Detection in Minimally Invasive Robotic Surgery –Preliminary Results of a New Approach", in Proc. of the World Congress on Medical Physics and Biomedical Engineering, Munich, Germany, September 2009, vol. 25, no. 6, pp. 299-302.

2008

2007

2006

S. Jörg, M. Nickl, and G. Hirzinger, "Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems", in Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Peking, China, October 2006.

2005

B. Deml, T. Ortmaier, and U. Seibold, “The touch and feel in minimally invasive surgery”, in HAVE 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications, Ottawa, Canada, October 2005, pp. 33–38.

2004

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), Munich, Germany, October 2004.

T. Ortmaier, "Telepresence Issues in Minimally Invasive Surgery " in Methodology and Tools in Telemanipulation Systems via Internet, Raul Marin, Pedro J. Sanz, and Klaus Schilling, Eds., E-Book.

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, Sestri Levante, Italy, 2004.

B. Deml, T. Ortmaier, and H. Weiss, "Minimally Invasive Surgery: Empirical Comparison of Manual and Robot Assisted Force Feedback Surgery", 4th International Conference EuroHaptics 2004, Munich, Germany, June 2004.

T. Ortmaier, H. Weiss, and G. Hirzinger, "Telepräsenz und Teleaktion in der minimal invasiven Chirurgie", Robotik 2004 - Leistungsstand - Anwendungen - Visionen - Trends, Munich, Germany, June 2004.

D. Reintsema, C. Preusche, T. Ortmaier, and G. Hirzinger, "Towards High Fidelity Telepresence in Space and Surgery Robotics", Presence, Vol. 13(1), pp. 77-98, February 2004.

2003

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), Nuremberg, Germany, November 2003.

T. Ortmaier, H. Weiss, and G. Hirzinger, "Mechatronics and Autonomy in Minimally Invasive Robotic Surgery", Humanoids 2003 - Third IEEE International Conference on Humanoid Robots, Munich and Karlsruhe, Germany, October 2003.

T. Ortmaier, H. Weiss, and G. Hirzinger, "Minimally Invasive Robotic Surgery: Foundations and Perspectives" presented at the ICRA 2003 - IEEE International Conference on Robotics and Automation, Workshop IV: Recent Advances in Medical Robotics, Taipei, Taiwan, September 2003.

T. Ortmaier, "Motion Compensation in Minimally Invasive Robotic Surgery". Doctoral Thesis, Technical University of Munich, April 2003.

2002

T. Ortmaier, M. Groeger, and G. Hirzinger, "Robuste Prädiktion der Herzbewegung für die robotergestützte Chirurgie mit EKG und Atemdrucksignal". Human Centered Robotic Systems - HCRS, Karlsruhe, Germany, December 2002.

C. Preusche, T. Ortmaier, and G. Hirzinger, "Teleoperation Concepts in Minimally Invasive Surgery", Control Engineering Practice Journal, vol. 10, issue 11, Elsevier, November 2002.

T. Ortmaier, M. Groeger, and G. Hirzinger, "Multisensorielle Schätzung der Herzbewegung in der minimal invasiven Chirurgie", 1. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, Germany, October 2002.

T. Ortmaier, M. Groeger, and G. Hirzinger, "Robust Motion Estimation in Robotic Surgery on the Beating Heart", Computer Assisted Radiology and Surgery CARS 2002, Paris, France, June 2002.

T. Ortmaier, M. Groeger, and D. Kotzor, "Bewegungsschätzung in der minimal invasiven Herzchirurgie", at-Schwerpunktheft "Neuroprothetik und Medizinrobotik", Oldenbourg Verlag, June 2002, pp. 262-270.

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.

2001

M. Groeger, W. Sepp, T. Ortmaier, and G. Hirzinger, "Reconstruction of Image Structure in Presence of Specular Reflections" in Proc. of the 23rd DAGM Symposium, Munich, Germany, September 2001.

C. Preusche, T. Ortmaier, and G. Hirzinger, "Teleoperation Concepts in Minimal Invasive Surgery", in Proc. of the 1. IFAC Conference on Telematics Application in Automation and Robotics, Weingarten, Germany, July 2001.

T. Ortmaier, U. Seibold, U. Hagn, D. Boehm, H. Reichenspurner, and G. Hirzinger, "Autonomy and Haptic Feedback in Minimally Invasive Robotic Surgery" in Fourth Annual Meeting of the International Society for Minimally Invasive Cardiac Surgery (ISMICS), Munich, Germany, June 2001.

T. Ortmaier, D. Reintsema, U. Seibold, U. Hagn, and G. Hirzinger, "The DLR Minimally Invasive Robotics Surgery Scenario", presented at Workshop on Advances in Interactive Multimodal Telepresence Systems, Munich, Germany, March 2001.


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