Robert Haslinger

The DLR hand arm system

An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.

The DLR MIRO: a versatile lightweight robot for surgical applications

Purpose – Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems can be used in different surgical applications, control architectures and operating room set‐ups, but often still based on the adaptation of industrial robots. Space consumption, safety and adequacy of industrial robots in the unstructured and crowded environment of an operating room and in close human robot interaction are at least questionable. The purpose of this paper is to describe the DLR MIRO, a new versatile lightweight robot for surgical applications.Design/methodology/approach – The design approach of the DLR MIRO robot focuses on compact, slim and lightweight design to assist the surgeon directly at the operating table without interference. Significantly reduced accelerated masses (total weight 10 kg) enhance the safety of the system during close interaction with patient and user. Additionally, MIRO integrates torque‐sensing capabilities to enable close interaction with human beings ...

MICA - A new generation of versatile instruments in robotic surgery

Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost of care can be met if these systems are employable in a flexible manner for a large variety of procedures. To protect the initial investment the capabilities of a robotic system need to be expandable as new tasks arise.

A fiberoptic force-torque-sensor for minimally invasive robotic surgery

This document presents the design of a 6-degree of freedom fiberoptic force-torque-sensor for integration in instruments for minimally invasive robotic surgery. The measuring system based on fiber Bragg gratings as well as the calibration procedure are explained. Measurement properties of the sensor are verified in a test setup.

Fiber optic curvature sensor

A fiber optic curvature sensor based on discrete Fiber Bragg gratings inscribed in a multi-core fiber is presented. The individual cores of the multi-core fiber are each interrogated by a custom-built spectrometer running at up to 20 kHz. They are interfaced with a custom-tapered combiner of single-core fibers fusion spliced to the multi-core fiber. The curvature and bend direction for each fiber segment is obtained from the geometric relation of strain measurements in all interrogated fiber cores, thus eliminating temperature influences and minimizing noise. In order to reconstruct the shape of the measurement fiber, both constant curvature and spline interpolation using homogeneous transformation matrices are performed and compared to given free space equilibrium state solutions for a Kirchhoff elastic rod.