Publications
2023 |
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Investigating frictional contact behavior for soft material robot simulations Journal Article Meccanica, 2023 |
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Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening Journal Article IEEE Transactions on Robotics, 2023 |
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CIDGIKc Distance-Geometric Inverse Kinematics for Continuum Robots Journal Article IEEE Robotics & Automation Letters, 8(11):7679 - 7686, 2023 |
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MoSS - Monocular Shape Sensing for Continuum Robots. Journal Article prePrint on arXiv, 2023 |
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Open Continuum Robotics – One Actuation Module to Create them All Journal Article prePrint on arXiv, 2023 |
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Modeling and Analysis of Tendon-driven Continuum Robots for Rod-based Locking Journal Article IEEE Robotics and Automation Letters, 8(6):3126-3133, 2023 |
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Design of Patterns in Tubular Robots Using DNN-Metaheuristics Optimization Journal Article International Journal of Mechanical Sciences, 251:108352, 2023 |
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Concentric Tube Robot Optimization and Path Planning for Epilepsy Surgeries Inproceedings International Symposium on Medical Robotics, 2023 |
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Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links Journal Article Frontiers in Robotics and AI, 9:1082185, 2023 |
2022 |
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Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots Journal Article IEEE Transactions on Robotics, 39(2):1563-1579, 2023 |
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Continuum Robot State Estimation Using Gaussian Process Regression in SE(3) Journal Article International Journal of Robotics Research, 41(13-14):1099-1120, 2022 |
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A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 |
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Multiple Curvatures in a Tendon-Driven Continuum Robot Using a Novel Magnetic Locking Mechanism. Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.:472-479, 2022 |
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Cooperative control of dual-arm concentric tube continuum robots Inproceedings International Conference on Manipulation Automation and Robotics at Small Scales, 2022 |
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Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo-Rigid Body Assumptions Journal Article Journal of Mechanisms and Robotics, 15(4):041003 (10 pages), 2023 |
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A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots Inproceedings Workshop on Learning from Diverse Offline Data (L-DOD) Robotics: Science & Systems 2022., 2022 |
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Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines Journal Article IEEE Robotics and Automation Letters:1-8, 2022 |
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Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots Inproceedings Workshop on New Frontiers of Parallel Robotics IEEE International Conference on Robotics and Automation, 2022 |
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FAS -- A Fully Actuated Segment for Tendon-Driven Continuum Robots Journal Article Frontiers in Robotics and AI, 2022 |
2021 |
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Design Modeling and Evaluation of Tendon Driven Parallel Continuum Robots Inproceedings Workshop on Parallel Robot or not Parallel Robots? New Frontiers of Parallel Robotics IEEE International Conference on Robotics and Automation, 2021 |
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Kinematic and Singularity Analysis of Tendon-Driven Parallel Continuum Robots Inproceedings Workshop on Parallel Robot or not Parallel Robots? New Frontiers of Parallel Robotics IEEE International Conference on Robotics and Automation, 2021 |
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Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery Inproceedings Hamlyn Symposium on Medical Robotics, 2021 |
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Concentric Tube Path Planning for Epilepsy with 3D Slicer Inproceedings Hamlyn Symposium on Medical Robotics, 2021 |
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Learning-based Methods for Concentric Tube Continuum Robots Modeling and Shape Estimation Master Thesis University of Toronto, 2021 |
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Using Euler Curves to Model Continuum Robots Inproceedings IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021 |
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Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots Inproceedings IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021 |
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Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings 4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted, 2021 |
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Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation Bending and Twisting Journal Article IEEE Sensors Journal, 21(5):6712-6723, 2021 |
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Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Journal Article IEEE Robotics and Automation Letters, 6(2):1272 - 1279, 2021 |
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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article Frontiers in Robotics and AI, 7(630245):20, 2021 |
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Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article International Journal of Robotics Research, 40(1):7-23, 2021 |
2020 |
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Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis Journal Article ASME Journal of Mechanisms and Robotics, 13(1):011025 (11 pages), 2020 |
