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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

Publikationsliste Prof. Wörn


A versatile hardware and software toolset for computer aided inspection planning of machine vision applications.
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326-335, Springer, Cham. doi:10.1007/978-3-319-67220-5_30
Image formation simulation for computer-aided inspection planning of machine vision systems.
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, SPIE, Bellingham (WA). doi:10.1117/12.2269166
CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems].
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426-439. doi:10.1515/auto-2017-0044
Probabilistic surface inference for industrial inspection planning.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008-1016, IEEE, Piscataway (NJ). doi:10.1109/WACV.2017.117
Deep Net Localization - Eavesdropping in mobile acoustic underwater sensor networks.
Neumann, S.; Oertel, D.; Wörn, H.
2017. Techno-Ocean 2016: Return to the Oceans. 16th Techno-Ocean, Techno-Ocean 2016; Kobe Convention CenterKobe; Japan; 6 October 2016 through 8 October 2016., 205-210, IEEE, Piscataway (NJ). doi:10.1109/Techno-Ocean.2016.7890647
Messtechnische Evaluation der Realisierbarkeit einer innovativen Umsetzung der Faser-Bragg-Gitter basierten Formsensorik.
Pauer, H.; Fischer, A.; Tuschmann, W.; Wörn, H.
2017. 5. Tagung Innovation Messtechnik -Innovative Metrology: Neuheiten in der Sensorwelt und in der Messelektronik sowie deren Anwendungsgebiete (Messtechnik und Sensorik). Hrsg.: B. Zagar, 18-23, Shaker Verlag, Herzogenrath
Polymer planar waveguide Bragg gratings: fabrication, characterization, and sensing applications.
Rosenberger, M.; Hessler, S.; Pauer, H.; Girschikofsky, M.; Roth, G. L.; Adelmann, B.; Woern, H.; Schmauss, B.; Hellmann, R.
2017. Integrated Optics: Devices, Materials, and Technologies XXI, San Francisco, CA, January 30 - February 1, 2017. Ed.: S.M. Garcia-Blanco, Article no 101061N, SPIE, Bellingham (WA). doi:10.1117/12.2249830
Self-localization by eavesdropping in acoustic underwater sensor networks.
Neumann, S.; Oertel, D.; Woern, H.
2017. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, September 19-21, 2016, 328-334, IEEE, Piscataway (NJ). doi:10.1109/MFI.2016.7849509
Konzeptionierung und Implementierung eines Interpretationssystem zur Situationserkennung in OP:Sense.
Schreiter, L.; Wörtwein, T.; Jöchner, M.; Hussain, J.; Wörn, H.; Raczkowsky, J.
2016. Tagungsband der 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) Bern, Switzerland, September 29 - October 1, 2016, 268-271, Der Andere Verlag, [Uelvesbüll], Stuttgart
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Random Forests.
Schreiter, L.; Philipp, P.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Beyerer, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 115-116
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Dynamic Bayesian Networks.
Philipp, P.; Schreiter, L.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Wörn, H.; Beyerer, J.
2016. Proceedings of the 6th Joint Workshop On New Technologies for Computer/Robot Assisted Surgery, CRAS 2016, Pisa, Italy, 12th - 14th September 2016
Intuitive workflow editor for OWL based semantic networks in medical environment.
Dürr, S.; Huck, A.; Schreiter, L.; Beyl, T.; Giehl, J.; Schwarz, M.; Raczkowsky, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 114-115
Semantic object-oriented programming (SOOP).
Weber, F.; Bihlmaier, A.; Wörn, H.
2016. 46. Jahrestagung der Gesellschaft fur Informatik - 46th Annual Meeting of the German Informatics Society, INFORMATIK 2016; Klagenfurt; Austria; 26 September 2016 through 30 September 2016. Ed.: H. C. Mayr, 313-326, Gesellschaft fur Informatik (GI), Bonn
Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141-150, De Gruyter Oldenbourg, Berlin. doi:10.1515/9783110494297-019
A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer.
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179-186, Eurographics Association, Aire-la-Ville. doi:10.2312/vmv.20161357
Endosnake—a single-arm-multi-port MIRS system with flexible instruments.
Mintenbeck, J.; Ledermann, C.; Estaña, R.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1107–1117, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_80
Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality.
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Ed.: J. Filipe, 247–266, Springer International Publishing, Cham. doi:10.1007/978-3-319-31898-1_14
Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions.
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1095–1105, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_79
Knowledge-based workspace optimization of a redundant robot for minimally invasive robotic surgery (MIRS).
Hutzl, J.; Bihlmaier, A.; Wagner, M.; Kenngott, H. G.; Muller, B. P.; Worn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 1403-1408, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418967
A three-armed slave-manipulator with snake-like instruments for laparoscopic surgery.
Mintenbeck, J.; Estana, R.; Worn, H.
2016. 12th IEEE International Conference on Control and Automation, ICCA 2016, Kathmandu, Nepal, 1 - 3 June 2016, 599-604, IEEE, Piscataway (NJ). doi:10.1109/ICCA.2016.7505343
Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room.
Beyl, T.; Nicolai, P.; Comparetti, M. D.; Raczkowsky, J.; De Momi, E.; Woern, H.
2016. International journal of computer assisted radiology and surgery, 11 (7), 1329-1345. doi:10.1007/s11548-015-1318-7
Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots.
Bihlmaier, A.; Stein, F.; Worn, H.
2016. IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech), Mauritius, 3–6 August 2016, 410–416, IEEE, Piscataway (NJ). doi:10.1109/EmergiTech.2016.7737376
Towards 1-component Bragg-grating based shape sensing.
Pauer, H.; Rosenberger, M.; Girschikofsky, M.; Hellmann, R.; Tuschmann, W.; Woern, H.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1909-1915, IEEE, Piscataway (NJ)
Reducing elevation angle errors of long-range deep-sea acoustic localization by ray tracing and depth measurements.
Oertel, D.; Neumann, S.; Worn, H.; Golz, M.; Waniek, J. J.
2016. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 12-15 July 2016, 178-183, IEEE, Piscataway (NJ). doi:10.1109/AIM.2016.7576763
A framework for uncertainty propagation in 3D shape measurement using laser triangulation.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2016. 2016 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2016, Taipei; Taiwan, 23 May 2016 through 26 May 2016, Art.Nr.: 7520324, IEEE, Piscataway, NJ. doi:10.1109/I2MTC.2016.7520324
Robot activity adaptation for safe human-robot collaboration based on probabilistic risk modeling.
Dittrich, F.; Woern, H.
2016. 18th Mediterranean Electrotechnical Conference, MELECON 2016, Limassol, Cyprus, 18 April 2016 through 20 April 2016, Art. Nr.: 7495378. doi:10.1109/MELCON.2016.7495378
Flexible Polymer Shape Sensor Based on Planar Waveguide Bragg Gratings.
Rosenberger, M.; Pauer, H.; Girschikofsky, M.; Woern, H.; Schmauss, B.; Hellmann, R.
2016. IEEE photonics technology letters, 28 (17), 1898 - 1901. doi:10.1109/LPT.2016.2574889
3D perception technologies for surgical operating theatres.
Beyl, T.; Schreiter, L.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Studies in health technology and informatics, 220, 45-50. doi:10.3233/978-1-61499-625-5-45
Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery.
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245-250. doi:10.3233/978-1-61499-625-5-245
A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario.
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291-296, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418782
Advanced ROS Network Introspection (ARNI).
Bihlmaier, A.; Hadlich, M.; Wörn, H.
2016. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 651-670, Springer, Cham. doi:10.1007/978-3-319-26054-9_25
A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room.
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2015. Journal of automation and control engineering, 3 (5), 410-417. doi:10.12720/joace.3.5.410-417
Failure recovery for modular robot movements without reassembling modules.
Vonásek, V.; Oertel, D.; Neumann, S.; Wörn, H.
2015. 10th International Workshop on Robot Motion and Control, RoMoCo 2015, Poznan, P, 136-141, IEEE, Piscataway, NJ. doi:10.1109/RoMoCo.2015.7219725
Wissensbasierter Ansatz zur Platzierung der Roboterbasisposition f¨ur die roboteruntert¨utzte minimal-invasive Chirurgie.
Hutzl, J.; Wagner, M.; Mietkowski, P.; Müller, B.; Kenngott, H. G.; Wörn, H.
2015. CURAC 2015 : Tagungsband; 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 17. - 19. September 2015, Bremen. Ed. H.K. Hahn, 111-116, Fraunhofer MEVIS, Bremen
Towards deep-sea monitoring with SMIS - Experimental trials of deep-sea acoustic localization.
Neumann, S.; Oertel, D.; Wörn, H.
2015. ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015 : 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 6 – 9 September 2015, HangZhou, China. Ed.: H. Su, 715-725, World Scientific Pub., NJ
Shape Sensing Based on FBG-Technology - Extension of the Application Possibilities Due to Innovative Sensor-Configurations.
Pauer, H.; Ledermann, C.; Raczkowsky, J.; Tuschmann, W.; Wörn, H.
2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems; Proceedings - Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA), Workshop IROS2015, September 28 - October 02, 2015, Hamburg, Germany. Ed.: W. Burgard, 14-15, IEEE, Piscataway (NJ)
Online motion planning for failure recovery of modular robotic systems.
Vonasek, V.; Neumann, S.; Oertel, D.; Wörn, H.
2015. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015; 26 May 2015 through 30 May 2015, Seattle, United States, 1905-1910, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2015.7139447
Low-level Robot Activity Adaptation in HRC Systems based on User-related Evidence.
Dittrich, F.; Wörn, H.
2015. IEEE Conference on Evolving and Adaptive Intelligent Systems (EAIS 2015), December 01, 2015 - December 03, 2015, Douai, France, 7 S.
Fiber Optical Sensor System for Shape and Haptics for flexible Instruments in Minimally Invasive Surgery - Status Quo.
Ledermann, C.; Pauer, H.; Wörn, H.
2015. Proceedings - Tagungsband der 4. Tagung Innovation Messtechnik : 28. Mai 2015, Wien, Austria. Hrsg.: B. Zagar, 16-21, Shaker Verlag, Aachen
A Concept for Multi-Phase Incremental Formal Verification in Robotic Guided Surgery.
Ulbrich, M.; Schreiter, L.; Grebing, S.; Raczkowsky, J.; Wörn, H.; Beckert, B.
2015. FTSCS 2015 Fourth International Workshop on Formal Techniques for Safety-Critical Systems, November 6 and 7, 2015 Paris, France
Wissensbasierte Assistenzrobotik: Autonome Endoskopführung basierend auf Lernen von r{ä}umlichem Know-How.
Bihlmaier, A.; Wagner, M.; Mietkowski, P.; Müller-Stich, B.; Kenngott, H.; Bodenstedt, S.; Speidel, S.; Wörn, H.
2015. CURAC 2015 : Tagungsband; 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 17. - 19. September 2015, Bremen. Ed. H.K. Hahn, 89-94, Fraunhofer MEVIS, Bremen
Wahrscheinlichkeitsbasierte Situationserkennung für den Einsatz robotergestützter Assistenz im Operationssaal.
Schreiter, L.; Berghöfer, E.; Raczkowsky, J.; Wörn, H.
2015. 4. Interdisziplinärer Workshop Kognitive Systeme, 23.-25. März 2015, Bielefeld, Germany
Validation of a Pseudo-Data-Generation-Software for FBG-Optical Fiber Based Shape Sensing.
Pauer, H.; Vojkovic, L.; Ledermann, C.; Tuschmann, W.; Wörn, H.
2015. Proceedings - Tagungsband der 4. Tagung Innovation Messtechnik : 28. Mai 2015, Wien, Austria. Hrsg.: B. Zagar, 64-69, Shaker Verlag, Aachen
Spatial Probability Distribution for Port Planning in Minimal Invasive Robotic Surgery (MIRS).
Hutzl, J.; Wörn, H.
2015. Proceedings of the 6th International Conference on Automation, Robotics and Applications, 17-19 Feb. 2015, Queenstown, New Zealand, 204-210, IEEE, Piscataway (NJ). doi:10.1109/ICARA.2015.7081148
ROS-based Cognitive Surgical Robotics.
Bihlmaier, A.; Beyl, T.; Nicolai, P.; Kunze, M.; Mintenbeck, J.; Schreiter, L.; Brennecke, T.; Hutzl, J.; Raczkowsky, J.; Wörn, H.
2015. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 317-342, Springer, Cham. doi:10.1007/978-3-319-26054-9_12
Pseudo-Data Generation Software for FBG-Optical Fiber Based Shape Sensing.
Pauer, H.; Ledermann, C.; Tuschmann, W.; Wörn, H.
2015. Proceedings - SENSOR 2015 the 17th International Conference on Sensors and Measurement Technology and IRS² (AMA Conferences), 19-21 May 2015 in Nuremberg, Germany, 525-530, AMA Service, Wunstorf
Processing Tracking Quality Estimations in a Mixed Local-Global Risk Model for Safe Human Robot Collaboration.
Dittrich, F.; Wörn, H.
2015. Proceedings of the Austrian Robotics Workshop 2015, ARW 2015, May 7-8, Klagenfurt, Austria, 55-56, Universität, Klagenfurt
Probabilistic Situation Detection for Human-Robot Interaction in an OP Lab Environment.
Schreiter, L.; Berghoefer, E.; Beyl, T.; Senger, L.; Raczkowsky, J.; Kirchner, F.; Wörn, H.
2015. CURAC 2015 Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V, 17.-19. September 2015, Bremen, Germany. Hrsg.: H. K. Hahn, 99-104, Fraunhofer MEVIS, Bremen
Probabilistic Modeling of Real-World Scenes in a Virtual Environment.
Dittrich, F.; Irgenfried, S.; Wörn, H.
2015. Proceedings of GRAPP 2015 - 10th International Conference on Computer Graphics Theory and Applications; VISIGRAPP, 11 March 2015 through 14 March 2015, Berlin; Germany. Ed.: P. Richard, 165-173, SciTePress, Lisbon
MAFRO: Ein semi-autonomes Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen.
