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Seibold, Ulrich and Kübler, Bernhard and Bahls, Thomas and Haslinger, Robert and Steidle, Florian (2018) The DLR MiroSurge surgical robotic demonstrator. In: The Encyclopedia of Medical Robotics - Volume 1: Minimally Invasive Surgical Robotics The Encyclopedia of Medical Robotics, 1. WORLD SCIENTIFIC. pp. 111-142. doi: 10.1142/9789813232266_0005.
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Official URL: https://www.worldscientific.com/worldscibooks/10.1142/10770-vol1
Abstract
This chapter gives a brief overview of the DLR MiroSurge versatile surgical robotic demonstrator, its major components, mechatronic design and control paradigms. Central component is the robot arm Miro based on intelligent mechatronic technology developed at DLR. The system is adapted to various medical applications by attaching various instruments, e.g., the dedicated instrument MICA, and a surgeon workstation providing HD 3D vision and haptic feedback. Furthermore, a selection of current research topics concerning novel MIRS applications and system components are introduced.
| Item URL in elib: | https://elib.dlr.de/131078/ | ||||||||||||||||||
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| Document Type: | Book Section | ||||||||||||||||||
| Title: | The DLR MiroSurge surgical robotic demonstrator | ||||||||||||||||||
| Authors: |
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| Date: | October 2018 | ||||||||||||||||||
| Journal or Publication Title: | The Encyclopedia of Medical Robotics - Volume 1: Minimally Invasive Surgical Robotics | ||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||
| Open Access: | No | ||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||
| Volume: | 1 | ||||||||||||||||||
| DOI: | 10.1142/9789813232266_0005 | ||||||||||||||||||
| Page Range: | pp. 111-142 | ||||||||||||||||||
| Editors: |
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| Publisher: | WORLD SCIENTIFIC | ||||||||||||||||||
| Series Name: | The Encyclopedia of Medical Robotics | ||||||||||||||||||
| Status: | Published | ||||||||||||||||||
| Keywords: | surgical robotic demonstrator, medical robotics | ||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Multisensorielle Weltmodellierung (old), R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems | ||||||||||||||||||
| Deposited By: | Steidle, Florian | ||||||||||||||||||
| Deposited On: | 22 Nov 2019 09:15 | ||||||||||||||||||
| Last Modified: | 28 Mar 2023 23:55 |
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