Publications by Types
Inproceedings
- Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom
- Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen
- Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters
- Methods for end-effector coupling in robot assisted interventions
- End-effector calibration and registration procedure for robot assisted laser material processing -- Tailored to the particular needs of short pulsed CO2 laser bone ablation
- Robot assisted laser bone processing -- Marking and cutting experiments
- Protecting the membranous inner ear during laser bone ablation
- Experimental trials of robot-assisted cochleostomy -- A discussion of different approaches
- Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich -- Visionen und Konzeptec
- Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO$_2$ Laser Based on Thermal Relaxation
- Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery
- Accurate Robot Assisted Laser Bone Processing
- Analysis of the short-pulsed CO$_2$ laser ablation process for optimizing the processing performance for cutting bony tissue
- Cochleostomie mittels roboter-gestützter hochpräziser Laserablation im Experimental-OP
- Präzisions-Laser-Cochleostomie am humanen Präparat
- A bimanual teleoperated system for endonasal skull base surgery
- Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices
- Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students
- Dependence of ablation depth on incident angle for bony tissue ablation using pulsed CO$_2$ laser
- Towards intra-operative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation
- Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery
- A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal
- Tracked 3D ultrasound targeting with an active cannula
- Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen -- Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie
- Intraoperative brain tumor resection cavity characterization with conoscopic holography
- Intraoperative Digitization with a Handheld Optically Tracked Laser Device
- Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance, Robotic Navigation, and Elastographic Monitoring
- On the Computational Design of Concentric Tube Robots -- Incorporating Volume-Based Objectives
- A flexure-based wrist for needle-sized surgical robots
- Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula
- Robot-assisted intracerebral hemorrhage evacuation -- an experimental evaluation
- Workspace Characterization for Concentric Tube Continuum Robots
- Characterizing the Workspace of Concentric Tube Continuum Robots
- Toward Concentric Tube Manipulators for Cochlear Implant Positioning
- Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter
- Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern
- Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evcuation
- Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators
- Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks
- Can Coffee improve Image Guidance?
- Implications of Trajectory Generation Strategies for Tubular Continuum Robots
- Robotic Intracerebral Hemorrhage Evacuation -- An In-Scanner Approach with Concentric Tube Robots
- Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren
- A Tendon-Driven Continuum Robot with Extensible Sections
- Initial Feasibility Study for Transurethral Kidney Surgery using a Tubular Continuum Manipulator
- Toward automated cochlear implant insertion using tubular manipulators
- Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot
- METABot - Magnetic Extensible Tendon Actuated Continuum Robot
- Considerations for follow-the-leader motion of extensible tendon-driven continuum robots
- Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy
- Towards Universal Continuum Manipulators
- Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot
- Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern
- Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie
- A Manual Actuation System for Laser Induced Thermal Therapy of Malignant Brain Tumors
- Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie
- First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy
- Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden, intrarenalen Chirurgie
- Towards Handheld Continuum Robots
- Toward Improving Path Following Motion - Hybrid Continuum Robot Design
- On the Merits of Helical Tendon Routing in Continuum Robots
- Towards Concentric Tube Robots for Microsurgery - First Results in Eye-to-hand Visual Servoing
- Control of Continuum Robots for Medical Applications - State of the Art
- Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber
- Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots
- Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)
- Controlling Concentric Tube Robots while Enforcing Shape Constraints
- Towards Learning Force Sensing for a Concentric Tube Continuum Robot
- On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)
- Smooth Orientation Trajectory Generator Respecting Kinematic Limits
- CTCR Prototype Development - An Obstacle in the Research Community?
- Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns
- Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation
- Using Euler Curves to Model Continuum Robots
- Concentric Tube Path Planning for Epilepsy with 3D Slicer
- Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery
- Kinematic and Singularity Analysis of Tendon-Driven Parallel Continuum Robots
- Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots
- Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots.
- A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
- Cooperative control of dual-arm concentric tube continuum robots
- Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism.
- A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
- Concentric Tube Robot Optimization and Path Planning for Epilepsy Surgeries.
PhD Thesis
- Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall
- Robot Assisted Laser Osteotomy
- Designing a robotic port system for laparo-endoscopic single-site surgery
- Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications
Journal Article
- System for robot assisted orthognathic surgery
- Setup and experimental trial for robot-assisted laser cochleostomy
- Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy
- Ex vivo accuracy evaluation for robot assisted laser bone ablation
- Planning and simulation of microsurgical laser bone ablation.
- Patientenspezifische Modelle in der roboterassistierten Chirurgue/Patient specific models for robot-assisted surgery
- Registration methods for gross Motion correction during image-guided kidney surgery
- Design of an Autoclavable Active Cannula Deployment Device
- Manual Active Cannula Deployment -- Experimental Accuracy Evaluation in Free Space
- An Autoclavable Steerable Cannula Manual Deployment Device -- Design and Accuracy Analysis
- Debulking from within -- A robotic steerable cannula for intracerebral hemorrhage evacuation.
- A flexure-based steerable needle -- High curvature with reduced tissue damage
- Comparison study of intraoperative surface acquisition methods for surgical navigation.
- Robotic surgery for the sinuses and skull base -- What are the possibilities and what are the obstacles?
- A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements -- Toward image registration in minimally invasive surgery
- The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery
- A Telerobotic System for Transnasal Surgery
- Needle Steering in 3-D Via Rapid Replanning
- Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments
- Tubular Manipulators -- A New Concept for Intracochlear Positioning of an Auditory Prosthesis
- Wir brauchen kreative Veränderungen
- Continuum Robots for Medical Applications - A Survey
- A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery
- A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation
- Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation
- How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application?
- Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments
- Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots
- Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy
- Stiffening Sheaths for Continuum Robots
- Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model
- Eye-in-Hand Visual Servoing of Concentric Tube Robots
- Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments
- Computer-assisted planning for a concentric tube robotic system in neurosurgery
- Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot
- Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space
- Calibration of Concentric Tube Continuum Robots - Automatic Alignment of Precurved Elastic Tubes
- Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection
- Tendon Actuated Continuous Structures in Planar Parallel Robots -- A Kinematic Analysis
- Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions
- How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance
- Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains
- Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting
- FAS - A Fully Actuated Segment for Tendon-Driven Continuum Robots
- Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines
- Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo-Rigid Body Assumptions.
- Continuum Robot State Estimation Using Gaussian Process Regression in SE(3)
- Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots
- Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links
- Design of Patterns in Tubular Robots Using DNN-Metaheuristics Optimization
- Modeling and Analysis of Tendon-driven Continuum Robots for Rod-based Locking
- Open Continuum Robotics – One Actuation Module to Create them All
- MoSS - Monocular Shape Sensing for Continuum Robots.
- CIDGIKc Distance-Geometric Inverse Kinematics for Continuum Robots
- Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening
- Investigating frictional contact behavior for soft material robot simulations