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Prof. Dr.-Ing. Dr. h.c. Heinz Wörn

Professor im Ruhestand
Tel.: +49 721 608-44006
Fax: +49 721 608-47141
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Professor Wörn studierte Elektrotechnik an der Universität Stuttgart und promovierte dort am Institut für Werkzeugmaschinen mit seiner Arbeit zu dem Thema "Mehrprozessorsteuerungssystem für Werkzeugmaschinen mit standartisierten Schnittstellen". Im Anschluss arbeitete er bei KUKA Schweißanlagen und Roboter GmbH, wo er eine leitende Stellung in Forschung und Entwicklung inne hatte. Professor Wörn ist ein international anerkannter Experte für Roboter und Automation. Seine Erfahrung umfasst Roboteranwendungen, Robotersteuerungen und Sensoren für Roboter, sowie deren Programmmierung und Simulation. Seit 1997 leitet er das Institut für Prozessrechentechnik, Automation und Robotik der Universität Karlsruhe als Professor für "Komplexe Systeme in Automation und Robotik".

Forschungsgebiete

  • Planung, Programmierung, Steuerung, Diagnose und Sensorsysteme für Industrieroboter
  • Autonome, mobile Roboter, Mikroroboter, Serviceroboter, Teleroboter, Autonome Fahrzeuge
  • Planung und Simulation von Anlagen und Fabriken
  • Roboter- und sensorgestützte Chirurgie
  • Mikromontage
  • Modellierung komplexer Systeme in Produktion und Medizin

Generic System Architecture for Telemedical Applications

AutorO. Schorr, J. Raczkowsky, H. Wörn
Jahr2002
Veröffentlicht inEuropean Journal of Medical Research 7th International Conference on the Medical Aspects of Telemedicine Integration of Health Telematics into Medical Practice (Eur J Med Res 7 (Suppl I): 1-96 (2002))
EditorNerlich, Balas, Pedersen, Poropatich, Harris, Stanberry, Orlov, Bell
KurzfassungExisting solutions for telemedical applications are powerful but mostly proprietary and integration of new systems or functions is difficult. This paper presents a new architecture and communication design for medical applications which respects modularity, extensibility, maintenance and, most beneficial, offers a transparent possibility to use distribution of modules among different computers, platforms and operating systems. Our new architecture is designed to allow developers easy development of independent modules on different systems. The system architecture acts as framework and provides a platform for telemedical applications, thus. In our opinion, processes in computer assisted surgery (CAS) can be divided into six semantic main groups. These groups are namely transport, data abstraction (conversion of file formats), data processing, application (man-machine-interface), surgical workflow and surgical phase (pre-, intra- and postoperative phase). Our model orders these groups into hierarchically ordered layers, where the top layer represents the phase group and the bottom layer the transport group. The transport layer makes use of realtime CORBA provided by ACE/TAO and extends CORBA's functionality by event-mechanisms, watchdogs and XML. Each process in CAS can be represented in a module which fits inside our system architecture. Moreover, different modules can transparently communicate with each other without knowing about the real location of the communication partner. This enables to implement easy telemedical applications. According to layer models, communication between different layers of our architecture is done by accessing service access points (SAPs) provided by each layer. These SAPs are called LayerEngines and manage communication between layers and modules. They are responsible for information/data transfer. Data, requests and acknowledgements are exchanged through the LayerEngines. As modules request for a specific service rather than accessing a module directly, we transparently enable distribution of modules. LayerEngines know about the location of modules and manage to forward requests to the recipient regardless where the receiving module is located (on the same machine or somewhere else). Moreover, as we introduced layers, data objects which have to be passed between systems need to be propagated through all layers until they reach the basic transport layer. Therefore, we can process these data inside each layer according to protocol conventions (i.e. translate system specific file formats into defined XML-structure). Our approach allows us to connect different systems apart from their internal structure, algorithms or data formats. Moreover, the introduced layer model is a platform for distributed and therefore telemedical applications.
Bibtex@article{ ipr_1033467911, author = "{O. Schorr and J. Raczkowsky and H. W{{\"o}}rn}", title = "{Generic System Architecture for Telemedical Applications}", year = "2002", journal = "{European Journal of Medical Research 7th International Conference on the Medical Aspects of Telemedicine Integration of Health Telematics into Medical Practice (Eur J Med Res 7 (Suppl I): 1-96 (2002))}", pages = "73--74", }
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