Ulrich Hagn

TL;DR: In this article, the authors propose a minimally invasive instrument for robotic surgery including a functional element, a force, torque and/or pressure transmission device, a coupling device for coupling the instrument to a medical robot, and an operating element for manually operating the functional element in a state in which the instrument is uncoupled from the medical robot.

TL;DR: An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR and a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.

TL;DR: While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.

TL;DR: The DLR MIRO robot focuses on compact, slim and lightweight design to assist the surgeon directly at the operating table without interference, and integrates torque‐sensing capabilities to enable close interaction with human beings.

TL;DR: In this article, a method for controlling a robot arm, which is particularly suitable for use in medical applications, is used. But this method requires the robot arm to have a redundant number of joints and the torque acting in at least one joint is sensed.