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. Tagungsband, Proceedings KONTEC 2015 : 12th International Symposium "Conditioning of Radioactive Operational & Decommissioning Wastes" = 12. Internationales Symposium "Konditionierung Radioaktiver Betriebs- und Stilllegungsabfälle", Dresden, Germany, 25 - 27 März 2015 ; einschließlich 12. Statusbericht des BMBF "Stilllegung und Rückbau kerntechnischer Anlagen" 25.-27.03.2015, Dresden, CD-ROM
Learning Surgical Know-How: Dexterity for a Cognitive Endoscope Robot.
Bihlmaier, A.; Wörn, H.
2015. 7th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 7th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 15-17 July 2015, Angkor Wat, Siem Reap, Cambodia, 137-142, IEEE, Piscataway (NJ). doi:10.1109/ICCIS.2015.7274610
Hands-on Learning of ROS using Common Hardware.
Bihlmaier, A.; Wörn, H.
2015. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 29-50, Springer, Cham. doi:10.1007/978-3-319-26054-9_2
First Surgical Experience with a Learning Robot for Camera-Guidance in Cognition-Guided Laparoscopic Surgery: a Phantom Study.
Wagner, M.; Bihlmaier, A.; Mietkowski, P.; Bodenstedt, S.; Speidel, S.; Wörn, H.; Müller-Stich, B.; Kenngott, H.
2015. CURAC 2015 Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V, 17. - 19. September, Bremen, Germany. Hrsg.: H. K. Hahn, 97-98, Fraunhofer MEVIS, Bremen
CVVisual: Interactive Visual Debugging of Computer Vision Programs.
Bihlmaier, A.; Wörn, H.
2015. IEEE 20th Conference on Emerging Technology and Factory Automation (ETFA) 2015, 8-11 Sept. 2015, Luxembourg, Luxembourg, 1-6, IEEE, Piscataway (NJ). doi:10.1109/ETFA.2015.7301408
Continuous pre-calculation of human tracking with time-delayed ground-truth: A hybrid approach to minimizing tracking latency by combination of different 3D cameras.
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2015. Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - (Volume 2), 21-23 July 2015, Colmar, Alsace, France, 121-130, SciTePress 2015, Lisbon. doi:10.5220/0005548901210130
Cognitive Camera Robot for Cognition-Guided Laparoscopic Surgery.
Wagner, M.; Bihlmaier, A.; Mietkowski, P.; Bodenstedt, S.; Speidel, S.; Wörn, H.; Müller-Stich, B.; Kenngott, H. G.
2015. Proceedings of the Hamlyn Symposium on Medical Robotics 2015, London, UK, June 20-23, 2015. Ed.: G.Z. Yang, 23-24
Closed-loop control of a Flexible Instrument using an integrated FBG-based Shape Sensor.
Ledermann, C.; Mintenbeck, J.; Ding, Y.; Pauer, H.; Wörn, H.
2015. Proceedings of the 2th International Conference on Advanced Technology & Sciences, Antalya, Turkey, August 04-07, 2015. Ed.: O.F. Bay, 67-72, Aybil, Konya
Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction.
Escaida Navarro, S.; Hein, B.; Wörn, H.
2015. Soft robotics : transferring theory to application. Part II. Ed.: A. Verl, 54-65, Springer, Berlin. doi:10.1007/978-3-662-44506-8_6
A multimodal human machine interface for a robotic mobility aid.
Schneider, J.; Irgenfried, S.; Stork, W.; Wörn, H.
2015. Proceedings of The 6th International Conference on Automation, Robotics and Applications (ICARA 2015), 17-19 Feb. 2015, Queenstown, New Zealand. Ed.: D. Bailey, 289-294, IEEE, Piscataway (NJ). doi:10.1109/ICARA.2015.7081162
MAFRO: Ein semi-autonomens Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen.
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium 'Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle', Dresden, 25.-27.März 2015
Forschungsprojekt - Manipulatorgesteuertes Freimessen von Oberflächen (MAFRO).
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium 'Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle', Dresden, 25.-27.März 2015
Using the mutual exclusion protocol for safety in the area of robotic surgery.
Schreiter, L.; Mohammed, A.; Raczkowsky, J.; Woern, H.
2014. ICT Innovations 2014, Web Proceedings. Ed.: D. Gjorgjevikj, 123–132, ICT ACT, Skopje
Prototype of a Haptic Display for the Evaluation of Sensible Haptic Feedback in Remote Palpation.
Hergenhan, J.; Uhl, M.; Alagi, H.; Schirren, R.; Reiser, R.; Wörn, H.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA), Article no 68600135, IEEE, Piscataway, NJ. doi:10.1109/MeMeA.2014.6860135
Knowledge-based direction prediction to optimize the null-space parameter of a redundant robot in a telemanipulation scenario.
Hutzl, J.; Oertel, D.; Wörn, H.
2014. 12th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2014, Timisoara, RUM, October 16-18, 2014, 25-30, IEEE, Piscataway, NJ. doi:10.1109/ROSE.2014.6952978
A semi-autonomous manipulator system for decontamination and release measurement.
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Wörn, H.; Kern, P.; Gentes, S.
2014. 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014, 125-132, World Scientific, Singapore. doi:10.1142/9789814623353_0015
An introduction into robot organisms based on CoSMO modules.
Liedke, J.; Wörn, H.
2014. 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014, 233-240, World Scientific, Singapore. doi:10.1142/9789814623353_0028
Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions.
Weede, O.; Mohrle, F.; Worn, H.; Falkinger, M.; Feussner, H.
2014. 2nd IEEE International Conference on Artificial Intelligence, Modelling, and Simulation (AIMS); Madrid; Spain; 18 - 20 November 2014. Ed.: D. Al-Dabass, 97-102, IEEE, Piscataway (NJ). doi:10.1109/AIMS.2014.69
Realization and evaluation of image processing tasks based on synthetic sensor data: 2 use cases.
Irgenfried, S.; Dittrich, F.; Wörn, H.
2014. Forum Bildverarbeitung 2014. Hrsg.: F. Puente León, 35-46, KIT Scientific Publishing, Karlsruhe
Using ORMOCERs as casting material for a 3D shape sensor based on Fiber Bragg gratings.
Ledermann, C.; Pauer, H.; Woern, H.; Seyfried, M.; Domann, G.; Wolter, H.
2014. IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP'14), Singapore, Singapore, April 21-24, 2014, 1-6, IEEE, Piscataway (NJ). doi:10.1109/ISSNIP.2014.6827628
The Herd of Educational Robotic Devices (HERD): Promoting Cooperation in Robotics Education.
Bihlmaier, A.; Vollert, M.; Wörn, H.
2014. 4th International Workshop 'Teaching Robotics & Teaching with Robotics' (TRTWR'14) and International Conference 'Robotics in Education' (RiE'14), Padova, Italy, July 18, 2014
ROS-based Cognitive Surgical Robotics.
Bihlmaier, A.; Wörn, H.
2014. 13th International Conference on Intelligent Autonomous Systems (IAS'14), Padova, Italy, July 15-19, 2014
Robot Unit Testing.
Bihlmaier, A.; Wörn, H.
2014. Simulation, Modeling, and Programming for Autonomous Robots - 4th International Conference (SIMPAR'14), Bergamo, Italy, October 20-23, 2014. Ed.: D. Brugali, 255-266, Springer, Berlin. doi:10.1007/978-3-319-11900-7_22
Probabilistische Echtzeit-Situationserkennung im Operationssaal am Beispiel von OP:Sense.
Schreiter, L.; Senger, L.; Beyl, T.; Berghöfer, E.; Raczkowsky, J.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC'14), München, 11.-13. September 2014
Plausibility verification for situation awareness in safe human-robot cooperation.
Puls, S.; Worn, H.
2014. IEEE 23rd International Symposium on Robot and Human Interactive Communication (RO-MAN'14), Edinburgh, United Kingdom, August 25-29, 2014, 601-606, IEEE, Piscataway (NJ). doi:10.1109/ROMAN.2014.6926318
Non-linear compensation of production inaccuracies and material drift by adjusting the sensor data fusion algorithms for shape sensing based on FBG-optical fibers.
Pauer, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI'14), Beijing, China, September 28-29, 2014, 1-5, IEEE, Piscataway (NJ). doi:10.1109/MFI.2014.6997688
Motivation of a new approach for shape reconstruction based on FBG-optical fibers: Considering of the Bragg-gratings composition as a sensornetwork.
Pauer, H.; Ledermann, C.; Woern, H.
2014. IEEE Ninth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP'14), Singapore, Singapore, April 21-24, 2014, 1-5, IEEE, Piscataway (NJ). doi:10.1109/ISSNIP.2014.6827645
Increasing ROS Reliability and Safety through Advanced Introspection Capabilities.
Bihlmaier, A.; Wörn, H.
2014. INFORMATIK 2014 - 44. Jahrestagung der Gesellschaft für Informatik, Stuttgart, 22-26. September 2014
Hierarchical Task Networks as Domain Specific Language for Planning Surgical Interventions.
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2014. 13th International Conference on Intelligent Autonomous Systems (IAS'14), Padova, Italy, July 15-19, 2014
Fiber optical sensor system for shape and haptics for flexible instruments in minimally invasive surgery: overview and status quo.
Ledermann, C.; Pauer, H.; Wörn, H.
2014. 23rd International Conference on Optical Fibre Sensors, Santander, Spain, June 2-6, 2014. Ed.: J. M. Lopez-Higuera, 1-4, SPIE, Bellingham (Wash.). doi:10.1117/12.2059319
FBG-Greifkraftsensor für minimal invasive chirurgische Instrumente.
Ledermann, C.; Farhat, M.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC'14), München, 11.-13. September 2014
Einfluss und Messung von Vibrationen für die automatisierte Endoskopführung.
Bihlmaier, A.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC'14), München, 11.-13. September 2014
Context-Sensitive Natural Language Generation for Human Readable Event Logs based on Situation Awareness in Human-Robot Cooperation.
Puls, S.; Lemcke, D.; Wörn, H.
2014. 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI'14), Kuala Lumpur, Malaysia, November 12-15, 2014
Consistent Quality Evaluation Method for Shape Sensors based on FBG - Optical Fibers Used in Minimally Invasive Surgery.
Pauer, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. 17th ITG/GMA Symposium - Sensors and Measuring Systems, Nürnberg, June 3-4, 2014, 1-6, VDE-Verl., Berlin
Biomimetic tactile sensor based on Fiber Bragg Gratings for tumor detection - Prototype and results.
Ledermann, C.; Alagi, H.; Woern, H.; Schirren, R.; Reiser, S.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA'14), Lisbon, Portugal, June 11-12, 2014, 1-6, IEEE, Piscataway (NJ). doi:10.1109/MeMeA.2014.6860086
Automatisierte Endoskopführung - ein wissensbasiertes Robotiksystem.
Bihlmaier, A.; Wörn, H.
2014. 44. Kongress der Deutschen Gesellschaft für Endoskopie und Bildgebende Verfahren e.V., Hamburg, 3.-5. April 2014
Automated Endoscopic Camera Guidance: A Knowledge-Based System towards Robot Assisted Surgery.
Bihlmaier, A.; Wörn, H.
2014. 41st International Symposium on Robotics (ISR/Robotik'14), München, June 2-3, 2014, 1-6, VDE-Verl., Berlin
Application of contract-based verification techniques for hybrid automata to surgical robotic systems.
Schreiter, L.; Bresolin, D.; Capiluppi, M.; Raczkowsky, J.; Fiorini, P.; Woern, H.
2014. European Control Conference (ECC'14), Strasbourg, France, June 24-27, 2014, 1-6, IEEE, Piscataway (NJ). doi:10.1109/ECC.2014.6862231
Analyse der Anforderungen an Formsensoren zur Verwendung in der minimal-invasiven Chirurgie.
Pauer, H.; Kenngott, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC'14), München, 11.-13. September 2014, 109-112
An ultrasound-based navigation system for minimally invasive neck surgery.
Brennecke, T.; Jansen, N.; Raczkowsky, J.; Schipper, J.; Woern, H.
2014. Medicine Meets Virtual Reality - 21st NextMed/MMVR Conference, Manhattan Beach, California/USA, February 19-22, 2014. Ed.: J. D. Westwood, 36-42, IOS-Press, Amsterdam (Niederlande). doi:10.3233/978-1-61499-375-9-36
A Flexible Design for System Control and Communications in a Robotic Mobility Assistand for Handicapped Persons.
Irgenfried, S.; Schneider, J.; Wörn, H.; Stork, W.; Guhl, T.; Schellhase, M.
2014. 19th International Conference on Transformative Science & Engineering (SDPS'14), Kuching, Malaysia, June 15-19, 2014
A Technical system for physical activation of persons with mild cognitive impairment.
Stogl, D.; Hein, B.; Meyer, P.; Armbruster, O.; Irgenfried, S.; Wörn, H.
2014. Technische Unterstützung für Menschen mit Demenz : Symposium 30.09. - 01.10.2013. Hrsg.: T. Schultz, 123-143, KIT Scientific Publishing, Karlsruhe
Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements.
Notheis, S.; Hein, B.; Worn, H.
2014. IEEE International Conference on Robotics and Automation (ICRA'14), Hong Kong, China, May 31 - June 7, 2014, 5965-5970, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2014.6907738
Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement.
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Worn, H.; Kern, P.; Gentes, S.
2014. World Automation Congress (WAC'14), Waikoloa, Hawaii/USA, August 3-7, 2014, 54-59, IEEE, Piscataway (NJ). doi:10.1109/WAC.2014.6935654
6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors.
Escaida Navarro, S.; Schonert, M.; Hein, B.; Worn, H.
2014. IEEE/RSJ Intelligent Robots and Systems (IROS'14), Chicago, Illionois/USA, September 14-18, 2014, 7-14, IEEE, Piscataway (NJ). doi:10.1109/IROS.2014.6942533
Optical coherence tomography guided laser cochleostomy: towards the accuracy on tens of micrometer scale.
Zhang, Y.; Pfeiffer, T.; Weller, M.; Huber, R.; Raczkowsky, J.; Schipper, J.; Wörn, H.; Klenzner, T.
2014. BioMed Research International, 2014, 251814. doi:10.1155/2014/251814
Motion Control and Fall Prevention for an Active Walker Mobility Aid.
