Holger Weiss
German Aerospace Center
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Publication
Featured researches published by Holger Weiss.
Archive | 2004
Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Gerd Hirzinger; Robert Engelke
This paper presents measures for manipulability and accuracy that are specifically adapted to the conditions found in robotically assisted minimally invasive surgery. The considered robot consists of 9 active joints, thus allowing for full manipulability at the tool tip as well as null-space motion. The presented manipulability and positioning accuracy measures are based on an “inverse Jacobian” approach since the constraints at the entry point into the human body forbid a classic formulation. High significance of the measures is reached by including robot design parameters such as encoder resolution and maximum joint velocity.
Industrial Robot-an International Journal | 2004
Tobias Ortmaier; Holger Weiss; Volkmar Falk
Minimally invasive endoscopic surgery and minimally invasive surgery challenge surgical skills due to the operators separation from the surgical field and the requirements for long instruments with limited dexterity. To overcome the drawbacks of conventional endoscopic instruments computer‐enhanced telemanipulation systems and robotic systems have been developed in the past. This paper summarizes the requirements for minimally invasive robotic assisted surgery and describes a new robot that has been developed at the German Aerospace Center (DLR). The discussion includes a description of the robotic arm, the appropriate control laws, as well as the requirements for actuated and sensorized instruments.
Computer Aided Surgery | 2003
Holger Weiss; Tobias Ortmaier; Heiko Maass; Gerd Hirzinger; Uwe G. Kuehnapfel
To improve training facilities for surgeons, a surgical training system based on virtual reality techniques has been developed. The goal of the developed system is to improve education of surgeons by making the knowledge of expert surgeons directly available to trainees. The system realizes two different approaches: the library and the driving school paradigm. In its current form, the system consists of two modules. The main module combines the virtual reality kernel KISMET, a visual and haptic display, and a database of different operations and/or techniques. The master station is a copy of the input and output facilities of the main module. Both modules communicate by a TCP/IP-based connection. Initial tests demonstrated the feasibility of the chosen framework. Further developments include the gathering of data not only from virtual reality but also from real operations. Robotic-assisted surgery provides an attractive way of accomplishing this.
Archive | 2004
Rainer Konietschke; Holger Weiss; Tobias Ortmaier; Gerd Hirzinger
Archive | 2003
Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Robert Engelke; Gerd Hirzinger
Archive | 2004
Ulrich Seibold; Bernhard Kuebler; Holger Weiss; Tobias Ortmaier; Gerd Hirzinger
Archive | 2004
Holger Weiss; Tobias Ortmaier; G. Hirzinger
Archive | 2004
Barbara Deml; Tobias Ortmaier; Holger Weiss
computer assisted radiology and surgery | 2003
Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Robert Engelke; Gerd Hirzinger
Archive | 2003
Tobias Ortmaier; Holger Weiss; Gerd Hirzinger