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Background The current trend in surgery toward further trauma reduction inevitably leads to increased technological complexity. It must be assumed that this situation will not stay under the sole control of surgeons; mechanical systems will assist them. Certain segments of the work flow will likely have to be taken over by a machine in an automatized or autonomous mode. Methods In addition to the...
BackgroundTransferring non‐trivial human manipulation skills to robot systems is a challenging task. There have been a number of attempts to design research systems for skill transfer, but the level of the complexity of the actual skills transferable to the robot was rather limited, and delicate operations requiring a high dexterity and long action sequences with many sub‐operations were impossible...
This work presents a new robot platform developed for laparoscopic single-port surgery. As a new approach, this platform enables the introduction of flexible endoscopic instruments through the designed hollow manipulators with 12mm and 6 DOFs. Two such highly versatile manipulators and a 5 DOF telescope are combined in a unit that can be inserted through a 30mm incision into the abdominal cavity...
The introduction of robotic master-slave systems for minimally invasive surgery has created new opportunities in assisting surgeons with partial or fully autonomous functions. While autonomy is an ongoing field of research, the question of how the growing number of offered features can be triggered in a time-saving manner at the master console is not well investigated. We have implemented a gesture-based...
Registration of 3D facial surfaces means establishing point-to-point correspondence between two 3D facial surfaces. Difficulties typical for the registration of 3D facial surfaces are varying illumination, pose or viewpoint changes, varying facial expressions, and different appearance of individuals. In this work we propose to use a covariance matrix as descriptor for the neighborhood of a salient...
Despite the fact that minimally invasive robotic surgery provides many advantages for patients, such as reduced tissue trauma and shorter hospitalization, complex tasks (e.g. tissue piercing or knot-tying) are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating these recurrent tasks could greatly reduce total surgery time for patients and disburden the surgeon...
Despite the fact that minimally invasive robotic surgery provides many advantages for patients, complex tasks are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating recurrent tasks could greatly reduce total surgery time for patients. While surgeons gain most of the information which is necessary to perform the operation from the visual feedback of cameras, there...
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