Up to date, medical robots for minimal invasive surgery do not provide assistance appropriate to the workflow of the intervention. A simple concept of a cognitive system is presented, which is derived from a classic closed-loop control. As implementation, we present a cognitive medical robot system using lightweight robots with redundant kinematics. The… (More)
In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our… (More)
This work examines the problem of a redundant robot's limited workspace in the field of minimally invasive surgery. The proposed procedure to overcome difficulties with joint angle restrictions and finding suitable pivot points works as follows. At first, the target region during a operation has to be defined. An algorithm structures the information of… (More)
Positionierung der Trokare unterstützt.