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Minimally invasive robotic surgery systems are usually controlled by input devices, that are mechanically linked to the environment. These input devices often have a limited workspace, which makes intuitive operation difficult. This paper presents a tracking algorithm of a handheld input device, which combines inertial and optical measurements to obtain accurate and robust state estimates with high...
This paper presents a disturbance observer for the sigma.7 haptic device. External torques on the haptic device links are observed to distinguish between intended user interaction and accidental collisions of the links. Collisions can be unintentional contact of the human operator, e.g. with his knee, other people accidentally getting in contact with the haptic device or objects falling on it. The...
This paper presents an optical-inertial tracking algorithm with explicit and assured optical marker identification. Active optical markers are sequentially or simultaneously triggered to achieve a maximum in quantity and quality of measurements available for tracking. Markers that appear in a camera image are identified by individual activation and are locally tracked in the 2D-images after initial...
Aiming to ascertain the effects of uni- and bi-modal (visuo-haptic) assistance functions on movement coordination with a teleoperated surgical system (DLR's MiroSurge), an experimental user study was conducted with 36 participants. Since the literature suggests a link between task performance with assistance functions and certain user perceptions, the participants' preferences and perceptions of the...
This paper presents a high fidelity force feedback teleoperation control for surgical applications. Advanced control methods, such as flexible joint tracking control and passivity observation, are introduced in the direct force reflecting control architecture. A full state feedback controller of the flexible joint slave robot controls the motor position, velocity, the joint torque, and the torque...
This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable,...
This paper presents the design and control of the sigma.7 haptic device and the new surgical console of the MiroSurge robotic system. The console and the haptic devices are designed with respect to requirements in minimally invasive robotic surgery. Dedicated left and right handed devices are integrated in an operator console in an ergonomic configuration. The height of the whole console is adjustable,...
This paper introduces an ultra-tightly coupled approach to data fusion of optical and inertial measurements. The two redundant sensor systems complement each other well, with the cameras providing absolute positions and the inertial measurements giving low latency information of derivatives. The targeted application is the tracking of handheld input devices for robotic surgery, where landmarks are...
This paper gives an overview of a multimodal training platform developed for minimally invasive robotic surgery, based on the DLR MiroSurge system. It describes the technological components and integration of the hardware and software platform and presents the first integrated training tasks that enable surgeons to get familiar with the robotic system. The training platform shares the same surgical...
This paper proposes a method for accurate robotic motion compensation of a freely moving target object. This approaches a typical problem in medical scenarios, where a robotic system needs to compensate physiological movements of a target region related to the patient. An optical tracking system measures the poses of the robot's end-effector and the moving target. The task is to track the target with...
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.
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