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Dive into the research topics where Holger Weiss is active.

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Featured researches published by Holger Weiss.


Archive | 2004

Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery

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

Design requirements for a new robot for minimally invasive surgery

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

A Virtual-Reality-Based Haptic Surgical Training System

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

A Preoperative Planning Procedure for Robotically Assisted Minimally Invasive Interventions

Rainer Konietschke; Holger Weiss; Tobias Ortmaier; Gerd Hirzinger


Archive | 2003

Optimal Design of a Medical Robot for Minimally Invasive Surgery

Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Robert Engelke; Gerd Hirzinger


Archive | 2004

Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery

Ulrich Seibold; Bernhard Kuebler; Holger Weiss; Tobias Ortmaier; Gerd Hirzinger


Archive | 2004

A New Robot for Minimally Invasive Surgery

Holger Weiss; Tobias Ortmaier; G. Hirzinger


Archive | 2004

Minimally Invasive Surgery: Empirical Comparison of Manual and Robot Assisted Force Feedback Surgery

Barbara Deml; Tobias Ortmaier; Holger Weiss


computer assisted radiology and surgery | 2003

Link Length Optimisation of a Medical Robot in Minimally Invasive Surgery

Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Robert Engelke; Gerd Hirzinger


Archive | 2003

Mechatronics and Autonomy in Minimally Invasive Robotic Surgery

Tobias Ortmaier; Holger Weiss; Gerd Hirzinger

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Barbara Deml

Karlsruhe Institute of Technology

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Heiko Maass

Karlsruhe Institute of Technology

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Ulrich Hagn

German Aerospace Center

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Uwe G. Kuehnapfel

Karlsruhe Institute of Technology

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