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Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article IEEE Transactions on Medical Robotics and Bionics , 2(4):619-630, 2020 |
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Making sense of the robotized pandemic response: a comparison of global and Canadian robot deployments and success factor Technical Report University of Toronto Robotics Institute, 2020 |
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Modeling Calibration and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Journal Article IEEE Robotics & Automation Letter, 5(4):5811 - 5818, 2020 |
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CTCR Prototype Development: An Obstacle in the Research Community? Inproceedings RSS 2020 Workshop RobRetro, 2020 |
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Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article IEEE Robotics and Automation Letters, 5(1):103--110, 2020 |
2019 |
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Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis Leibniz University Hannover, 2019 |
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Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis Leibniz University Hannover, 2019 |
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Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings IEEE-RAS International Conference on Humanoid Robots, 2019 |
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Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article IEEE Robotics and Automation Letters, 4(4):4192--4199, 2019 |
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On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings Robotics: Science and Systems Conference 10 pages, 2019 |
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Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems IEEE International Conference on Robotics and Automation, 2019 |
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Controlling Concentric Tube Robots while Enforcing Shape Constraints Inproceedings Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems IEEE International Conference on Robotics and Automation, 2019 |
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Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article Journal of Medical Robotics Research, 4(2):1950004, 2019 |
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Computer-assisted planning for a concentric tube robotic system in neurosurgery Journal Article International Journal of Computer Assisted Radiology and Surgery, 14(2):335--344, 2019 |
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Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article IEEE Robotics & Automation Letters, 4(2):989 - 996, 2019 |
2018 |
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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, 2018 |
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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, 2018 |
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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 |
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Eye-in-Hand Visual Servoing of Concentric Tube Robots Journal Article IEEE Robotics & Automation Letters, 3(3):2315-2321, t = This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely the controlled robotic structure is based on three-tube concentric tube robot (CTR) an emerging paradigm to design accurate miniaturized and flexible endoscopic robots. This approach has grown considerably in the recent years finding applications in numerous surgical disciplines. In contrast to conventional robotic structures CTR kinematics arise many challenges for an optimal control such as friction torsion shear and nonlinear constitutive behavior. In fact in order to ensure efficient and reliable control in addition to computing an analytical and complete kinematic model it is also important to close the control loop. To do this we developed an eye-in-hand visual servoing scheme using a millimeter-sized camera embedded at the robot's tip. Both the kinematic model and the visual servoing controller were successfully validated in simulation with visual servoing platform and using an experimental setup. The obtained results showed satisfactory performances for three-degrees of freedom positioning and path following tasks with adaptive gain control. |
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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):e1928 (7pages), 2018 |
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Control of Continuum Robots for Medical Applications: State of the Art Inproceedings International Conference and Exhibition on New Actuators and Drive Systems, 2018 |
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Stiffening Sheaths for Continuum Robots Journal Article Soft Robotics, 5(3):291-303, 2018 |
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Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual Servoing Inproceedings The Hamlyn Symposium on Medical Robotics, 2018 |
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Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article Annals of Biomedical Engineering, 46(10):1498-1510, 2018 |
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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 |
2017 |
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On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017 |
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Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings IEEE International Conference on Robotics and Automation, 2017 |
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Towards Handheld Continuum Robots Inproceedings DGR Days (German Society of Robotics), 2017 |
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Elektrodenanordnung eines Cochlea-Implantats automatisierten Betätigungseinrichtung sowie Verwendung eines tubulären Manipulators Patent DE 10 2015 115 525, 2017 |
