Browsing by Subject "Robotics"

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  • Accuracy analysis of a low-cost platform for positioning and navigation 
    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, ...
  • Additive manufacturing of patient-specific tubular continuum manipulators 
    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 ...
  • Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021 
    Schüppstuhl, Thorsten; Tracht, Kirsten; Raatz, Annika (Cham : Springer Nature, 2022)
    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and ...
  • Bounded-error visual-LiDAR odometry on mobile robots under consideration of spatiotemporal uncertainties 
    Voges, Raphael (Hannover : Institutionelles Repositorium der Leibniz Universität Hannover, 2020)
    With the advent of autonomous driving, the localization of mobile robots, especially without GNSS information, is becoming increasingly important. It must be ensured that the localization works robustly and timely warnings ...
  • Can coffee improve image guidance? 
    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 ...
  • Comparison of tablet-based strategies for incision planning in laser microsurgery 
    Schoob, Andreas; Lekon, Stefan; Kundrat, Dennis; Kahrs, Lüder Alexander; Mattos, Leonardo S.; Ortmaier, Tobias (Bellingham, Wash. : SPIE, 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, ...
  • Crowd of oz : A crowd-powered social robotics system for stress management 
    Abbas, Tahir; Khan, Vassilis Javed; Gadiraju, Ujwal; Barakova, Emilia; Markopoulos, Panos (Basel : MDPI AG, 2020)
    Coping with stress is crucial for a healthy lifestyle. In the past, a great deal of research has been conducted to use socially assistive robots as a therapy to alleviate stress and anxiety related problems. However, ...
  • Design of a low-cost tactile robotic sleeve for autonomous endoscopes and catheters 
    Boyraz, Pinar; Tappe, Svenja; Ortmaier, Tobias; Raatz, Annika (London : SAGE, 2020)
    Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback ...
  • Evaluation of a Novel Radar Based Scanning Method 
    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 ...
  • Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks 
    Fellmann, Carolin; Kashi, Daryoush; Burgner-Kahrs, Jessica (Bellingham, Wash. : SPIE, 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 ...
  • Feature tracking for automated volume of interest stabilization on 4D-OCT images 
    Laves, Max-Heinrich; Schoob, Andreas; Kahrs, Lüder Alexander; Pfeiffer, Tom; Huber, Robert; Ortmaier, Tobias (Bellingham, Wash. : SPIE, 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 ...
  • A Geometric Approach to the Coverage Measure of the Area Explored by a Robot 
    Costa Vianna, Maria Luiza; Goubault, Eric; Jaulin, Eric; Putot, Sylvie (Hannover : Gottfried Wilhelm Leibniz Universität, 2022)
    [no abstract available]
  • Innovative drive concept for machining robots 
    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 ...
  • Interval-based Global Localization in Building Maps 
    Ehambram, Aaronkumar; Jaulin, Luc; Wagner, Bernardo (Hannover : Gottfried Wilhelm Leibniz Universität, 2022)
    [no abstract available]
  • Lie symmetries applied to guaranteed integration: application to mobile robotics localisation 
    Damers, Julien; Jaulin, Luc; Rohou, Simon (Hannover : Gottfried Wilhelm Leibniz Universität, 2022)
    [no abstract available]
  • A Maple Toolchain for Rigid Body Dynamics of Serial, Hybrid and Parallel Robots 
    Schappler, Moritz; Job, Tim-David; Ortmaier, Tobias (Cham : Springer, 2021-07-20)
    A new Maple toolchain for generating rigid body dynamics in symbolic form for robot manipulators is presented. The peculiarity compared to existing tools lies in the framework of Bash scripts controlling the full workflow ...
  • Methods for a fusion of Optical Coherence Tomography and stereo camera image data 
    Bergmeier, Jan; Kundrat, Dennis; Schoob, Andreas; Kahrs, Lüder Alexander; Ortmaier, Tobias (Bellingham, Wash. : SPIE, 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 ...
  • Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames 
    Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder Alexander (Bellingham, Wash. : SPIE, 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 ...
  • A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators 
    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 ...
  • Panorama imaging for image-to-physical registration of narrow drill holes inside spongy bones 
    Bergmeier, Jan; Fast, Jacob Friedemann; Ortmaier, Tobias; Kahrs, Lüder Alexander (Bellingham, Wash. : SPIE, 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 ...