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Autonomy and Haptic Feedback in Minimally Invasive Robotic
Surgery
(#2001-6957 ... June 27, 2001)
T. Ortmaier1, M. Groeger1, U.
Seibold1, U. Hagn1, D. Boehm2,
H. Reichenspurner2, and G. Hirzinger1
1German Aerospace Center (DLR), Institute of
Robotics and Mechatronics, Wessling, Germany
2Klinikum Hamburg-Eppendorf, Department of Cardiac
Surgery, Hamburg, Germany
Presented at the Fourth Annual Scientific Meeting of the
International Society for Minimally Invasive Cardiac Surgery,
June 27-30, 2001, Munich, Germany.
ABSTRACT
This paper addresses the robotic surgery scenario at the German
Aerospace Center (DLR). The first part deals with the development
of new surgical instruments equipped with additional degrees of
freedom and force sensors which allow force control as well as
haptic feedback. The second part of this paper focuses on motion
measurement in beating heart surgery which is a prerequisite for
autonomous functions.
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