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Design Fabrication and Testing of a Needle-Sized Wrist for Surgical Instruments Journal Article Journal of Medical Devices, 11(1):014501 (9 pages), 2017 |
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Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden intrarenalen Chirurgie Inproceedings 11. Nordkongress Urologie, 2017 |
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Tagungsband 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie Book PZH Verlag, ISBN -- 978-3-95900-158-8., 2017 |
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First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Inproceedings The Hamlyn Symposium on Medical Robotics, 2017 |
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Tubuläre Kontinuumsmanipulatoren -- Erste Schritte für den Einsatz in der retrograden intrarenalen Chirurgie Inproceedings 69. Kongress der Deutschen Gesellschaft für Urologie e.V., 2017 |
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A Manual Actuation System for Laser Induced Thermal Therapy of Malignant Brain Tumors Inproceedings 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, 2017 |
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Erste präklinische Erprobung eines neuartigen Kontinuumsroboters für transorale Larynxchirurgie Inproceedings 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V, 2017 |
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Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern Inproceedings 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V., 2017 |
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Toward Computer-Assisted Planning for Interstitial Laser Ablation of Malignant Brain Tumors Using a Tubular Continuum Robot Inproceedings Medical Image Computing and Computer-Assisted Intervention - MICCAI 2017: 20th International Conference Proceedings Part II, 2017 |
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How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Journal Article Latest Thinking, 2017 |
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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):1750004 (9 pages), 2017 |
2016 |
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Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2016 |
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Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2016 |
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Considerations for follow-the-leader motion of extensible tendon-driven continuum robots Inproceedings IEEE International Conference on Robotics and Automation, 2016 |
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METABot - Magnetic Extensible Tendon Actuated Continuum Robot Inproceedings DGR Days (German Society of Robotics), 2016 |
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Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot Inproceedings DGR Days (German Society of Robotics), 2016 |
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Working Mechanism Patent WO 2016/045658 A1, 2016 |
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Toward automated cochlear implant insertion using tubular manipulators Inproceedings Proceedings of SPIE 9786 Medical Imaging, 2016 |
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A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation Journal Article IEEE Robotics and Automation Letters, 1(2):876--883, 2016 |
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Initial Feasibility Study for Transurethral Kidney Surgery using a Tubular Continuum Manipulator Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 81–86, 2016 |
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A novel method for texture-mapping conoscopic surfaces for minimally invasive image-guided kidney surgery Journal Article International Journal of Computer Assisted Radiology and Surgery, 11(8):1515--1526, 2016 |
2015 |
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Arbeitsmechanismus Patent DE 102014113962 B3, 2015 |
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Continuum Robots for Medical Applications - A Survey Journal Article IEEE Transactions on Robotics, 31(6):1261-1280, 2015 |
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A Tendon-Driven Continuum Robot with Extensible Sections Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015 |
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System Method And Apparatus For Configuration Design And Operation Of An Active Cannula Robot Patent US 2015/0223832 A1, 2015 |
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Wir brauchen kreative Veränderungen Journal Article Forschung & Lehre, 05/15:364, 2015 |
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Tubular Manipulators: A New Concept for Intracochlear Positioning of an Auditory Prosthesis Journal Article Current Directions in Biomedical Engineering(1):515-518, 2015 |
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Konzept für die Elektrodeninsertion von Cochlea-Implantaten mit tubulären Manipulatoren Inproceedings 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2015 |
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Robotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach with Concentric Tube Robots Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015 |
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Implications of Trajectory Generation Strategies for Tubular Continuum Robots Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015 |
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Task-specific Design of Tubular Continuum Robots for Surgical Applications Incollection Soft Robotics - From Theory to Applications, 2015 |
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Can Coffee improve Image Guidance? Inproceedings Proceedings of SPIE 9415 Medical Imaging, 2015 |
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Evaluation of input devices for teleoperation of concentric tube continuum robots for surgical tasks Inproceedings Proceedings of SPIE 9415 Medical Imaging, 2015 |