Irgenfried, S.; Wörn, H.
2014. New Advances in Mechanisms, Transmissions and Applications - Proceedings of the Second Conference (MeTrApp'13), Bilbao, Spain, October 2-4, 2013. Ed.: V. Petuya, 157-164, Springer Netherlands, Dordrecht. doi:10.1007/978-94-007-7485-8_20
Ein prozessbasiertes Controllerkonzept zur Steuerung eines digitalen OP-Saals am Beispiel von OP:Sense = A process-based controller concept for the control of a digital operating room using the example of OP:Sense.
Beyl, T.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2013. Proceedings of the CURAC (Computer- und Roboterassistierte Chirurgie) Annual Meeting (CURAC), Innsbruck, Austria, November 28-30, 2013. Ed.: B. Preim, 58-61, RWTH, Aachen
The OP : Sense Surgical Robotics Platform : First Feasibility Studies and Current Research.
Nicolai, P.; Brennecke, T.; Kunze, M.; Schreiter, L.; Beyl, T.; Zhang, Y.; Mintenbeck, J.; Raczkowsky, J.; Wörn, H.
2013. International journal of computer assisted radiology and surgery, 8 (1), 136-137
Modeling and verification of a robotic surgical system using Hybrid Input/Output Automata.
Capiluppi, M.; Schreiter, L.; Fiorini, P.; Raczkowsky, J.; Wörn, H.
2013. European Control Conference 2013 : Proceedings of the 12th International Conference, ECC 2013, Zurich, Switzerland, 17th - 19th July 2013, 4238-4243, IEEE, Piscataway (NJ)
Feasibility Studies for Robot Assisted Total Knee Arthroplasty Using a Light-weight-robot.
Böhme, A.; Beyl, T.; Raczkowsky, J.; Müller, C.; Wörn, H.
2013. 25th Conference of the International Society for Medical Innovation and Technology, SMIT 2013, Baden-Baden, Germany, September 5 - 7, 2013
System Concept for Collision : Free Robot Assisted Surgery Using Real-Time Sensing.
Raczkowsky, J.; Nicolai, P.; Hein, B.; Wörn, H.
2013. Frontiers of Intelligent Autonomous Systems. Ed.: S. Lee, 391-399, Springer, Berlin. doi:10.1007/978-3-642-35485-4_34
Development of a shape measurement method for the quality control of the navigation of medical endoscopes at the surgical site. Entwicklung einer Formerfassungsmethode zur Qualitätskontrolle der Navigation medizinischer Endoskope im OP-Situs.
Pauer, H.; Ledermann, C.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie. Annual Meeting of CURAC (Computer-und Roboterassistierte Chirurgie), CURAC 2013, Innsbruck, A, 28.-30. November 2013, 135-138
Arbeitsraumanaylse als Grundlage der Zugangsplanung.
Hutzl, J.; Kunze, M.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) - Innsbruck, 28.-30. November 2013. Hrsg.: W. Freysinger, 51-54, CURAC, Stuttgart
Vermessung eines haptischen Phantoms als Basis für die Entwicklung eines taktilen Sensors = Measurement of a haptic phantom as basis for the development of a tactile sensor.
Hergenhan, J.; Schirren, R.; Alagi, H.; Feussner, H.; Reiser, S.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie - CURAC 2013; Innsbruck; Austria; 28 - 30 November 2013. Ed.: B. Preim, 17-20, RWTH, Aachen
Tactile proximity sensors for robotic applications.
Geoger, D.; Alagi, H.; Wörn, H.
2013. IEEE International Conference on Industrial Technology (ICIT), Cape Town, South Africa, 25-28 Feb. 2013, 978 - 983, IEEE, Piscataway (NJ). doi:10.1109/ICIT.2013.6505804
View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation.
Notheis, S.; Hein, B.; Wörn, H.
2013. 1st Workshop on Industrial Mobile Assistance Robots (IMAR'13), Karlsruhe, June 6, 2013
Towards Cognitive Medical Robotics in Minimal Invasive Surgery.
Weede, O.; Bihlmaier, A.; Hutzl, J.; Müller-Stich, B. P.; Wörn, H.
2013. Conference on Advances in Robotics (AIR'13), Pune, India, July 4-6, 2013, 1-8, ACM, New York (NY). doi:10.1145/2506095.2506137
Towards building a miniaturized shape sensor: Building process of a shape sensor for use in single port surgery.
Pauer, H.; Ledermann, C.; Weede, O.; Woern, H.
2013. 7th International Conference on Sensing Technology (ICST'13), Wellington, New Zealand, December 3-5, 2013, 549-554, IEEE, Piscataway (NJ). doi:10.1109/ICSensT.2013.6727713
Surgical robotics and instrumentation.
Nicolai, P.; Brennecke, T.; Kunze, M.; Schreiter, L.; Beyl, T.; Zhang, Y.; Mintenbeck, J.; Raczkowsky, J.; Wörn, H.
2013. International journal of computer assisted radiology and surgery, 8 (1), 127-139. doi:10.1007/s11548-013-0861-3
The Collective Self-reconfigurable Modular Organism (CoSMO).
Liedke, J.; Matthias, R.; Winkler, L.; Worn, H.
2013. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'13), Wollongong, Australia, July 9-12, 2013, 1-6, IEEE, Piscataway (NJ). doi:10.1109/AIM.2013.6584059
Tactile sensor on a magnetic basis using novel 3D Hall sensor - First prototypes and results.
Ledermann, C.; Wirges, S.; Oertel, D.; Mende, M.; Woern, H.
2013. IEEE 17th International Conference on Intelligent Engineering Systems (INES'13), San Jose, California/USA, June 19-21, 2013, 55-60, IEEE, Piscataway (NJ). doi:10.1109/INES.2013.6632782
Situation Dependent Risk Estimation for Workspace-Sharing Human-Robot Cooperation.
Puls, S.; Wörn, H.
2013. IADIS International Conference Intelligent Systems and Agents, Prague Czech Republic, July 22-24, 2013
Simulation Tool for 3D Shape Sensors Based on Fiber Bragg Gratings and Optimization of Measurement Points.
Ledermann, C.; Pauer, H.; Weede, O.; Wörn, H.
2013. 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM'13), Manila, Philippines, November 12-15, 2013
Seamless Interfacing: Situation Awareness through Action Recognition and Spatio-Temporal Reasoning.
Puls, S.; Wörn, H.
2013. Emerging Research and Trends in Interactivity and the Human-Computer Interface. Ed.: K. Blashki, 144-159, IGI Global, Hershey (PA). doi:10.4018/978-1-4666-4623-0.ch007
Rotatable flexible neck-model for the evaluation of minimally invasive operation procedures with the help of an ultrasound-based navigation system.
Jansen, N.; Brennecke, T.; Hirschfeld, J.; Colter, L.; Raczkowsky, J.; Woern, H.; Schipper, J.
2013. 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'13), Osaka, Japan, July 3-7, 2013, 1140-1143, IEEE, Piscataway (NJ). doi:10.1109/EMBC.2013.6609707
Partial View Geometric Reconstruction of Objects with Rotational and Planar Symmetries for Grasping Tasks.
Escaida Navarro, S.; Gräter, J.; Pauer, H.; Hein, B.; Wörn, H.
2013. 16th International Conference on Advanced Robotics (ICAR'13), Montevideo, Uruguay, November 25-29, 2013
Multi Kinect People Detection for Intuitive and Safe Human Robot Cooperation in the Operating Room.
Beyl, T.; Nicolai, P.; Comparetti, M. D.; De Momi, E.; Raczkowsky, J.; Wörn, H.
2013. 16th International Conference on Advanced Robotics (ICAR'13), Montevideo, Uruguay, November 25-29, 2013
Knowledge-Based Planning of Port Positions for Minimally Invasive Surgery.
Weede, O.; Wünscher, J.; Kenngott, H.; Müller-Stich, B.-P.; Wörn, H.
2013. 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM'13), Manila, Philippines, November 12-15, 2013
Incorporating Online Process Mining Based on Context Awareness into Human-Robot-Cooperation Framework.
Puls, S.; Lotspeich, B.; Wörn, H.
2013. INTELLI 2013 - Second International Conference on Intelligent Systems and Applications, Venice, Italy, April 21-26, 2013. Ed.: M. Negnevitsky, 89-94, Curran Associates, New York (NY)
Identifying Objectives and Execution Planning for Safe Human-Robot Cooperation.
Puls, S.; Giffhorn, C.; Wörn, H.
2013. 16th Portuguese Conference on Artificial Intelligence (EPIA'13), Azores, Portugal, September 9-12, 2013. Ed.: L. M. Reis, 252--263, Springer, Berlin
History compounding: a novel speckle reduction technique for OCT guided cochleostomy.
Zhang, Y.; Pfeiffer, T.; Wieser, W.; Weller, M.; Huber, R.; Klenzner, T.; Raczkowsky, J.; Wörn, H.
2013. Optical Coherence Tomography and Coherence Domain Optical Methods in Biomedicine XVII. Ed.: J. G. Fujimoto, 1-6, SPIE, Bellingham (Wash.). doi:10.1117/12.2006979
Automated planning as a new approach for the self-reconfiguration of mobile modular robots.
Bihlmaier, A.; Winkler, L.; Worn, H.
2013. 9th Workshop on Robot Motion and Control (RoMoCo'13), Kuslin, Poland, July 3-5, 2013, 60-65, IEEE, Piscataway (NJ)
An Automated Instrument as Component of a Cognitive Medical Robotic System for Minimal Invasive Surgery.
Hutzl, J.; Bihlmaier, A.; Weede, O.; Wörn, H.
2013. Conference of the International Society for Medical Innovation and Technology (iSMIT'13), Baden-Baden, September 5-7, 2013
An alternative locomotion unit for mobile modular self-reconfigurable robots based on archimedes screws.
Liedke, J.; Winkler, L.; Worn, H.
2013. 9th International Symposium on Mechatronics and its Applications (ISMA'13), Amman, Jordania, April 9-11, 2013, 1-6, IEEE, Piscataway (NJ). doi:10.1109/ISMA.2013.6547397
A Knowledge-based Robotic System as Automated Endoscopic Camera Guidance.
Bihlmaier, A.; Wörn, H.
2013. DGR-Tage, München, 7.-8. Oktober 2013 [Konferenz]
A Framework for the Automatic Generation of Self-Reconfigurable Robot Organisms and the Optimization of the Gait for these Organisms.
Winkler, L.; Neumann, S.; Wörn, H.
2013. 2013 IEEE Conference on Control, Systems & Industrial Informatics (ICCSII), Bandung, Indonesia, June 23-26, 2013
View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation.
Notheis, S.; Hein, B.; Wörn, H.
2013. IEEE International Conference on Robotics and Automation (ICRA'13), Karlsruhe, May 6-10, 2013
Methods for safe human-robot-interaction using capacitive tactile proximity sensors.
Navarro, S. E.; Marufo, M.; Ding, Y.; Puls, S.; Goger, D.; Hein, B.; Worn, H.
2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, November 3-7, 2013, 1149-1154, IEEE, Piscataway (NJ). doi:10.1109/IROS.2013.6696495
EuRoSurge - Koordinierung des Forschungsfelds der kognitiven Roboter Chirurgie.
Schreiter, L.; Jörg Raczkowsky; Wörn, H.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. (CURAC), Düsseldorf, Germany, November 15, 2012. Ed.: B. Preim, 211-213, RWTH, Aachen
Reproduzierbar rotationsfähiges Halsphantom zur Evaluation minimalinvasiver operativer Techniken mittels eines Ultraschall-gestützten Navigationssystems.
Jansen, N.; Hirschfeld, J.; Brennecke, T.; Colter, L.; Raczkowsky, J.; Wörn, H.; Schipper, J.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, CEUR-WS, Aachen
Optical Coherence Tomography as a Tracking Device for OCT Guided Laser Cochleostomy : Algorithm and First Results.
Zhang, Y.; Pfeiffer, T.; Ding, J.; Wieser, W.; Weller, M.; Huber, R.; Raczkowsky, J.; Wörn, H.; Klenzner, T.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, 136-140, CEUR-WS, Aachen
Ein Kinect basiertes Überwachungssystem für Workflowerkennung und Gestensteuerung im Operationssaal.
Beyl, T.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, CEUR-WS, Aachen
A Concept for Safe Human Robot Cooperation in Surgical Applications Based on 3D Sensing.
Beyl, T.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2012. IROS 2012 - Workshops and Tutorials : Celebrating 25 Years of IROS, Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 7th - 12th October 2012. Ed.: J. Lobo, IEEE, Piscataway (NJ)
Knowledge-based system for port placement and robot setup optimization in minimally invasive surgery.
Weede, O.; Mehrwald, M.; Wörn, H.
2012. 10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 - 7 September 2012, 722-728. doi:10.3182/20120905-3-HR-2030.00038
Robustness, Scalability and Flexibility: Key-Features in Modular Self-Reconfigurable Mobile Robotics.
Matthias, R.; Bihlmaier, A.; Wörn, H.
2012. 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 457 - 463, IEEE Computer Society, Washington
Object Recognition Based on Depth Information and Associative Memory.
Puls, S.; Schnorr, N.; Wörn, H.
2012. 2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE), 186-191, IEEE Computer Society, Washington
Haptic feedback in OP:Sense - augmented reality in Telemanipulated robotic surgery.
Beyl, T.; Nicolai, P.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2012. Studies in health technology and informatics, 173, 58-63. doi:10.3233/978-1-61499-022-2-58
Cognitive Robotics in Industrial Environments.
Puls, S.; Graf, J.; Wörn, H.
2012. Human Machine Interaction - Getting Closer. Ed.: I. Maurtua, 213-234, InTech, Rijeka. doi:10.5772/28130
Multi-Fingered Reactive Grasping with Active Guided Camera Systems.
Wörn, H.; Irgenfried, S.; Haase, T.
2012. Proceedings of the 27th Annual ACM Symposium on Applied Computing, March 26-30, 2012, 268-273, ACM, New York
Haptic Object Recognition for Multi-Fingered Robot Hands.
