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An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to… (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)
INTRODUCTION Since tunnel positioning is one of the key factors in anterior cruciate ligament (ACL) reconstruction and the variability of tunnel positioning in ACL reconstruction has so far never been analyzed, the objective of this study was to determine the inter- and intra-observer variability of tibial and femoral tunnel positioning in ACL… (More)
The paper presents a new torque-controlled lightweight robot for medical procedures developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. Based on the experiences in lightweight robotics and anthropomorphic robotic hands, a small robot arm with 7 axis and torque-controlled joints tailored to surgical procedures has been… (More)
This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to… (More)
BACKGROUND Transplantation of organs from nonheartbeating donors was recommended to reduce organ shortage. In vitro experiments with rat livers have shown that the warm ischemic tolerance of the liver may be extended by persufflation with gaseous oxygen during cold storage. The qualification of this method for procurement of livers harvested after cardiac… (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.
The requirements for an ideal telemanipulator (i.e., robot and surgical instrument) are derived. An overview on telemanipulators reported in literature is given. The new robot for telepresence surgery developed by German Aerospace Center (DLR) is presented in detail in the "DLR Robot" section. Surgical instruments equipped with miniaturized force-torque… (More)
Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost of care can be met if these systems are employable in a flexible manner for a large variety of procedures. To protect the initial investment the capabilities of a robotic system need to be expandable as new tasks arise.
Surgery is a rapidly evolving field of applications for robotic systems. Different surgical applications, techniques and workflows as well as varying operating room setups and control methods can be realised by separate specialised ro-botic systems. In contrast, the DLR MiroSurge robotic system focuses on the aspects of versatility and modularity for a… (More)