Robert Bauernschmitt

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Optimal port placement and intra-operative navigation in robotically assisted minimally invasive cardiovascular surgery are essential for the improvement and success of a teleoperator based heart operation. A new system incorporating both port placement planning and intra-operative navigation was established. Offline the optimal port placement is planned on(More)
— A popular method for an easy and also flexible programming of robots is learning by demonstration. An intelligent controller learns a task from several examples carried out by an experienced user. Afterwards, the task can be adapted to new, formerly unknown environments. One particular challenge arising with this technique is generalization of(More)
The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue(More)
— Despite the fact that minimally invasive robotic surgery provides many advantages for patients, such as reduced tissue trauma and shorter hospitalization, complex tasks (e.g. tissue piercing or knot-tying) are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating these recurrent tasks could greatly reduce total surgery(More)
Optimal port placement is a delicate issue in minimally invasive endoscopic surgery, particularly in robotically assisted surgery. A good choice of the instruments' and endoscope's ports can avoid time-consuming consecutive new port placement. We present a novel method to intuitively and precisely plan the port placement. The patient is registered to its(More)
Abslrod-Minimally iovasive robotic surgery systems has entered daily practice in dedicated clinical centers. Especially heart surgery profits from this new technique, due to a higher accuracy compared to conventional endoscopic interventions. Nevertheless some drawbacks have restricted a broader acceptance of these devices. The most urgent issues are lack(More)
In this tutorial we present recently developed nonlinear methods of cardiovascular physics and show their potentials to clinically relevant problems in cardiology. The first part describes methods of cardiovascular physics, especially data analysis and modeling of noninvasively measured biosignals, with the aim to improve clinical diagnostics and to improve(More)
— The term scaffolding, with respect to human education, was first coined in the 1970ies, although the basic concept originates back to the 1930ies. The main idea is to formalize the superior knowledge of a teacher in a certain way to generate support for a trainee. In practice, this concept can be implemented as concrete as a cloze, which assists pupils in(More)
—After cardiac surgery patients often show a car-diovascular instability, which has to be managed by infusing different vasoactive drugs. This work proposes a closed-loop system to automatically react upon changes in the patients state and trigger infusion of indicated drugs. As input signals mean arterial pressure, cardiac output, central venous pressure(More)
— We have developed an experimental system for minimally invasive surgery providing force feedback and automation of recurring task. The system consists of four robotic arms, which can be equipped with either minimally invasive instruments or a stereo camera. The master console provides a stereo view of the field of operation and two input devices can feed(More)