Escaida Navarro, S.; Gorges, N.; Schill, J.; Asfour, T.; Wörn, H.; Dillmann, R.
2012. 2012 IEEE Haptics Symposium (HAPTICS), 4-7 March 2012, 497 - 502, IEEE Computer Society, Los Alamitos. doi:10.1109/HAPTIC.2012.6183837
Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks.
Escaida Navarro, S.; Klock, T.; Braun, D.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1-6, VDE Verlag, Berlin
Towards an Autonomous Manipulator System for Decontamination and Release Measurement.
Notheis, S.; Kern, P.; Mende, M.; Hein, B.; Wörn, H.; Gentes, S.
2012. 2012 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (MESA), 8-10 July 2012, 263 - 268, IEEE Computer Society, Los Alamitos
Efficient Monitoring of Process Plants by Telepresence and Attention Guidance.
Connette, C.; Arbeiter, G.; Meßmer, F.; Hägele, M.; Verl, A.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1-4, VDE Verlag, Berlin
AR-based Approach for Evaluation of new Model-based Control Algorithms.
Notheis, S.; August, W.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1-5, VDE Verlag, Berlin
Ultrasound Tomography Using a Light Weight Robot.
Beyl, T.; Brennecke, T.; Raczkowsky, J.; Wörn, H.
2011. International journal of computer assisted radiology and surgery, 6 (1)
OP:Sense : Eine Rapid Development Umgebung für die Entwicklung in der robotergestützten Chirurgie.
Mönnich, H.; Nicolai, P.; Beyl, T.; Raczkowsky, J.; Wörn, H.
2011. CURAC 2011 : Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Magdeburg, Deutschland, 15. - 16. September 2011. Hrsg.: O. Burgert, 41-44, CEUR-WS, Achen
A Semi-Autonomous Robotic Teleoperation Surgery Setup with Multi 3D Camera Supervision.
Mönnich, H.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2011. International journal of computer assisted radiology and surgery, 6 (1), 132-133
3D-Überwachung des OP-Saals : Stören sich PMD-Kameras, Trackingsysteme und Spielkonsolenzubehör?.
Nicolai, P.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2011. CURAC 2011 : Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Magdeburg, Deutschland, 15. - 16. September 2011. Hrsg.: O. Burgert, 165-169, CEUR-WS, Achen
Design and Evaluation of Description Logics based Recognition and Understanding of Situations and Activities for Safe Human-Robot Cooperation.
Puls, S.; Wörn, H.
2011. International journal on advances in intelligent systems, 4 (3-4), 218-227
The Robot Formation Language - A formal description of formations for collective robots.
Winkler, L.; Kettler, A.; Szymanski, M.; Wörn, H.
2011. 2011 IEEE Symposium on Swarm Intelligence (SIS), 11-15 April 2011, 102-109, IEEE Computer Society, Washington. doi:10.1109/SIS.2011.5952577
OP:Sense - An Integrated Rapid Development Environment in the Context of Robot Assisted Surgery and Operation Room Sensing.
Nicolai, P.; Beyl, T.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2421 - 2422, IEEE Computer Society, Washington
The Wanda Robot and Its Development System for Swarm Algorithms.
Kettler, A.; Szymanski, M.; Wörn, H.
2011. Advances in Autonomous Mini Robots - Proceedings of the 6-th AMiRE Symposium. Ed.: U. Rückert, 133-146, Springer, Berlin
Techniques for Robotic Force Sensor Calibration.
Braun, D.; Wörn, H.
2011. Vestnik UGATU, 15 (4 (44), 218-223
Sorting Boxes with a Robotic Swarm: An Analysis by Means of Experiment, Simulation and Model.
Kettler, A.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 7-11 Dec. 2011, 865 - 870, IEEE Comupter Society, Washington
Haptic object recognition using statistical point cloud features.
Gorges, N.; Escaida Navarro, S.; Wörn, H.
2011. 2011 15th International Conference on Advanced Robotics (ICAR), 20-23 June 2011, 15 - 20, IEEE Computer Society, Los Alamitos
CADaVISION: A Simulation Framework for Machine Vision Prototyping.
Irgenfried, S.; Tchouchenkov, I.; Wörn, H.
2011. Brno University of Technology, Faculty of Information Technology: CSSim 2011, 2nd International Conference on Computer Modelling and Simulation. CD-ROM : Brno, Czech Republic, 5 - 7 September 2011 Brno: Brno University of Technology, Faculty of Information Technology, 2011, 59-67, University of Technology, Brno
A supervision system for the intuitive usage of a telemanipulated surgical robotic setup.
Mönnich, H.; Nicolai, P.; Beyl, T.; Raczkowsky, J.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 7-11 Dec. 2011, 449-454, IEEE Computer Society, Los Alamitos
A framework for Boltzmann-type models of robotic swarms.
Kettler, A.; Wörn, H.
2011. 2011 IEEE Symposium on Swarm Intelligence (SIS), 11-15 April 2011, 1-8, IEEE Computer Society, Los Alamitos
A Distance and Diversity Measure for Improving the Evolutionary Process of Modular Robot Organisms.
Winkler, L.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2102 - 2107, IEEE Computer Society, Los Alamitos
3D Pendulum Swinging Control by an Industrial Robot Manipulator.
August, W.; Ren, J.; Notheis, S.; Haase, T.; Hein, B.; Wörn, H.
2011. Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, 1-7, VDE Verlag, Berlin
Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery.
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Schipper, J.; Klenzner, T.; Wörn, H.
2010. Robotics Science and Systems 2010: Workshop on Enabling Technologies for Image-Guided Robotic Interventional Procedures, Zaragoza, Spain, 28th June 2010. Ed.: G. Fischer, 18-21
Results of CO₂ robotic laser oseotomy in surgery with motion compensation.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. Proceedings of SPIE BiOS : Photonic Therapeutics and Diagnostics VI, San Francisco, California, USA, 23rd - 28th January 2010. Ed.: A. Mahadevan-Jansen, Art.Nr. 75484A, SPIE, Bellingham (WA). doi:10.1117/12.840645
Including high-distortion radial effects into low-distortion perturbative solutions in an intuitive camera calibration model.
Ciucci, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International journal of computer assisted radiology and surgery, 5 (1)
Calibration Method for a Robot Mounted Droplet Dispensing System.
Mehrwald, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International journal of computer assisted radiology and surgery, 5 (1), 314-315
Überwachung eines Operationssaals für die kooperative robotergestützte Chirurgie mittels neuartiger Tiefenbildkameras.
Nicolai, P.; Mönnich, H.; Raczkowsky, J.; Wörn, H.; Bernshausen, J.
2010. CURAC 2010 : Chirurgische Interventionen - Vom Neanderthaler zur Roboterassistenz, Tagungsband der 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Düsseldorf, Germany, 18th - 19th November 2010. Hrsg.: O. Burgert, 45-49, Der Andere Verlag, Marburg
Analysis of the short-pulsed CO₂ laser ablation process for optimizing the processing performance for cutting bony tissue.
Mehrwald, M.; Burgner, J.; Platzek, C.; Feldmann, C.; Raczkowsky, J.; Wörn, H.
2010. Proceedings of SPIE BiOS : Optical Interactions with Tissues and Cells XXI, San Francisco, California, United States, 23rd - 28th January 2010, Art.Nr. 75620P, SPIE, Bellingham (WA). doi:10.1117/12.841981
Accurate Object Throwing by an Industrial Robot Manipulator.
August, W.; Wäldele, S.; Hein, B.; Wörn, H.
2010. Proceedings of the Australasian Conference on Robotics and Automation 2010, ACRA 10, Brisbane, Australia, 1st - 3rd December 2010. Ed.: G. Wyeth, 74-81, Curran, Red Hook (NY)
3D Measurement of Moving Objects using Quotient Image Stereo.
Bakirov, T.; Irgenfried, S.; Safronov, K.; Tchouchenkov, I.; Wörn, H.
2010. Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010 (ISR/ROBOTIK), Munich, Germany, 7-9 June 2010. Vol.: 1, 130-135, Curran, Red Hook (NY)
Visual Grasping Using Passive Joints and Clustered SIFT-Features.
Gorges, N.; Haase, A.; Woern, H.
2010. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 1-8, IEEE Computer Society, Washington
Security Concepts for Underwater Production Control Systems.
Wörn, H.; Tchouchenkov, I.; Reimann, G.; Braun, D.
2010. 2010 International Conference on Emerging Security Technologies (EST), 6-7 Sept. 2010, 113 - 118, IEEE Computer Society, Washington
Model Checking for Robotic Guided Surgery.
Mönnich, H.; Raczkowsky, J.; Wörn, H.
2010. Electronic Healthcare : Second International ICST Conference, eHealth 2009, Istanbul, Turkey, September 23-25, 2009, Revised Selected Papers. Ed.: P. Kostkova, 1-4, Springer, Berlin
Introducing Wanda - A new robot for research, education, and Arts.
Kettler, A.; Szymanski, M.; Liedke, J.; Wörn, H.
2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 18-22 Oct. 2010, 4181 - 4186, IEEE Computer Society, Washington
Low-distortion perturbative solutions in a camera calibration model including high-distortion radial effects.
Ciucci, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International Journal of Computer Assisted Radiology and Surgery, 5 (4), 327-333. doi:10.1007/s11548-010-0483-y
Haptic object recognition using passive joints and haptic key features.
Gorges, N.; Escaida Navarro, S.; Goeger, D.; Woern, H.
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010, 2349 - 2355, IEEE Computer Society, Washington
Haptic object exploration using attention cubes.
Gorges, N.; Fritz, P.; Wörn, H.
2010. Proceeding KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence, 349-357, Springer, Berlin
Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich - Visionen und Konzepte.
Brennecke, T.; Burgner, J.; Wörn, H.; Schipper, J.; Klenzner, T.; Tretbar, S.; Raczkowsky, J.; Beyl, T.; Günther, C.; Kahrs, L.
2010. Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie -CURAC-:Chirurgische Interventionen. Vom Neanderthaler zur Roboterassistenz : 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), 18. bis 19. November 2010; proceedings, 203-206, Der Andere Verlag, Uelvesbüll
An automatic and complete self-calibration method for robotic guided laser ablation.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010, 1086 - 1087, IEEE Computer Society, Washington
A tactile proximity sensor.
Goeger, D.; Blankertz, M.; Woern, H.
2010. 2010 IEEE sensors : Waikoloa, Hawaii, USA, 1 - 4 November 2010 ; the Ninth IEEE Sensors Conference 2010, 589 - 594, IEEE, Piscataway (NJ)
A simulation framework for complex automation systems.
Braun, D.; Reimann, G.; Tchouchenkov, I.; Wörn, H.
2010. 2010 International Conference on Mechatronics and Automation (ICMA), 4-7 Aug. 2010, 605 - 610, IEEE Computer Society, Washington
A Cognitive Path-Guidance-System for Minimally Invasive Surgery.
Weede, O.; Stein, D.; Gorges, N.; Müller, B.; Wörn, H.
2010. 2010 8th International Symposium on Intelligent Systems and Informatics (SISY), 10-11 Sept. 2010, 139 - 144, IEEE Computer Society, Washington
Skill-based telemanipulation by means of intelligent robots.
Notheis, S.; Milighetti, G.; Hein, B.; Wörn, H.; Beyerer, J.
2010. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on; 18-22 Oct. 2010, 5258 - 5263, IEEE Computer Society, Los Almitos
A Real-Time Wearable Projector-Wiimote-System for Augmented Reality Interaction Scenarios on Plane Objects.
Steiger, A.; Hein, B.; Wörn, H.
2010. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 1-6, IEEE Computer Society, Los Alamitos
Automatisierte Bestimmung von Merkmalen zur Bewertung minimal invasiver Eingriffe an einem Pelvitrainer basierend auf Positionsdaten und einer Segmentierung.
Boll, M. T.; Weede, O.; Kühnapfel, U.; Bretthauer, G.; Wörn, H.
2010. Riener, R. [Hrsg.] Automatisierungstechnische Verfahren für die Medizin : 9.Workshop, Zürich, CH, 29.-30.Oktober 2010 Düsseldorf : VDI-Verl., 2010 (Fortschritt-Berichte VDI : Reihe 17: Biotechnik/Medizintechnik ; 279)
Automatisierte Bestimmung von Merkmalen zur Bewertung minimal invasiver Eingriffe an einem Pelvitrainer basierend auf Positionsdaten und einer Segmentierung.
Boll, M. T.; Weede, O.; Kühnapfel, U.; Bretthauer, G.; Wörn, H.
2010. Riener, R. [Hrsg.] Automatisierungstechnische Verfahren für die Medizin : 9.Workshop, Zürich, CH, 29.-30.Oktober 2010 Düsseldorf : VDI-Verl., 2010 (Fortschritt-Berichte VDI : Reihe 17: Biotechnik/Medizintechnik ; 279), 61-62
Using Blender for Visualization of Robot Guided Medical Interventions.
Mehrwald, M.; Mönnich, H.; Stein, D.; Kane, G.; Christian, T.; Raczkowsky, J.; Wörn, H.
2009. Proceedings of the Blender Conference 2009, Amsterdam, Netherlands, 28th - 30th October 2009
System Architecture for Workflow Controlled Robotic Surgery.
Mönnich, H.; Botturi, D.; Raczkowsky, J.; Wörn, H.
2009. Proceedings of the 7th International Conference on Information Communication Technologies in Health, ICICTH 2009, Samos Island, Greece, 16th - 18th July 2009, 345-352, National and Kapodistrian University
Setup and Experimental Trial for Robot-assisted Laser Cochleostomy.
Burgner, J.; Knapp, F. B.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.; Schipper, J.; Klenzner, T.
2009. International journal of computer assisted radiology and surgery, 4 (1), 1864-1865
Motion Compensation for Laser Osteotomy with a Lightweight Robot and a Fixed Visual Servoing Configuration.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. IASTED International Conference on Robotics, Telematics and Applications, RTA 2009, Beijing, China, 12th - 14th October 2009. Ed.: H. Ma
A Hand Guided Robotic Planning System for Laser Osteotomy in Surgery.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. World Congress on Medical Physics and Biomedical Engineering : Surgery, Nimimal Invasive Interventions, Endoscopy and Image Guided Therapy, Munich, Germany, 7th - 12th September 2009. Ed.: O. Dössel, 59-62, Springer, Berlin. doi:10.1007/978-3-642-03906-5_17
Analysis of the available work space for keyhole surgery at the lateral skull base.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2009. International journal of computer assisted radiology and surgery, 4 (1)
Ein Prozess- und Architekturmodell für die Computer-Assistierte Chirurgie.
