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Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly(More)
This paper introduces the OP:Sense system that is able to track objects and humans and. To reach this goal a complete surgical robotic system is built up that can be used for telemanipulation as well as for autonomous tasks, e.g. cutting or needle-insertion. Two KUKA lightweight robots that feature seven DOF and allow variable stiffness and damping due to(More)
BACKGROUND Scene supervision is a major tool to make medical robots safer and more intuitive. The paper shows an approach to efficiently use 3D cameras within the surgical operating room to enable for safe human robot interaction and action perception. Additionally the presented approach aims to make 3D camera-based scene supervision more reliable and(More)
In this paper we show and evaluate the design of a novel telemanipulation system that maps proximity values, acquired inside of a gripper, to forces a user can feel through a haptic input device. The command console is complemented by input-devices that give the user an intuitive control over parameters relevant to the system. Furthermore, proximity sensors(More)
In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe(More)
3D Perception technologies have been explored in various fields. This paper explores the application of such technologies for surgical operating theatres. Clinical applications can be found in workflow detection, tracking and analysis, collision avoidance with medical robots, perception of interaction between participants of the operation, training of the(More)