ICRA'09 Paper Abstract


Paper FrA2.4

Konietschke, Rainer (DLR (German Aerospace Center)), Hagn, Ulrich (DLR German Aerospace Center), Nickl, Mathias (German Aerospace Center (DLR e.V.)), Joerg, Stefan (German Aerospace Center (DLR e.V.)), Tobergte, Andreas (German Aerospace Centre), Passig, Georg (German Aerospace Center), Seibold, Ulrich (DLR), Le Tien, Luc (German Aerospace Center (DLR)), Kuebler, Bernhard (German Aerospace Center (DLR)), Groeger, Martin (German Aerospace Center (DLR)), Fröhlich, Florian Alexander (DLR (German Aerospace Center)), Rink, Christian (German Aerospace Center), Alin, DLR - German Aerospace Center (105564), Markus, German Aerospace Center (DLR) (107073), Tobias, Leibniz University Hanover (101777), Gerd, German Aerospace Center (DLR) ()

The DLR MiroSurge - a Robotic System for Surgery

Scheduled for presentation during the Video Sessions "Video Session" (FrA2), Friday, May 15, 2009, 08:48−08:54, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Medical Robots and Systems, Compliance and Impedance Control, Force and Tactile Sensing


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.

In the presented minimally invasive robotic setup three MIROs guide an endoscopic stereo camera and two endoscopic instruments with force feedback sensors. The master console for teleoperation consists of an autostereoscopic monitor and force reflecting input devices for both hands.

Versatility is shown with two additional applications: For assistance in manual minimally invasive surgery a MIRO robot automatically guides the endoscope such that the surgical instrument is always in view. In a biopsy application the MIRO robot is positioning the needle with navigation system support.



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