Schorr, O.; Pernozzoli, A.; Haag, C.; Brief, J.; Raczkowsky, J.; Haßfeld, S.; Wörn, H.
2009. Biomedizinische Technik/Biomedical Engineering, 47 (1), 86-89
Visual Servoing with an optical tracking system and a lightweight robot for laser osteotomy.
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2009. IEEE International Conference on Control and Automation, 2009, 9-11 Dec. 2009, 1896 - 1900, IEEE Computer Society, Washington
Tactile sensor and algorithm to detect slip in robot grasping processes.
Goeger, D.; Ecker, N.; Woern, H.
2009. IEEE International Conference on Robotics and Biomimetics, 2008. ROBIO 2008, 22-25 Feb. 2009, 1480 - 1485, IEEE Computer Society, Washington
Tactile sensing for an anthropomorphic robotic hand: hardware and signal processing.
Göger, D.; Gorges, N.; Wörn, H.
2009. Proceeding ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation, 2972-2978, IEEE Press, Piscataway
System for Laser Osteotomy in Surgery with the Kuka Lightweight Robot - First Experimental Results.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany, Springer, Berlin
Symbricator3D - A Distributed Simulation Environment for Modular Robots.
Winkler, L.; Wörn, H.
2009. Intelligent Robotics and Applications, 1266-1277, Springer, Berlin
Static compensation for wrist mounted force torque sensor.
Tauro, R. A.; Kaiser, B.; Wörn, H.
2009. Proceeding INES'09 Proceedings of the IEEE 13th international conference on Intelligent Engineering Systems, 105-109, IEEE Press, Piscataway
Planning and simulation of microsurgical laser bone ablation.
Kahrs, L. A.; Burgner, J.; Klenzner, T.; Raczkowsky, J.; Schipper, J.; Wörn, H.
2009. International Journal of Computer Assisted Radiology and Surgery, 5 (2), 155-162
Investigating the effect of pruning on the diversity and fitness of robot controllers based on MDL2e during genetic programming.
Szymanski, M.; Fischer, J.; Wörn, H.
2009. Proceeding CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation, 2780-2787, IEEE Press, Piscataway
Modellbasierte interindividuelle Registrierung an der lateralen Schädelbasis.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2009. Bildverarbeitung für die Medizin 2009 : Algorithmen - Systeme - Anwendungen; Proceedings des Workshops vom 22. bis 25. März 2009 in Heidelberg. Ed.: H.-P. Meinzer, 390-394, Springer, Berlin
Increasing the accuracy with a rich sensor system for robotic laser osteotomy.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. IEEE sensors, 2009 : 25 - 28 Oct. 2009, Christchurch, New Zealand ; the Eighth IEEE Sensors Conference 2009, 1684 - 1688, IEEE, Piscataway (NJ)
Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy.
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2009. Studies in health technology and informatics, 142, 43-48
End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation.
Burgner, J.; Raczkowsky, J.; Wörn, H.
2009. Proceeding ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation, 2136-2141, IEEE Press, Piscataway
Automatic and hand guided self-registration between a robot and an optical tracking system.
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2009. International Conference on Advanced Robotics, 2009. ICAR 2009, 22-26 June 2009, 1-5, IEEE Computer Society, Washington
A Hand Guided Robotic Planning System for Laser Osteotomy in Surgery.
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany, 59-62, Springer, Berlin
3D-Umwelterfassung in der Produktion mit neuer 3D-Kamera.
Wörn, H.; Graf, J.; Safronov, K.; Mamaev, I.
2009. avn - Allgemeine Vermessungs-Nachrichten, 5, 1-7
Workflow basierte Ansteuerung eines medizinischen Roboter Systems.
Mönnich, H.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS, Leipzig
Visual Servoing of a Laser Ablation Based Cochleostomy.
Kahrs, L. A.; Raczkowsky, J.; Werner, M.; Knapp, F. B.; Mehrwald, M.; Hering, P.; Schipper, J.; Klenzner, T.; Wörn, H.
2008. Medical Imaging : Visualization, Image-guided Procedures, and Modeling, San Diego, California, United States, 2008, Art.Nr. 69182C, SPIE, Bellingham (WA). doi:10.1117/12.770863
Untersuchung der ortsaufgelösten Erreichbarkeit anatomischer Strukturen.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schippe, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 237-240, ICCAS, Leipzig
Simulation des Schädelwachstums mit Hilfe nicht-rigider Registrierung.
Mehrwald, M.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS, Leipzig
Sensorbeschreibung für die chirurgische OP Planung.
Mönnich, H.; Marini, F.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS, Leipzig
Port Visualization for Laparoscopic Surgery : Setup and First Intraoperative Evaluation.
Schönfelder, C.; Stark, T.; Kahrs, L.; Raczkowsky, J.; Wörn, H.; Belherazem, N.; Müller, B.; Gutt, C.
2008. International journal of computer assisted radiology and surgery, 3 (Supplement 1), 141-142
Planung und Simulation mikrochirurgischer Laserknochenablation.
Kahrs, L. A.; Klenzner, T.; Raczkowsky, J.; Schipper, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 229-232, ICCAS, Leipzig
Identifying Access Paths for Endoscopic Interventions at the Lateral Skull Base.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2008. International journal of computer assisted radiology and surgery, 3 (Supplement 1), 249-250
Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters.
Burgner, J.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Curac 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 147-148, ICCAS, Leipzig
Automatische Kalibrierung zur redundanten Kombination zweier Tracking Systeme.
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 17-18, ICCAS, Leipzig
A novel camera calibration model for augmented reality applications in neurosurgery.
Ciucci, M.; Kahrs, L.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2008. International journal of computer assisted radiology and surgery, 3 (1)
Energy Efficient HW/SW Integration in an Autonomous Microrobot.
Sanuy, A.; Szymanski, M.; Casanova, R.; Dieguez, A.; Samitier, J.; Wörn, H.
2008. Proceeding CIMMACS'07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics, 225-230, World Scientific and Engineering Academy and Society, Stevens Point
Asset Management über das Internet bis in die Tiefsee.
Hoog, S.; Kupke, H.; Reimann, G.; Tchouchenkov, I.; Wörn, H.
2008. Schiff & Hafen, 10, 88-90
A Framework of Space-Time Continuous Models for Algorithm Design in Swarm Robotics.
Hamann, H.; Wörn, H.
2008. Swarm Intelligence, 2 (2-4), 209-239
Using Stereo Vision and Tactile Sensor Features - For Grasp Planning Control.
Boudaba, M.; Gorges, N.; Wörn, H.; Casals, A.
2008. ICINCO 2008, Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, Funchal, Madeira, Portugal, May 11-15, 2008, 214-221, INSTICC Press, Portugal
Spatial macroscopic models of a bio-inspired robotic swarm algorithm.
Hamann, H.; Wörn, H.; Crailsheim, K.; Schmickl, T.
2008. IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008, 1415 - 1420, IEEE Computer Society, Washington
Opening a door with a humanoid robot using multi-sensory tactile feedback.
Schmid, A.; Gorges, N.; Göger, D.; Wörn, H.
2008. IEEE International Conference on Robotics and Automation, 19-23 May 2008, 285 - 291, IEEE Computer Society, Washington
Object Exploration with a Humanoid Robot - Using Tactile and Kinesthetic Feedback.
Gorges, N.; Gaa, S.; Wörn, H.
2008. ICINCO 2008, Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, Funchal, Madeira, Portugal, May 11-15, 2008 Hrsg.: Joaquim Filipe; Juan Andrade-Cetto; Jean-Louis Ferrier, 274-281, INSTICC Press, Portugal
Grasping and guiding a human with a humanoid robot.
Gorges, N.; Schmid, A.; Göger, D.; Wörn, H.
2008. 8th IEEE-RAS International Conference on Humanoid Robots, 2008 Humanoids, 1-3 Dec. 2008, 623 - 628, IEEE Computer Society, Washington
Development of a Microscope Embedded Training System for Neurosurgery.
Mauro, A. D.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2008. Biomedical Simulation : 4th International Symposium, ISBMS 2008, London, UK, July 7-8, 2008 Proceedings, 209-214, Springer, Berlin
Aggregating Robots Compute: An Adaptive Heuristic for the Euclidean Steiner Tree Problem.
Hamann, H.; Wörn, H.
2008. From Animals to Animats 10, 447-456, Springer, Berlin
Virtuelle Planungsmatrix für atraumatische schädelbasischirurgische Zugangswege.
Lohnstein, P.; Riechmann, M.; Klenzner, T.; Raczkowsky, J. .; Wörn, H.; Schipper, J.
2007. Tagungsband der 78. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V., München, Deutschland, 16. - 20. Mai 2007
Virtual and Augmented Reality Techniques based on a Operating Microscope : Training and Aid for Neurosurgeons.
Mauro, A. de; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2007. MIMOS 2007 : Proceedings of the National Conference on Modeling and Simulation, Turin, Italy, 6th - 8th November 2007
The introduction of augmented reality in neuroendoscopy : from surgeons' support to possible source of 3D intraoperative models.
Ciucci, M.; Kahrs, L.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2007. MIMOS 2007 : Proceedings of the National Conference on Modeling and Simulation, Turin, Italy, 6th - 8th November 2007
System for Robot Assisted Orthognathic Surgery.
Burgner, J.; Toma, M.; Vieira, V.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Marmulla, R.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 419-421
Setup and Calibration of a Navigated Endoscope for Virtual and Augmented Neurosurgery.
Ciucci, M.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.; Wirtz, R.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 299–302, Pro BUSINESS, Berlin
Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen.
Burgner, J.; Zhang, Y.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 275-278, Pro BUSINESS, Berlin
Minimal Traumatic Surgery on the Lateral Skull Base.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 485-486
First Results of the Detection of the Boundary Between Soft Tissue and Bone with a Video Controlled Laser Ablation System.
Lu, S. F.; Kahrs, L. A.; Werner, M.; Knapp, F. B.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Wörn, H.; Hering, P.; Klenzner, T.
2007. Computer Aided Surgery Around the Head : Proceedings of the 4th international Conference, Innsbruck, Austria, 21st - 24th February 2007. Ed.: Wolfgang Freysinger, 103-105, Pro Business, Berlin
Experimenteller Ansatz zur navigiert lasergestützten Knochenablation für eine Cochleostomie.
Klenzner, T.; Werner, M.; Kahrs, L.; Knapp, F.; Lu, S.; Ivanenko, M.; Raczkowsky, J.; Wörn, H.; Hering, P.; Schipper, J.
2007. Tagungsband der 78. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V., München, Deutschland, 16. - 20. Mai 2007
Eine konfokale Messsonde zur hochpräzisen navigierten Felsenbeinchirurgie.
Riechmann, M.; Papastathopoulos, E.; Körner, K.; Ngan, C. C.; Raczkowsky, J.; Knapp, F.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 15-18, Pro BUSINESS, Berlin
Ein probabilistisches dreidimensionales Computermodell des Felsenbeins.
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 223–226, Pro BUSINESS, Berlin
Calculation and Visualization of Trocar Positions for Abdominal Minimally Invasive Surgery.
Schönfelder, C.; Kahrs, L. A.; Stark, T.; Raszkowsky, J.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 506
Bildverarbeitungssystem für die Erkennung von Grenzflächen bei einer Cochleostomie.
Kahrs, L. A.; Mehrwald, M.; Knapp, F. B.; Werner, M.; Raczkowsky, J.; Hering, P.; Schipper, J.; Klenzner, T.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 69-71, Pro BUSINESS, Berlin
A Planning System for Robot Based Abdominal Minimally Invasive Surgery.
Schönfelder, C.; Raczkowsky, J.; Müller, B.; Gutt, C.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 202-203
Modellbasierte Erweiterte Realität in der Industrierobotik mittels kostengünstiger Hardwarekomponenten.
Notheis, S.; Hein, B.; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 169-180
Miniaturized Laser Projector for Mixed Reality : Augmentation Scenarios for Medical and Industrial Robot Programming.
Kahrs, L. A.; Steiger, A.; Notheis, S.; Hein, B.; Jörg Raczkowsky; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 93-100
Berücksichtigung der Pose von Markerschrauben bei der intraoperativen Registrierung in der roboterassistierten Chirurgie.
Kahrs, L. A.; Schönfelder, C.; Raczkowsky, J.; Wörn, H.
2007. 7. Workshop Automatisierungstechnische Verfahren für die Medizin vom 19. - 21. Oktober 2007 in München, 45-46, VDI Verlag, Düsseldorf
Proactive Robot Task Selection Given a Human Intention Estimate.
Schmid, A.; Weede, O.; Wörn, H.
2007. Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on, 726 - 731, IEEE Computer Society, Washington
Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics.
Hamann, H.; Szymanski, M.; Wörn, H.
2007. Swarm Intelligence Symposium, 2007. SIS 2007. IEEE, 310 - 315, IEEE Computer Society, Washington
Oriented Median Filtering Preserving Significant Image Structures.
Graf, J.; Wörn, H.
2007. Malaysian Journal of Computer Science, 20 (2), 99-114
First Study on Laser Bone Ablation System at the Skull Base for Micro Surgery Based on Vision Navigation.
Shaofang, L.; Kahrs, L. A.; Werner, M.; Knapp, F. B.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Worn, H.; Hering, P.; Klenzner, T.
2007. Chinese Control Conference, 26-31 July 2007, 602 - 604, IEEE Computer Society, Washingtion
A Tactile Language for Intuitive Human-Robot Communication.
Schmid, A.; Hoffmann, M.; Wörn, H.
2007. 7th IEEE-RAS International Conference on Humanoid Robots, Nov. 29 2007-Dec. 1 2007, 569 - 576, IEEE Computer Society, Washington
A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support.
Hamann, H.; Worn, H.