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Additive Manufacturing of Patient-Specific Tubular Continuum Manipulators Inproceedings Proceedings of SPIE 9415 Medical Imaging, 2015 |
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Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evcuation Inproceedings The Hamlyn Symposium on Medical Robotics, 2015 |
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Anwendungsspezifische Evaluierung eines gestenbasierten Eingabegerätes für die Teleoperation von tubulären Kontinuumsrobotern Inproceedings 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2015 |
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Generelle und anwendungsspezifische Genauigkeitsuntersuchungen für tubuläre Kontinuumsroboter Inproceedings 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2015 |
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Toward Concentric Tube Manipulators for Cochlear Implant Positioning Inproceedings Workshop Proceeding Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA), 2015 |
2014 |
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Characterizing the Workspace of Concentric Tube Continuum Robots Inproceedings 41st International Symposium on Robotics, 2014 |
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Workspace Characterization for Concentric Tube Continuum Robots Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 |
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Initial Experiences Using Vibratory Touchscreens to Display Graphical Math Concepts to Students with Visual Impairments Journal Article Journal of Special Education Technology, 29(2):17--25, 2014 |
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Needle Steering in 3-D Via Rapid Replanning Journal Article IEEE Transactions on Robotics, 30(4):853--864, 2014 |
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A Telerobotic System for Transnasal Surgery Journal Article IEEE/ASME Transactions on Mechatronics, 19(3):996--1006, 2014 |
2013 |
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Debulking from within: A robotic steerable cannula for intracerebral hemorrhage evacuation. Journal Article IEEE Transactions on Biomedical Engineering, 60(9):2567--2575, 2013 |
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Minimally-Invasive Intracerebral Hemorrhage Removal Using An Active Cannula Inproceedings IEEE International Conference on Robotics and Automation, 2013 |
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A flexure-based wrist for needle-sized surgical robots Inproceedings Proceedings SPIE 8671 Medical Imaging, 2013 |
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On the Computational Design of Concentric Tube Robots: Incorporating Volume-Based Objectives Inproceedings IEEE International Conference on Robotics and Automation, 2013 |
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The Use of Teleoperated Concentric Tube Robots for Transsphenoidal Parasellar Surgery Journal Article Journal of Neurological Surgery Part B: Skull Base, 74(S01):A123, 2013 |
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A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: Toward image registration in minimally invasive surgery Journal Article International Journal of Medical Robotics and Computer Assisted Surgery, 9(2):190--203, 2013 |
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Robotic surgery for the sinuses and skull base: What are the possibilities and what are the obstacles? Journal Article Current Opinion in Otolaryngology & Head and Neck Surgery, 21(1):11--16, 2013 |
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Comparison study of intraoperative surface acquisition methods for surgical navigation. Journal Article IEEE Transactions on Biomedical Engineering, 60(4):1090--1099, 2013 |
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A flexure-based steerable needle: High curvature with reduced tissue damage Journal Article IEEE Transactions on Biomedical Engineering, 60(4):906--909, 2013 |
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Robot-assisted intracerebral hemorrhage evacuation: an experimental evaluation Inproceedings Proc. SPIE 8671 Medical Imaging, 2013 |
2012 |
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Manual Active Cannula Deployment: Experimental Accuracy Evaluation in Free Space Journal Article Journal of Medical Devices, 6(1), 2012 |
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Intraoperative Digitization with a Handheld Optically Tracked Laser Device Inproceedings 1st Vanderbilt Surgery & Engineering Symposium, 2012 |
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Intraoperative brain tumor resection cavity characterization with conoscopic holography Inproceedings Proceedings of SPIE 8316 Medical Imaging, 2012 |
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Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2012 |
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Tracked 3D ultrasound targeting with an active cannula Inproceedings Proceedings SPIE 8316, 2012 |
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A Feasibility Study on the use of Concentric Tube Continuum Robots for Endonasal Skull Base Tumor Removal Inproceedings The Hamlyn Symposium on Medical Robotics, 2012 |
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Design of a Quadramanual Robot for Single-Nostril Skull Base Surgery Inproceedings ASME Dynamic Systems and Control Conference, 2012 |
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Towards intra-operative monitoring of ablation using tracked 3D ultrasound elastography and internal palpation Inproceedings Proceedings of SPIE 8320 Medical Imaging, 2012 |
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An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis Journal Article ASME Journal of Medical Devices, 6(4):041007(7), 2012 |
