Browsing by Subject "Robotics"

Sort by: Order: Results:

  • Abdellatif, Houssem; Heimann, Bodo (Cambridge : Cambridge University Press, 2008)
    The issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework ...
  • Povse, B.; Haddadin, S.; Belder, R.; Koritnik, D.; Bajd, T. (Cambridge : Cambridge University Press, 2015)
    This paper treats the systematic injury analysis of lower arm robot–human impacts. For this purpose, a passive mechanical lower arm (PMLA) was developed that mimics the human impact response and is suitable for systematic ...
  • Hofmann, Sabine; Kuntzsch, C.; Schulze, Malte Jan; Eggert, D.; Sester, Monika (Göttingen : Copernicus GmbH, 2012)
    This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, ...
  • Amanov, E.; Nguyen, T.-D.; Burgner-Kahrs, Jessica (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    Tubular continuum robots, which are composed of multiple concentric, precurved, elastic tubes, provide more dexterity than traditional surgical instruments at the same diameter. The tubes can be precurved such that the ...
  • Wirz, Raul; Lathrop, Ray A.; Godage, Isuru S.; Burgner-Kahrs, Jessica; Russell, Paul T.; Webster, Robert J. (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    Anecdotally, surgeons sometimes observe large errors when using image guidance in endonasal surgery. We hypothesize that one contributing factor is the possibility that operating room personnel might accidentally bump the ...
  • Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder Alexander; Mattos, Leonardo S.; Ortmaier, Tobias (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms stateof-the-art micro-manipulator-based laser control. Providing more detailed quantitation regarding that approach, ...
  • Fritsche, Paul; Wagner, Bernardo (New York, NY : Hindawi Publishing Corporation, 2016)
    The following paper introduces a novel scanning method for mapping and localization purposes in mobile robotics. Our method is based on a rotating monostatic radar network, which determines the positions of objects around ...
  • Fellmann, Carolin; Kashi, Daryoush; Burgner-Kahrs, Jessica (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    For those minimally invasive surgery where conventional surgical instruments cannot reach the surgical site due to their straight structure and rigidity, concentric tube continuum robots are a promising technology because ...
  • Laves, Max-Heinrich; Schoob, Andreas; Kahrs, Lüder Alexander; Pfeiffer, Tom; Huber, Robert; Ortmaier, Tobias (Bellingham, WA : S P I E - International Society for Optical Engineering, 2017)
    A common representation of volumetric medical image data is the triplanar view (TV), in which the surgeon manually selects slices showing the anatomical structure of interest. In addition to common medical imaging such as ...
  • Denkena, Berend; Litwinski, K.; Schönherr, M. (Amsterdam : Elsevier, 2013)
    In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders ...
  • Bergmeier, Jan; Kundrat, Dennis; Schoob, Andreas; Kahrs, Lüder Alexander; Ortmaier, Tobias (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    This work investigates combination of Optical Coherence Tomography and two cameras, observing a microscopic scene. Stereo vision provides realistic images, but is limited in terms of penetration depth. Optical Coherence ...
  • Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder Alexander (Bellingham, WA : S P I E - International Society for Optical Engineering, 2015)
    This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for ...
  • Bergmeier, Jan; Fast, Jacob Friedemann; Ortmaier, Tobias; Kahrs, Lüder Alexander (Bellingham, WA : S P I E - International Society for Optical Engineering, 2017)
    Image-to-physical registration based on volumetric data like computed tomography on the one side and intraoperative endoscopic images on the other side is an important method for various surgical applications. In this ...
  • Baron, S.; Eilers, H.; Munske, B.; Toennies, J.L.; Balachandran, R.; Labadie, R.F.; Ortmaier, T.; Webster, R.J. (London : SAGE Publications Ltd., 2010)
    Image-guided robots have been widely used for bone shaping and percutaneous access to interventional sites. However, due to high-accuracy requirements and proximity to sensitive nerves and brain tissues, the adoption of ...
  • Höhn, O.; Gerth, W. (London : SAGE Publications Ltd., 2009)
    In this paper, a probability-based balance monitoring concept for humanoid robots is proposed. Two algorithms are presented that allow us to distinguish between exceptional situations and normal operations. The first ...
  • Granna, Josephine; Rau, Thomas S.; Nguyen, Thien-Dang; Lenarz, Thomas; Majdani, Omid; Burgner-Kahrs, Jessica (Bellingham, WA : S P I E - International Society for Optical Engineering, 2016)
    During manual cochlear implant electrode insertion the surgeon is at risk to damage the intracochlear fine-structure, as the electrode array is inserted through a small opening in the cochlea blindly with little force-feedback. ...