2007. Proceedings of the First International Conference on Self-Adaptive and Self-Organizing Systems, 1-23, IEEE Computer Society, Washington
A highly versatile and robust tactile sensing system.
Goeger, D.; Woern, H.
2007. Sensors, 28-31 Oct. 2007, 1056 - 1059, IEEE Computer Society, Washington
A framework for creating, coordinating, and executing skills on a humanoid robot.
Gorges, N.; Schmid, A. J.; Osswald, D.; Wörn, H.
2007. 7th IEEE-RAS International Conference on Humanoid Robots, Nov. 29 2007-Dec. 1 2007, 385-391, IEEE Computer Society, Washington
Energy aware HW/SW integration in an autonomous microrobot.
Sanuy, A.; Szymanski, M.; Casanova, R.; Dieguez, A.; Samitier, J.; Wörn, H.
2007. Proceeding CIMMACS'07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics, 225-230, World Scientific and Engineering Academy and Society (WSEAS), Stevens Point
Video Camera Based Navigation of a Laser Beam for Micro Surgery Bone Ablation at the Skull Base - Setup and Initial Experiments.
Kahrs, L. A.; Werner, M.; Knapp, F. B.; Lu, S. F.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Wörn, H.; Hering, P.; Klenzner, T.
2007. Advances in Medical Engineering, 219-223, Springer, Berlin
Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer.
Jen Chen, S.; Hein, B.; Wörn, H.
2007. 2007 IEEE International Conference on Robotics and Automation, 10-14 April 2007, 2951 - 2956, IEEE Computer Society, Los Alamitos
Swing Attenuation of Suspended Objects Transported by Robot Manipulator Using Acceleration Compensation.
Jen Chen, S.; Hein, B.; Wörn, H.
2007. Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, Oct. 29 2007-Nov. 2 2007, 2919 - 2924, IEEE Computer Society, Los Alamitos
An analytical and spatial model of foraging in a swarm of robots.
Hamann, H.; Wörn, H.
2007. Swarm robotics. Ed.: E. Sahin, 43-55, Springer, Berlin
Solving the Inverse Kinematics Problem Symbolically by Means of Knowledge--Based and Linear Algebra--Based Methods.
Wenz, M.; Wörn, H.
2007. Proceedings of the 12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), 1346--1353, IEEE Press
Computing Symbolic-Algebraic Models of Industrial Manipulator Arms in a Fully Automatic Way.
Wenz, M.; Wörn, H.
2007. Proceedings of the 13th IASTED International Conference on Robotics and Applications (RA 2007). Hrsg.: K. Schilling, 334 - 339, ACTA Press, Würzburg
Automatische Konfiguration der Bewegungssteuerung von seriellen Kinematiken.
Wenz, M.; Wörn, H.
2007. Entwurf mechatronischer Systeme. 5. Paderborner Workshop Entwurf Mechatronischer Systeme, 22. und 23. März 2007. Hrsg.: J. Gausemeier, 57 - 68, HNI, Paderborn
Visualisierungskonzept für die projektorbasierte Erweiterte Realität in der Leberchirurgie.
Riechmann, M.; Kahrs, L. A.; Ulmer, C.; Raczkowsky, J.; Lamadé, W.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Switzerland, 6. - 9. September 2006, Art.Nr. V209
Preclinical experiments for locating surgical structures below organ surfaces using projection-based augmented reality.
Kahrs, L. A.; Hoppe, H.; Riechmann, M.; Raczkowsky, J.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1)
Optische Vermessung mittels kodieten Lichts von variabel reflektierenden Oberflächen zur Registrierung oder Dokumentation.
Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Bildverarbeitung für die Medizin 2006 : Algorithmen Systeme Anwendungen, Hamburg, Deutschland, Proceedings des Workshops vom 19. - 21. März 2006. Ed.: H. Handels, 340-344, Springer, Berlin
Optimization of the tissue deformation process to support osteotomies considering a virtual reference bone.
Straulino, A.; Raczkowsky, J.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1), 425-426
Kraftbasierte Deformationsmodellierung von Knochenfragmenten zur automatischen Adaption der Form an ein Referenzobjekt innerhalb der Operationsplanung.
Straulino, A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband des 6. AUTOMED Workshops, Rostock-Warnemünde, Deutschland, 24. - 25. März 2006, 39-40
Innovative End Effectors for Surgery.
Peters, H.; Raczkowsky, J.; Eggers, G.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1)
Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom.
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Switzerland, 6. - 9. September 2006, Art.Nr. V210
Aufbau eines miniaturisierten Laserprojektors für die Erweitere Realität in der Chirurgie.
Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Schweiz, 6. - 9. September 2006, Art.Nr. V207
Industrial Robots.
Hein, B.; Wörn, H.
2006. Guidance and Control of Autonomous Systems : Readings of the DAAD-German Summer Academy, Duisburg, Germany, 18th July - 6th August 2005. Ed.: D. Söffker, 62-128, Logos Verlag, Berlin
Fast hierarchical A(asterisk) path planning for industrial robots based on efficient use of distance computations.
Hein, B.; Wörn, H.
2006. Proceedings of the Joint Conference on Robotics / ISR 2006, 37th International Symposium on Robotics (ISR 2006) and 4th German Conference on Robotics (ROBOTIK 2006), Munich, Germany, 15th - 18th May 2006, 17, VDI-Verlag, Düsseldorf
Applying Acceleration Compensation to Minimize Liquid Surface Oscillation.
Chen, S. J.; Hein, B.; Wörn, H.
2006. Proceedings of the Australasian Conference on Robotics & Automation, ACRA 2006, Auckland, New Zealand, 6th - 8th December 2006. Ed.: B. MacDonald
Combined Medical Image Registration Method using both Mutual and Gradient Information.
Safronov, K.; Tchouchenkov, I.; Wörn, H.
2006. 2012 International Conference on Communication Systems and Network Technologies, 250-253, IEEE Computer Society, Washington
Distributed Shortest-Path Finding by a Micro-robot Swarm.
Szymanski, M.; Breitling, T.; Seyfried, J.; Wörn, H.
2006. 5th International Workshop, ANTS 2006, Brussels, Belgium, September 4-7, 2006. Proceedings, 404-411, Springer, Berlin
Benchmarking of Multiagent Systems in a Production Planning and Control Environment.
Frey, D.; Nimis, J.; Wörn, H.; Lockemann, P.
2006. Theory and Applications in Enterprises, 115-133, Springer, Berlin
Towards Intuitive Human-Robot Cooperation.
Schmid, A. J.; Schrempf, O. C.; Wörn, H.; Hanebeck, U. D.
2006. Proceedings / 2nd International Workshop on Human-Centered Robotic Systems 2006, October 6 - 7, 2006, Munich, Germany. Ed.: K. Diepold, 7 - 12, München
Entwicklung einer selbstkonfigurierenden und selbstorganisierenden Bewegungssteuerung für Industrieroboter.
Wenz, M.; Wörn, H.
2006. SPS IPC DRIVES 2006. Elektrische Automatisierung, Systeme und Komponenten; Fachmesse & Kongress 28. - 30. Nov. 2006, Nürnberg. Hrsg.: G. Brandenburg, 619-627, VDE Verl., Berlin
Automatic Configuration of the Dynamic Model for Common Industrial Robots.
Wenz, M.; Wörn, H.
2006. Informatik 2006. Informatik für Menschen; Beiträge der 36. Jahrestagung der Gesellschaft für Informatik e.V. (GI); 2. bis 6. Oktober 2006 in Dresden. Bd. 2. Hrsg.: Ch. Hochberger, 137-144, GI, Bonn
Rule based Generation of Motion Control Software for General Serial-Link Robot Manipulators.
Wenz, M.; Wörn, H.
2006. Proceedings of the 8th International Workshop on Computer Science and Information Technologies (CSIT), 16-21
Event-based Production Rules for Data Aggregation in Wireless Sensor Networks.
Wenz, M.; Wörn, H.
2006. Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 06; Heidelberg, Germany, 3 - 6 September 2006, 59-64, IEEE, New York (NY)
Visualization of Surgical 3D Information with Projector-based Augmented Reality.
Kahrs, L. A.; Hoppe, H.; Eggers, G.; Raczkowsky, J.; Marmulla, R.; Wörn, H.
2005. Studies in health technology and informatics, 111, 243-246
Modeling the Growth of a Human Cranium.
Straulino, A.; Aschke, M.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 50 (1), 1414-1415
Intraoperative Augmented Reality : The Surgeons View.
Eggers, G.; Salb, T.; Hoppe, H.; Kahrs, L.; Ghanai, S.; Sudra, G.; Raczkowsky, J.; Dillmann, R.; Wörn, H.; Hassfeld, S.; Marmulla, R.
2005. Studies in health technology and informatics, 11, 123-125
Interactive Deformation Modelling of Cranial Bone Fragments for Operation Planning.
Straulino, A.; Aschke, M.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 649-650
Integration of a surgical robot and intraoperative imaging.
Knoop, H.; Peters, H.; Raczkowsky, J.; Eggers, G.; Rotermund, F.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, 595-599, Elsevier, Amsterdam
Bringing Laser for Osteotomy into the Operation Theatre.
Peters, H.; Knoop, H.; Korb, W.; Ghanai, S.; Raczkowsky, J.; Werner, M.; Klasing, M.; Ivanenko, M.; Hassfeld, S.; Hering, P.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, Art.Nr. 1364, Elsevier, Amsterdam
Approach to an Architecture for a Generic Computer Integrated Surgery System.
Peters, H.; Raczkowsky, J.; Wörn, H.
2005. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, Canada, 2nd - 6th August 2005, 3751-3756, IEEE, Piscataway (NJ). doi:10.1109/IROS.2005.1545553
An Automatic Surgical End Effector for a Distributed Surgical Robot System.
Peters, H.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 50 (1), 1266-1267
Advanced Surgical Planning for Intraoperative CAS.
Aschke, M.; Knoop, H.; Schorr, O.; Eggers, G.; Raczkowsky, J.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, Art.Nr. 1332, Elsevier, Amsterdam
A Comparision of Intraoperative Augmented Reality Systems.
Eggers, G.; Sudra, G.; Kahrs, L.; Ghanai, S.; Raczkowsky, J.; Dillmann, R.; Wörn, H.; Mühling, J.; Marmulla, R.
2005. Proceedings, 50 (1), 907-908
Roboterprogrammierung in der Fertigung : Einfache Roboterprogrammierung für die Produktion von morgen (Ergebnisse des IRoProg Projekts).
Denkena, B.; Wörn, H.; Apitz, R.; Bischoff, R.; Hein, B.; Kowalski, P.; Mages, D.; Schuler, H.
2005. wt Werkstattstechnik online, 95 (9), 656-660
Combining manual haptic path planning of industrial robots with automatic path smoothing.
Wörn, H.; Hein, B.; Mages, D.; Denkena, B.; Apitz, R.; Kowalski, P.; Reimer, N.
2005. Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics, ICINCO 2005, Volume IV, Barcelona, Spain, 14th - 17th September 2005, INSTICC Press, Portugal
A Novel Approach to Proactive Human-Robot Cooperation.
Schrempf, O. C.; Hanebeck, U. D.; Schmid, A. J.; Wörn, H.
2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005. ROMAN 2005, Aug. 13 - 15 2005, 555 - 560, IEEE, Piscataway
The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-Manipulation.
Seyfried, J.; Szymanski, M.; Bender, N.; Estana, R.; Thiel, M.; Wörn, H.
2005. Swarm Robotics. SAB 2004 International Workshop, Santa Monica, CA, USA, July 17, 2004. Hrsg.: E. Sahin, 70-83, Springer, Berlin
Supporting Operation Planning by Workflows.
Schorr, O.; Raczkowsky, J.; Wörn, H.
2004. CARS 2004 - Computer Assisted Radiology and Surgery : Proceedings of the 18th International Congress and Exhibition, Chicago, USA, 23rd - 26th June 2004. Ed.: H. U. Lemke, Art.Nr. 1345, Elsevier, Amsterdam
Safety of Surgical Robots in Clinical Trials.
Korb, W.; Boesecke, R.; Eggers, G.; Kotrikova, B.; Marmulla, R.; O´Sullivan, N.; Mühling, J.; Hassfeld, S.; Engel, D.; Knoop, H.; Raczkowsky, J.; Wörn, H.
2004. Perspective in Image-Guided Surgery : Proceedings of the Scientific Workshop on Medical Robotics, Navigation and Visualization, Remagen, Germany, 11th - 12th March 2004. Ed.: T. M. Buzug, 391-396, World Scientific, New Jersey
Generating Normative Data of the Cranium Using Spherical Harmonics.
Straulino, A.; Däuber, S.; Eggers, G.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2004. CARS 2004 - Computer Assisted Radiology and Surgery : Proceedings of the 18th International Congress and Exhibition, Chicago, USA, 23rd - 26th June 2004. Ed.: H. U. Lemke, Art.Nr. 1306, Elsevier, Amsterdam
Erstellung von normativen Formdaten zur Unterstützung der Planung chirurgischer Eingriffe am Schädelknochen.
Däuber, S.; Straulino, A.; Raczkowsky, J.; Wörn, H.; Eggers, G.; Hassfeld, S.
2004. Bildverarbeitung für die Medizin 2004 : Algorithmen - Systeme - Anwendungen, Proceedings des Workshops, Berlin, Deutschland, 29. - 30. März 2004. Hrsg.: T. Tolxdorff, 259-263, Springer, Berlin. doi:10.1007/978-3-642-18536-6_53
A two step process for generating normative data of the cranium.
Straulino, A.; Raczkowsky, J.; Krempien, R.; Eggers, G.; Wörn, H.; Hassfeld, S.
2004. Tagungsband der 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, München, Deutschland, 8. - 9. Oktober 2004
Introduction of additional information to heuristic path planning algorithms.
Mages, D.; Hein, B.; Wörn, H.
2004. Proceedings of the IEEE Conference on Mechtronics and Robotics 2004, Aachen, Germany, 26th - 31st August 2004, 1023-1028, IEEE. Piscataway (NJ)
Angenäherte Abstandstransformation vom Arbeitsraum in den Konfigurationsraum von Robotern mit serieller Kinematik.
