Publications

131 entries « 2 of 7 »

2019

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments

Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article

IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019.

Abstract | Links | BibTeX | Tags: continuum robot, extensible, modeling, tendon actuated

2018

Nguyen, Thien-Dang; Amanov, E; Burgner-Kahrs, J

Schaftmechanismus Patent

DE 10 2018 130 074.3, 2018.

BibTeX | Tags:

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, modeling

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots Inproceedings

Annual Meeting of the German Society for Computer- and Robot-assisted Surgery, pp. 74–79, 2018.

Abstract | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber

van Roosbroeck, J; Modes, V; Lindner, E; van Hoe, B; Voigtlander, C; Vlekken, J; Burgner-Kahrs, J

Curvature and Shape Sensing for Continuum Robotics using Draw Tower Gratings in Multi Core Fiber Inproceedings

26th International Conference on Optical Fiber Sensors (OFS), 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, fbg, sensing

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Kudryavtsev, Andrey V; Chikhaoui, Mohamed Taha; Liadov, Aleksandr; Rougeot, Patrick; Spindler, Fabien; Rabenorosoa, Kanty; Burgner-Kahrs, Jessica; Tamadazte, Brahim; Andreff, Nicolas

Eye-in-Hand Visual Servoing of Concentric Tube Robots Journal Article

IEEE Robotics & Automation Letters, 3 (3), pp. 2315-2321, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, visual servoing

Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model

Friedrich, D T; Modes, V; Hoffmann, T K; Greve, J; Schuler, P J; Burgner-Kahrs, J

Teleoperated Tubular Continuum Robots for Transoral Surgery - Feasibility in a Porcine Larynx Model Journal Article

International Journal of Medical Robotics and Computer Assisted Surgery, 14 (5), pp. e1928 (7pages), 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, minimally-invasive surgery, Surgery, teleoperation

Control of Continuum Robots for Medical Applications: State of the Art

Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

Control of Continuum Robots for Medical Applications: State of the Art Inproceedings

International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018.

Links | BibTeX | Tags: continuum robot, control, minimally-invasive surgery, Surgery

Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing

Modes, Vincent; Ihler, Sontje; Nabavi, Arya; Ortmaier, Tobias; Kahrs, Lüder A; Burgner-Kahrs, Jessica

Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 77–78, 2018.

BibTeX | Tags: Accuracy, concentric tube continuum robot, minimally-invasive surgery, visual servoing

Stiffening Sheaths for Continuum Robots

Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica

Stiffening Sheaths for Continuum Robots Journal Article

Soft Robotics, 5 (3), pp. 291-303, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, granular jamming, layer jamming, soft robot, stiffening

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article

Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots

Chikhaoui, Mohamed Taha; Granna, Josephine; Starke, Julia; Burgner-Kahrs, Jessica

Towards Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots Journal Article

IEEE Robotics & Automation Letters, 3 (3), pp. 1793-1800, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, control, teleoperation

Imkamp, Florian; Amanov, Ernar; Nguyen, Thien-Dang; Hielscher, V; Burgner-Kahrs, Jessica

Die systematische Ermittlung des chirurgischen Arbeitsraumes im Rahmen laparoskopischer Niereneingriffe: Grundlage für die Konzeptionierung eines versteifbaren Endoportsystems für die Single-Port Laparoskopie Inproceedings

12. Nordkongress Urologie, 2018.

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2017

On the Merits of Helical Tendon Routing in Continuum Robots

Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017.

Abstract | Links | BibTeX | Tags: continuum robot, design, tendon actuated, tendon-driven continuum robots

Amanov, E; Granna, J; Burgner-Kahrs, J

Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings

IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017.

Links | BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, tendon actuated

Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J

Towards Handheld Continuum Robots Inproceedings

DGR Days (German Society of Robotics), pp. 20, 2017.

BibTeX | Tags: continuum robot, design

Rau, T S; Granna, J; Burgner-Kahrs, J; Majdani, O

Elektrodenanordnung eines Cochlea-Implantats, automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators Patent

DE 10 2015 115 525, 2017.

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Swaney, Philip J; York, Peter A; Gilbert, Hunter B; Burgner-Kahrs, Jessica; III, Robert Webster J

Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments Journal Article

Journal of Medical Devices, 11 (1), pp. 014501 (9 pages), 2017.

Abstract | Links | BibTeX | Tags: design, minimally-invasive surgery, Robotics, Surgery, tendon actuated

Granna, Josephine; Guo, Yi; Weaver, Kyle D; Burgner-Kahrs, Jessica

Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation Journal Article

Journal of Medical Robotics Research, 2 (1), pp. 1750004 (9 pages), 2017.

Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery

Friedrich, D T; Modes, V; Hoffmann, T K; Greve, J; Schuler, P J; Burgner-Kahrs, J

Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, pp. 120–122, 2017.

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131 entries « 2 of 7 »