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Minimally invasive beating-heart surgery offers substantial benefits for the patient, compared to conventional open surgery. Nevertheless, the motion of the heart poses increased requirements to the surgeon. To support the surgeon, algorithms for an advanced robotic surgery system are proposed, which offer motion compensation of the beating heart. This(More)
PURPOSE Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often(More)
There is a growing number of proxy-based reconstructions detailing the climatic changes that occurred during the last interglacial period (LIG). This period is of special interest , because large parts of the globe were characterised by a warmer than present-day climate, making this period an interesting test bed for climate models in light of projected(More)
This paper deals with the reconstruction of original image structure in the presence of local disturbances such as specular reflections. It presents two novel schemes for their elimination with respect to the local image structure: an efficient linear interpolation scheme and an iterative filling-in approach employing anisotropic diffusion. The algorithms(More)
A complex earth system model (atmosphere and ocean general circulation models, ocean biogeochemistry and terrestrial biosphere) was used to perform transient simulations of two interglacial sections (Eemian, 128–113 ky B.P., and Holocene, 9 ky B.P.–present). The changes in terrestrial carbon storage during these interglacials were studied with respect to(More)
— This video presents the in-house developed DLR MiroSurge robotic system for surgery. As shown, the system is suitable for both minimally invasive and open surgery. Essential part of the system is the MIRO robot: The soft robotics feature enables intuitive interaction with the robot. In the presented minimally invasive robotic setup three MIROs guide an(More)