Mages, D.; Hein, B.; Wörn, H.
2004. Tagungsband der VDI / VDE-Fachtagung Robotik 2004 : Leistungsstand - Anwendungen - Visionen - Trends, München, Deutschland, 17. - 18. Juni 2004, VDI-Verlag, Düsseldorf
Using the AWIGS System for Preparation of Computer Aided Surgery.
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Perspective in Image-Guided Surgery, MRNV, 11.03.-12.03, Remagen, 37-42, Remagen
Ein automatisches Registrierungsverfahren für intraoperative CT-Bilddaten.
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Bildverarbeitung für die Medizin. Hrsg.: T. Tolxdorff, 453-457, Springer, Berlin
Robot-assisted milling of complex trajectories.
Knoop, H.; Raczkowsky, J.; Peters, H.; Korb, W.; Wehmöller, M.; Weihe, S.; Engel, D.; Hassfeld, S.; Wörn, H.
2004. Computer Assisted Radiology and Surgery, Chicago, Ill., 22.06-25.06, 1337, Chicago, Ill.
Evaluating intraoperative rigid-body registration with the AWIGS system.
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Computer Assisted Radiology and Surgery, Chicago, Ill. (USA), 22.06-25.06, 1310, Chicago, Ill.
Moiré-basiertes Positionserfassungssystem für Mikroroboter.
Estana, R.; Wörn, H.
2004. Technisches Messen, (10), 545 - 549
Moiré-based Positioning Systemfor Small Micromanipulation Units.
Estana, R.; Wörn, H.
2004. O.M.P Opto Micro Products, International Trade Fair for Optical and Micro, Nürnberg, 25. - 27. May 2004, 75 - 80, Nürnberg
Distributed autonomous micro robots: from small clusters to a real swarm.
Wörn, H.; Seyfried, J.
2004. Proc. of the 7th Int. Symposium on Distributed Autonomous Robotic Systems, DARS 2004, Toulouse, Frankreich, 23.-25.6.2004, 341-350, Toulouse
Design and scenarios for a real nano-manipulation robot swarm.
Seyfried, J.; Bender, N.; Estana, R.; Szymanski, M.; Thiel, M.; Wörn, H.
2004. Mechatronics & Robotics 2004. Bd. 4. Hrsg.: P. Drews, 1368-1373, Sascha Eysoldt, Aachen
Exploring the micro- and nanoworld with cubic centimetre-sized autonomous microrobots.
Estana, R.; Seyfried, J.; Schmoeckel, F.; Thiel, M.; Wörn, H.
2004. Industrial robot, 31 (2), 159-178
The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-manipulation.
Seyfried, J.; Szymanski, M.; Bender, N.; Estana, R.; Thiel, M.; Wörn, H.
2004. Proc. of Workshop on Swarm Robotics at the 8th Int. Conference on Simulation of Adaptive behavior (from animals to animats 8, SAB 2004), Los Angeles, CA, USA, 13.-17.7.2004, 119-132, Los Angeles, (Calif.)
Simulation System for Manipulation Tasks with a Fluidic Robot Hand.
Osswald, D.; Keppler, R.; Lehmann, A.; Burghart, C.; Mikut, R.; Woern, H.; Seemann, W.
2004. Intelligent Manipulation and Grasping, 449-454, Grafica KC s.n.c, Genova
Encapsulated Diagnostic Agent Features.
Koy, M.; Längle, T.; Wörn, H.
2004. Colleque Annuel IAR Jahrestagung, ACD Workshop 2004, Karlsruhe, Nov. 18, 2004, 269-274, Karlsruhe
Real-Time Requirements in Diagnostic Systems.
Albert, M.; Längle, T.; Wörn, H.
2004. 11th IFAC Symposium on Automation in Mining, Mineral and Metal Processing MMM 2004, Nancy, Sept. 8-10, 2004, ?, Nancy
DIAMOND - Distributed multi-agent architecture for monitoring and diagnosis.
Wörn, H.; Längle, T.; Albert, M.; Kazi, A.; Brighenti, A.; Senior, C.; Revuelta Seijo; Sanz Bobi, M. A.; Villar, J.
2004. Production planning and control, 15 (2), 189-200
Standardisierte Ansteuerung von Industrie-Robotern und Bildverarbeitungssystemen.
Gauß, M.; Bürkle, A.; Wörn, H.
2004. Robotik 2004 : Leistungsstand - Anwendungen - Visionen - Trends ; Tagung München, 17. und 18. Juni 2004, 839-846, VDI-Verl., Düsseldorf
Robot System "RobaCKa" for Osteotomies in Craniofacial Surgery - Clinical Evaluation.
Wörn, H.; Peters, H.; Raczkowsky, J.; Marmulla, R.
2004. Mechatronics & Robotics 2004. Aachen, Germany, September 13 - 15, 2004. Bd. 4. Hrsg.: P. Drews, 1386-1390, Sascha Eysoldt, Aachen
Erweiterung des Chirurgierobotersystems "RobaCKa".
Peters, H.; Kahrs, L.; Knoop, H.; Wörn, H.
2004. Automed 2004, Saarbrücken, Saarbrücken
Erweiterung eines Robotersystems für die Kraniofaziale Chirurgie.
Peters, H.; Knoop, H.; Raczkowsky, J.; Wörn, H.
2004. CURAC 2004, München, 08.-09.10.04, ?
Aktiver Endeffektor für ein MKG-Chirurgierobotersystem.
Peters, H.; Kübler, C.; Knoop, H.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2004. Beiträge zur 38. Jahrestagung der Deutschen Gesellschaft für Biomedizinische Technik im VDE - BMT 2004. Teil 1, 92-93, Schiele & Schön GmbH, Berlin
Neuste Ergebnisse und neue Ansätze für die erweiterte Realität in der Chirurgie.
Kahrs, L. A.; Sudra, G.; Raczkowsky, J.; Dillmann, R.; Wörn, H.
2004. curac 2004, 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), München, 8.-9.10.2004, 1-4, München
Erste Ergebnisse einer berührungslosen Oberflächenerfassung zur markerlosen Registrierung eines Kopfchirurgie-Robotersystem.
Kahrs, L. A.; Knoop, H.; Peters, H.; Raczkowsky, J.; Wörn, H.
2004. 38. Jahrestagung der Deutschen Gesellschaft für Biomedizinsische Technik im VDE (BMT), Ilmenau, 22.-24.9.2004, 66-67, Schiele & Schön GmbH, Berlin
Kalibration eines Operationsmikroskops für die Erweiterte Realität - erste Resultate.
Aschke, M.; Eisenmann, U.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Unterberg Andreas.
2004. CURAC - 3. Jahrestagung der Gesellschaft für Computer- und Roboterassistierte Chirurgie, München, 08.-09.10.2004, 1-2, München
Ergebnisse eines neuen Kalibrier-Algorithmus für Augmented-Reality-Systeme mit hohen Genauigkeits-Anforderungen.
Kahrs, L. A.; Hoppe, H.; Rackowsky, J.; Wörn, H.
2004. Bildverarbeitung für die Medizin. Hrsg.: T. Tolxdorff, 376-380, Springer, Berlin
Integrating a flexible anthropomorphic robot hand into the control system of a humanoid robot.
Osswald, D.; Martin, J.; Burghart, C.; Mikut, R.; Wörn, H.; Bretthauer, G.
2004. Humanoids 2003 : Internat.Conf.on Humanoid Robots, München, October 1-3, 2003 Conference Documentation S.37 (Abstract) Proc.on CD-ROM Robotics and Autonomous Systems, 48(2004) S.213-21 DOI:10.1016/j.robot.2004.07.005
Integrating a flexible anthropomorphic robot hand into the control system of a humanoid robot.
Osswald, D.; Martin, J.; Burghart, C.; Mikut, R.; Wörn, H.; Bretthauer, G.
2004. Robotics and Autonomous Systems, Humanoids 2003 : Internat.Conf.on Humanoid Robots, München, October 1-3, 2003 Conference Documentation S.37 (Abstract) Proc.on CD-ROM, S.213-21, 48. doi:10.1016/j.robot.2004.07.005
Spatial Augmented Reality for Head Surgery : First Clinical Results.
Hoppe, H.; Marmulla, R.; Raczkowsky, J.; Heurich, T.; Wörn, H.; Haßfeld, S.
2003. Proceedings of the CAS-H International Symposium on Computer Aided Surgery around the Head, Interlaken, Switzerland, 27th February - 1st March 2003, S. 96
Projector Based Visualization for Intraoperative Navigation : First Clinical Results.
Hoppe, H.; Eggers, G.; Heurich, T.; Raczkowsky, J.; Marmulla, R.; Wörn, H.; Hassfeld, S.; Moctezuma, J. L.
2003. CARS 2003 - Computer Assisted Radiology and Surgery : Proceedings of the 17th International Congress and Exhibition, London, UK, 25th - 28th June 2003. Ed.: H. U. Lemke, 771, Elsevier, Amsterdam
Location Decision of a Robot System in Craniofacial Surgery.
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. Proceedings of the CAS-H International Symposium on Computer Aided Surgery around the Head, Interlaken, Switzerland, 27th February - 1st March 2003
Location decision for a robot milling complex trajectories in craniofacial surgery.
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2003. International congress series, 1256, 760-765. doi:10.1016/S0531-5131(03)00300-5
Karlsruhe Surgical Robotics Research.
Raczkowsky, J.; Däuber, S.; Engel, D.; Hoppe, H.; Korb, W.; Schorr, O.; Hassfeld, S.; Wörn, H.
2003. Australasian Conference on Robotics & Automation, ACRA 2003, Brisbane, Australia, 1st - 3rd December 2003. Ed.: J. Roberts, CD-ROM, ARAA, Sydney
Intraoperative Registrierung mit dem AWIGS-System.
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Wörn, H.
2003. Biomedizinische Technik, 48 (S1), 110-111
Intraoperative Registration of Computed Tomography Images using the AWIGS system.
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Wörn, H.
2003. CARS 2003 - Computer Assisted Radiology and Surgery : Proceedings of the 17th International Congress and Exhibition, London, UK, 25th - 28th June 2003. Ed. H. U. Lemke, Art.Nr. 1314, Elsevier, Amsterdam
Elastic deformation for automated planning of surgical interventions.
Schorr, O.; Roessler, F.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. International congress series, 1256, 752-759
Clinical Evaluation of a Surgical Robot for Craniotomies.
Korb, W.; Engel, D.; Boesecke, R.; Kotrikova, B.; Eggers, G.; Marmulla, R.; Raczkowsky, J.; Woern, H.; Haßfeld, S.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch, CD-ROM
Augmented reality in operating microscopes for neurosurgical interventions.
Aschke, M.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Kunze, S.
2003. Proceedings of the 1st International IEEE EMBS Conference on Neural Engineering 2003, Capri Island, Italy, 20th - 22nd March 2003, 652-655, IEEE, Piscataway (NJ). doi:10.1109/CNE.2003.1196913
ARNO : Augmented Reality for Navigated Operating-Microscopes.
Wirtz, C. R.; Aschke, M.; Eisenmann, U.; Raczkowsky, J.; Ahmadi, R.; Wörn, H.; Unterberg, A.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch
A Robot System for Precise Craniotomies in Craniofacial Surgery.
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch, CD-ROM
Simulation for preoperative planning and intraoperative application of titanium implants.
Schorr, O.; Raczkowsky, J.; Woern, H.
2003. Proceeding IS4TM'03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling, 67-73, Springer, Berlin
Stereoscopic Augmented Reality for Operating Microscopes.
Aschke, M.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Kunze, S.
2003. International Congress Series, 1256, 408-413
Security architecture for a co-operative engineering process in a digital factory environment.
Woerner, J.; Woern, H.
2003. In: Human aspects in production management. Ed.: G. Zülch. Aachen 2003. S. 143-149. (European series in industrial management. 5.)
Mechatronische Konzepte zur Verbesserung der Mensch-Maschine-Interaktion.
Martin, J.; Keppler, R.; Osswald, D.; Burger, W.; Regenstein, K.; Bretthauer, G.; Wittenburg, J.; Wörn, H.; Albers, A.; Berns, K.
2003. Human Centered Robotic Systems : 1. SFB-Aussprachetag, Universität Karlsruhe, 5.-6.Dezember 2002 Tagungsbeiträge
Generic System Architecture for Telemedical Applications.
Schorr, O.; Raczkowsky, J.; Wörn, H.
2002. European journal of medical research, 7 (1), 73-74
A unified process for computer assisted surgery.
Schorr, O.; Pernozzoli, A.; Raczkowsky, J.; Wörn, H.
2002. Springer, Berlin
Mechatronische Konzepte zur Verbesserung der Mensch-Maschine-Interaktion.
Martin, J.; Keppler, R.; Osswald, D.; Burger, W.; Regenstein, K.; Bretthauer, G.; Wittenburg, J.; Woern, H.; Albers, A.; Berns, K.
2002. HCRS 2002. 1. SFB-Aussprachetag Human Centered Robotic Systems, 5. - 6. Dezember 2002, Universität Karlsruhe (TH) - Tagungsbeiträge, 65-72, Univ., Karlsruhe
Erweiterte Realität in der Kopfchirurgie.
Hoppe, H.; Salb, T.; Raczkowsky, J.; Hassfeld, S.; Moctezuma, J. L.; Woern, H.; Dillmann, R.
2002. Biomedizinische Technik, 47 (1), 946-949
Roboterunterstützter Operationsarbeitsplatz.
Engel, D.; Heurich, T.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 942-945
Operationsplanung in der Kopfchirurgie.
Schorr, O.; Brief, J.; Haag, C.; Raczkowsky, J.; Hassfeld, S.; Muehling, J.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 939-941
Aufbereitung medizinischer Bilddaten für die Kopfchirurgie.
Daeuber, S.; Welzel, T.; Krempien, R.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 936-938
Sonderforschungsbereich 414 "Rechner- und sensorgestützte Chirurgie" - Ziele und Konzepte.
Woern, H.; Vahl, C.; Muehling, J.
2002. Biomedizinische Technik, 47 (1), 909-911
Analysing the variations of shapes based on surface-models.
