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Rainer Konietschke

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9 papers
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9

IROS Conference 2013 Conference Paper

Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery

  • Bastian Deutschmann
  • Rainer Konietschke
  • Alin Albu-Schäffer

In minimally invasive robotic surgery, slender instruments are used that provide additional degrees of freedom inside the human body. Kinematic limitations due to the instrument could endanger the secure execution of a surgical task. Numerous design alternatives are proposed in literature whereas few work is done that evaluates the performance of these instruments objectively. This paper presents a new method to evaluate alternative designs of instrument kinematics with respect to their ability to perform surgical tasks. Two specific criteria are set up accounting for the limited space during a minimally invasive intervention as well as for the ability to execute the desired task. The evaluation is based on task specific reference trajectories which are recorded in one orientation. During robotic surgery, arbitrary orientations of this area can occur. The method is able to handle this by rotating the acquired reference trajectories within software. The presented method is independent from the setup, i. e. the relative position and orientation of the area of interest with respect to the trocar location. Four different examples demonstrate the application of the method to show its usefulness.

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ICRA Conference 2011 Conference Paper

Optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgery

  • Rainer Konietschke
  • Tim Bodenmüller
  • Christian Rink
  • Andrea Schwier
  • Berthold Bäuml
  • Gerhard Hirzinger

This video presents the complete procedure for the optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgery. Two key features are implemented. First, optimization algorithms preoperatively determine several setups that are then rated and selected by the surgeon. Second, the intraoperative situation is taken into account. The newly developed VR-Map device together with fast registration and optimization algorithms enable a quick procedure to assure the optimal patient-specific setup of the robotic system.

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IROS Conference 2011 Conference Paper

Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors

  • Julian Klodmann
  • Rainer Konietschke
  • Alin Albu-Schäffer
  • Gerhard Hirzinger

This paper presents a method to calibrate the model of serial and flexible lightweight robots with joint sided torque sensors in the assembled state. The calibration is done in an iterative three-step process, based on static robot poses. In the first step the kinematics and stiffnesses of the flexible components are calibrated. Second the models of the integrated torque sensors are identified in a linear least square solution. In the third step the masses, the centers of gravity and the torque sensor offsets are estimated using linear regression. The calibration steps are repeated stepwise to account for their dependencies. The calibration procedure is simulated and experimentally performed with the medical lightweight robot MIRO of the German Aerospace Center. Through the iterative procedure the pose accuracy improves from about 5mm translational error and 2. 5 ° rotational error to 1mm and 0. 3 ° regarding the entire workspace.

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ICRA Conference 2009 Conference Paper

Inverse kinematics with closed form solutions for highly redundant robotic systems

  • Rainer Konietschke
  • Gerhard Hirzinger

This paper presents inverse position kinematics algorithms with real time capability for Justin, a robotic system with high redundancy and many degrees of freedom. The combination of closed form solutions for parts of the kinematic chain embedded in a nonlinear equation solver is shown to be advantageous. The algorithms are evaluated with DLR's robot Justin both in simulation and reality. Calculation times of 1 ms are achieved, including various optimization criteria for redundancy resolution. In case only a single arm with 7 DoF is considered, a fast calculation time of 250 µs is reached. With inclusion of an iterative step, reachability can be shown in more than 99% of the calculations regardless of the initial guess. The problem of weighting in multi-criteria optimization problems remains, though in the chosen approach the tool tip position is never compromised by other criteria due to the partially closed form solution. The presented algorithm can be applied to inverse position kinematics for all manipulators with serial or tree structure and redundant joints in case closed form solutions are available for parts of the kinematic chain.

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ICRA Conference 2009 Conference Paper

Planning and control of a teleoperation system for research in minimally invasive robotic surgery

  • Andreas Tobergte
  • Rainer Konietschke
  • Gerhard Hirzinger

This paper introduces the planning and control software of a teleoperation system for research in minimally invasive robotic surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom as a flexible configurable platform. Robot setup planning, force feedback control and nullspace handling with three robotic arms are considered. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is structured in hierarchical layers. Functions are arranged in the layers with respect to their domain and maximum response time. The design is flexible and expandable while performance is maintained. Structure, functionality and implementation of planning and control are described. The prototypic robotic system provides intuitive bimanual bilateral teleoperation within the planned working space.

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ICRA Conference 2009 Conference Paper

Rollin' Justin - Mobile platform with variable base

  • Christoph Borst 0001
  • Thomas Wimböck
  • Florian Schmidt 0001
  • Matthias Fuchs
  • Bernhard Brunner
  • Franziska Zacharias
  • Paolo Robuffo Giordano
  • Rainer Konietschke

Research on humanoid robots for use in servicing tasks, e. g. fetching and delivery, attracts steadily more interest. With “Rollin' Justin” a mobile robotic system and research platform is presented that allows sophisticated control algorithms and dexterous manipulation. This video gives an overview of the mobile humanoid robotic system “Rollin' Justin” with special emphasis on mechanical design features, control issues and high-level system capabilities such as human robot interaction.

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ICRA Conference 2009 Conference Paper

The DLR MiroSurge - A robotic system for surgery

  • Rainer Konietschke
  • Ulrich Hagn
  • Mathias Nickl
  • Stefan Jörg
  • Andreas Tobergte
  • Georg Passig
  • Ulrich Seibold
  • Luc Le Tien

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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ICRA Conference 2006 Conference Paper

A Hands-on-robot for Accurate Placement of Pedicle Screws

  • Tobias Ortmaier
  • Holger Weiss
  • Ulrich Hagn
  • Markus Grebenstein
  • Matthias Nickel
  • Alin Albu-Schäffer
  • Christian Ott 0001
  • Stefan Jörg

This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive man-machine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted

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IROS Conference 2006 Conference Paper

Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System

  • Rainer Konietschke
  • Tobias Ortmaier
  • Ulrich Hagn
  • Gerhard Hirzinger
  • Silvia Frumento

In this paper, a generic approach to optimize the design of an actuated carrier for the DLR multi-arm surgical system is presented. The carrier is attached to the ceiling of the operating room and provides additional degrees of freedom to the surgical robots with the purpose of automatic, optimal positioning of their bases as well as guaranteeing high stiffness. Standard workspaces of minimally invasive as well as open surgical procedures are considered and optimization criteria are derived. The minimum necessary degrees of freedom of the carrier are obtained as well as the optimal segment dimensions by use of an optimization with genetic algorithms

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