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Accurate High-Intensity Focused Ultrasound Ablation in a Porcine Liver Model Through Integration of Real-Time Image Guidance Robotic Navigation and Elastographic Monitoring Inproceedings Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) Conference, 2012 |
2011 |
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Dependence of ablation depth on incident angle for bony tissue ablation using pulsed CO$_2$ laser Inproceedings Proceedings of SPIE 8092, 2011 |
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Toward haptic/aural touchscreen display of graphical mathematics for the education of blind students Inproceedings IEEE World Haptics Conference, 2011 |
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Toward Fluroscopic Shape Reconstruction for Control of Steerable Medical Devices Inproceedings ASME Dynamic Systems and Control Conference, 2011 |
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A bimanual teleoperated system for endonasal skull base surgery Inproceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 |
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Design of an Autoclavable Active Cannula Deployment Device Journal Article ASME Journal of Medical Devices, 5(2):027538, 2011 |
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Registration methods for gross Motion correction during image-guided kidney surgery Journal Article International Journal of Computer Assisted Radiology and Surgery, 6(S1):160--161, 2011 |
2010 |
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Robot Assisted Laser Osteotomy PhD Thesis Karlsruhe Institute of Technology, 2010 |
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Präzisions-Laser-Cochleostomie am humanen Präparat Inproceedings Jahrestagung der Vereinigung Westdeutscher Hals-Nasen-Ohren-Ärzte, 2010 |
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Cochleostomie mittels roboter-gestützter hochpräziser Laserablation im Experimental-OP Inproceedings 81. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohen Heilkunde Kopf- und Halschirurgie e.V., 2010 |
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Analysis of the short-pulsed CO$_2$ laser ablation process for optimizing the processing performance for cutting bony tissue Inproceedings Proceedings of SPIE 7562 Optical Interactions with Tissues and Cells XXI, 2010 |
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Accurate Robot Assisted Laser Bone Processing Inproceedings Computer Assisted Orthopaedic Surgery, 2010 |
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Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery Inproceedings Robotics Science and Systems Workshop on Enabling Technologies for Image-Guided Interventional Procedures, 2010 |
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Optimization of Line Cut Strategy for Bone Tissue Ablation Using Short-Pulsed CO$_2$ Laser Based on Thermal Relaxation Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2010 |
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Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich -- Visionen und Konzepte Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2010 |
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Patientenspezifische Modelle in der roboterassistierten Chirurgue/Patient specific models for robot-assisted surgery Journal Article Biomedizinische Technik, 55(S1):27--30, 2010 |
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Planning and simulation of microsurgical laser bone ablation. Journal Article International Journal of Computer Assisted Radiology and Surgery, 5(2):155--162, 2010 |
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Ex vivo accuracy evaluation for robot assisted laser bone ablation Journal Article International Journal of Medical Robotics and Computer Assisted Surgery, 6(4):489--500, 2010 |
2009 |
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Experimental trials of robot-assisted cochleostomy: A discussion of different approaches Inproceedings Computer Aided Surgery around the Head (CAS-H), 2009 |
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Protecting the membranous inner ear during laser bone ablation Inproceedings Computer Aided Surgery around the Head (CAS-H), 2009 |
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Robot assisted laser bone processing: Marking and cutting experiments Inproceedings IEEE International Conference on Advanced Robotics (ICAR), 2009 |
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End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO$_2$ laser bone ablation Inproceedings IEEE International Conference on Robotics and Automation, 2009 |
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Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy Journal Article Studies in Health Technology and Informatics, 142:43--48, 2009 |
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Setup and experimental trial for robot-assisted laser cochleostomy Journal Article International Journal of Computer Assisted Radiology and Surgery, 4(S1):118--119, 2009 |
2008 |
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Methods for end-effector coupling in robot assisted interventions Inproceedings IEEE International Conference on Robotics and Automation, 2008 |
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Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2008 |
2007 |
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Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen Inproceedings Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 2007 |
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System for robot assisted orthognathic surgery Journal Article International Journal of Computer Assisted Radiology and Surgery, 2(S1):419--421, 2007 |
2006 |
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Initiale Registrierung von anatomischen Landmarken in Weichgewebe mittels navigiertem Ultraschall PhD Thesis Universität Karlsruhe (TH), 2006 |
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Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom Inproceedings DGBMT Jahrestagung, 2006 |