Daeuber, S.; Heinze, P.; Kuebler, C.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 267-269
Ein Prozess- und Architekturmodell für die computerassistierte Chirurgie.
Schorr, O.; Pernozzoli, A.; Haag, C.; Brief, J.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 86-89
Ein Prototyp zur Realisierung projektorbasierter erweiterter Realitäten in der Chirurgie.
Hoppe, H.; Raczkowsky, J.; Woern, H.; Hassfeld, S.; Moctezuma, J. L.
2002. Biomedizinische Technik, 47 (1), 72-74
Roboterassistierte Osteotomien in der Mund-, Kiefer- und Gesichtschirurgie.
Engel, D.; Raczkowsky, J.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 22-24
Sensorgestütztes Fräsen in der Chirurgierobotik.
Engel, D.; Raczkowsky, J.; Woern, H.
2002. In: Robotik 2002: Leistungsstand - Anwendungen - Visionen - Trends. Düsseldorf 2002. S. 485-490. (VDI-Berichte. 1679.)
Sensor-aided milling with a surgical robot system.
Engel, D.; Raczkowsky, J.; Woern, H.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 212-217
PROSERV: an integrated environment for diagnosis and service in industry.
Guilleaume, M.; Laengle, T.; Woern, H.
2002. In: Proceedings of the IAR Conference and Associated IAR/ICD Workshop at the 17th IAR Annual Meeting 2002, Grenoble, France 2002. Grenoble : INP 2002. S. 135-140
Postoperative Evaluierung robotergefräster Osteotomielinien bei kranio-fazialen Eingriffen.
Heinze, P.; Daeuber, S.; Engel, D.; Woern, H.
2002. In: CURAC.science 2002, 1. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Leipzig 2002
Online software reconfiguration in embedded real time control systems.
Zimmermann, U.; Laengle, T.; Woern, H.
2002. In: Proceedings of the SCI 2002, The 6th World Multiconference on Systemics, Cybernetics and Informatics, Orlando, FL 2002. Vol. 6. Orlando : IIIS 2002. S. 375-379
Multi-agent architecture for monitoring and diagnosing complex systems.
Woern, H.; Laengle, T.; Albert, M.
2002. In: Proceedings of the 4th International Workshop on Computer Science and Information Technologies, CSIT 2002, Patras, Greece 2002. Patras 2002
Intraoperative guidance of pre-planned bone deformations with a surface scanning system.
Daeuber, S.; Hoppe, H.; Krempien, R.; Hassfeld, S.; Brief, J.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 110-115. (Studies in health technology and informatics. 85.)
Integration of intraoperative radiotherapy (IORT) dose distribution into the postoperative CT-based external beam radiotherapy (EBRT) treatment planning.
Treiber, M.; Daeuber, S.; Krempien, R.; Hoppe, H.; Hensley, F.; Brief, J.; Woern, H.; Lehnert, T.; Buechler, M.; Wannenmacher, M.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 529-531. (Studies in health technology and informatics. 85.)
Formvariables Oberflächenmodell zur Segmentierung pathologischer Kniegelenke aus medizinischen Bilddaten.
Heinze, P.; Daeuber, S.; Meister, D.; Sungu, M.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 201. (Informatik aktuell.)
Evaluation of a computer aided planning and surgical robot system for craniofacial surgery.
Engel, D.; Pernozzoli, A.; Schorr, O.; Brief, J.; Heurich, T.; Raczkowsky, J.; Hassfeld, S.; Woern, H.; Muehling, J.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 1080
Erstellung eines statistischen Atlas des Craniums.
Daeuber, S.; Heinze, P.; Krempien, R.; Welzel, T.; Brief, J.; Hassfeld, S.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 21. (Informatik aktuell.)
Ein neues und leicht zu implementierendes Modell zur präzisen Kalibration von Kameras und Videoprojektoren.
Hoppe, H.; Kuebler, C.; Raczkowsky, J.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 229-232. (Informatik aktuell.)
Development tool for distributed monitoring and diagnosis systems.
Laengle, T.; Woern, H.; Albert, M.
2002. In: Proceedings of 13th International Workshop on Principles of Diagnosis, DX 02, Semmering, Austria 2002. Semmering 2002. S. 158-164
Describing components and configurations for embedded control systems.
Zimmermann, U.; Wenz, M.; Laengle, T.; Woern, H.
2002. In: Proceedings of the 4th International Workshop on Computer Science and Information Technologies, CSIT 2002, Patras, Greece 2002. Patras 2002
Daily patient set-up control in radiation therapy by coded light projection.
Krempien, R.; Daeuber, S.; Hoppe, H.; Treiber, M.; Harms, W.; Raczkowsky, J.; Brief, J.; Debus, J.; Woern, H.; Wannenmacher, M.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 237-239. (Studies in health technology and informatics. 85.)
Creating a statistical atlas of the cranium.
Daeuber, S.; Krempien, R.; Kraetz, M.; Welzel, T.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 116-120. (Studies in health technology and informatics. 85.)
Corporate planning and simulation of plant production facilities in the virtual world.
Woerner, J.; Laengle, T.; Woern, H.
2002. In: Proceedings of CARS&FOF 02, The 18th International Conference on CAD/CAM, Robotics and Factories of the Future, Porto, Portugal 2002. Porto : Joao Jose Pinto Ferreira 2002. S. 109-116
A new, accurate and easy to implement camera and video projector model.
Hoppe, H.; Daeuber, S.; Kuebler, C.; Raczkowsky, J.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 204-206. (Studies in health technology and informatics. 85.)
A clinical prototype system for projector-based augmented reality: calibration and projection methods.
Hoppe, H.; Kuebler, C.; Raczkowsky, J.; Woern, H.; Hassfeld, S.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 1079
Elektromagnetische Verträglichkeit von Roboterzellen für produktionstechnische Anwendungen - Sicherheit.
Nagelmueller, P.; Woern, H.; Laengle, T.
2002. In: Elektromagnetische Verträglichkeit. EMV 2002. Hrsg.: A. Schwab. Berlin 2002. S. 837-845
Virtual simulation system for collision avoidance for medical robot.
Gonchar, L. E.; Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Studies in health technology and informatics, 81, 168-170. doi:10.3233/978-1-60750-925-7-168
RobaCKa : Ein Robotersystem für den Einsatz in der Chirurgie.
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Rechner- und sensorgestützte Chirurgie, Proceedings zum Workshop, Heidelberg, Deutschland, 19. - 20. Juli 2001. Hrsg. H. Wörn, 279-286, Gesellschaft für Informatik, Bonn
Projektorbasierte Erweiterte Realität in der Chirurgie.
Hoppe, H.; Däuber, S.; Raczkowsky, J.; Wörn, H.; Moctezuma, J.-L.
2001. Proceedings des Workshops Bildverarbeitung für die Medizin 2001 : Algorithmen - Systeme - Anwendungen, Lübeck, Deutschland, 4. - 6. März 2001. Hrsg.: H. Handels, 39–43, Springer, Berlin
Projector-based Augmented Reality in Cranio-Maxillo-Facial Surgery.
Hoppe, H.; Brief, J.; Däuber, S.; Hassfeld, S.; Raczkowsky, J.; Wörn, H.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, Art.Nr. 1153, Elsevier, Amsterdam
Projector Based Intraoperative Visualization of Surgical Planning Data.
Hoppe, H.; Brief, J.; Däuber, S.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2001. Computer aided surgery, 6 (4), S. 232
Operationsplanung in der kranio-fazialen Chirurgie : Einsatz eines Oberflächenscanners zur Optimierung der intraoperativen Umsetzung.
Däuber, S.; Bräumer, T.; Hoppe, H.; Krempien, R.; Raczkowsky, J.; Brief, J.; Haßfeld, S.; Wörn, H.
2001. Proceedings des Workshops Bildverarbeitung für die Medizin 2001 : Algorithmen - Systeme - Anwendungen, Lübeck, Deutschland, 4. - 6. März 2001. Hrsg.: H. Handels, 99-103, Springer, Berlin
KasOp : A Generic System for Pre- and Intraoperative Surgical Assistance and Guidance.
Schorr, O.; Münchenberg, J.; Raczkowsky, J.; Wörn, H.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, Art.Nr. 1161, Elsevier, Amsterdam
Intraoperative Visualization of Surgical Planning Data Using Video Projectors.
Hoppe, H.; Däuber, S.; Raczkowsky, J.; Wörn, H.; Moctezuma, J. L.
2001. Studies in health technology and informatics, 81, 206-208
Daily patient set-up in radiation therapy by structural light projection.
Krempien, R.; Däuber, S.; Hoppe, H.; Treiber, M.; Debus, J.; Harms, W.; Brief, J.; Raczkowsky, J.; Wörn, H.; Wannenmacher, W.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, 1094, Elsevier, Amsterdam
An Intuitive Man-Machine Interface for Robot Control in Craniofacial Surgery.
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. IFAC-PapersOnLine, 34 (16), 159-163. doi:10.1016/S1474-6670(17)41518-7 Get
A Supervising System for Robot Application in Surgery.
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. MICCAI 2001 : Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, Utrecht, Netherlands, 14th - 17th October 2001. Ed.: W. J. Niessen, 1308-1309, Springer, Berlin. doi:10.1007/3-540-45468-3_207
A new concept for intraoperative matching of 3D ultrasound and CT.
Schorr, O.; Wörn, H.
2001. Studies in health technology and informatics, 81, 446-452
A Safe Robot System for Craniofacial Surgery.
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 2020 - 2024, IEEE Computer Society. Washington
Augmented Reality in the Operating Theatre of the Future.
Hoppe, H.; Woern, H.
2001. 4th International Conference Utrecht, The Netherlands, October 14–17, 2001 Proceedings, 1195-1196, Springer, Berlin
Automated generated collision-free time optimized robot movements in industrial environments based on rounding.
Hein, B.; Salonia, M.; Wörn, H.
2001. Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on, 110-115, IEEE Computer Society, Washington
Robuster Betrieb und simulationsgestützte Optimierung von Multi-Agenten-Systemen in Produktion und Logistik.
Frey, D.; Woern, H.; Nimis, J.; Lockemann, P. C.
2001. In: Tagungsband zum 4. SPP-Kolloquium des DFG 1083 "Intelligente Softwareagenten und betriebswirtschaftliche Anwendungsszenarien", Arbeitsgruppe "Anwendungsszenario Fertigung", Bonn 2001. S. 1-10
On distributed diagnosis of automated production cells.
Laengle, T.; Woern, H.; Albert, M.
2001. In: Proceedings of the IAR Conference and Associated IAR/ICD Workshop at 16th IAR Annual Meeting, Strasbourg, France 2001. S. 149-155
Mechanical system and control system of a dexterous robot hand.
Osswald, D.; Woern, H.
2001. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Humanoids 2001, Tokyo, Japan 2001. Tokyo 2001. S. 407-414
Human-robot-cooperation using multi-agent-systems.
Laengle, T.; Woern, H.
2001. Journal of intelligent and robotic systems, 32 (2), 143-159
Electromagnetic compatibility of robot cells for industrial applications.
Nagelmueller, P.; Woern, H.; Laengle, T.
2001. In: Proceedings of the International Association of Science and Technology for Development, Pittsburgh, PA 2001. Anaheim : IASTED/ACTA Press 2001. S. 74-79
Electromagnetic compatibility of robot cells for industrial applications.
Woern, H.; Nagelmueller, P.; Laengle, T.
2001. In: Proceedings of the 17th International Conference on CAD/CAM, Robotics and Factories of the Future, CARS & FOF '01, Durban, South Africa 2001. Durban : Xerox, University of Natal 2001. S. 454-461
Distributed diagnosis for automated production cells.
Woern, H.; Laengle, T.; Albert, M.
2001. In: Proceedings of the 3rd International Workshop on Computer Science and Information Technologies, CSIT 2001, Yangantau, Russia 2001. Ed.: H. Schweppe. Ufa : USATU Publishers 2001. S. 49-54
Aufbereitung medizinischer Bilddaten.
Daeuber, S.; Haimerl, M.; Hoppe, H.; Krempien, R.; Mende, U.; Moldenhauer, J.; Woern, H.
2001. In: Rechner- und sensorgestützte Chirurgie. Proceedings zum Workshop, Heidelberg 2001. Hrsg.: H. Wörn. Bonn 2001. S. 189-202. (Lecture notes in informatics. Proceedings. 4.)
Simulation for Path Planning and Motion Control for Medical Robot.
Gonchar, L. E.; Engel, D.; Raczkowsky, J.; Wörn, H.
2000. Proceedings of the Workshop on Computer Science and Information Technologies, CSIT 2000, Ufa, Russia, 18th - 23rd September 2000, USATU Publishing, Ufa
Chirurgieroboter : Eine Herausforderung an die Robotik.
Wörn, H.; Raczkowsky, J.; Engel, D.
2000. Robotik 2000 : Leistungsstand - Anwendungen - Visionen - Trends, Berlin, Deutschland, 29. - 30. Juni 2000, VDI-Verlag, Düsseldorf
Manipulating deformable linear objects - Force based detection of contact state transitions.
Remde, A.; Henrich, D.; Wörn, H.
2000. Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, 1480 - 1486, IEEE Computer Society, Washington
Zeitoptimierte kollisionsfreie Bahnplanung für Industrieroboter.
Hein, B.; Wurll, C.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 23-27. (VDI-Berichte. 1552.)
Verteilte Architektur zur Überwachung und Diagnose von automatisierten Produktionsanlagen.
Albert, M.; Laengle, T.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 337-344. (VDI-Berichte. 1552.)
Secure picking of disarranged objects using probabilistic reasoning.
Mueller, M.; Laengle, T.; Woern, H.
2000. In: Proceedings of the International Conference on Artificial Intelligence, IC-AI 2000, Las Vegas, NV 2000. Vol. 2. S. 995-1001
Robots for medical application.
Kuebler, C.; Raczkowsky, J.; Woern, H.; Doessel, O.
2000. In: Proceedings of 16th IMACS International Congress on Scientific Computation, Applied Mathematics and Simulation, Lausanne, Switzerland 2000. Ed.: IMACS, Dep. of Comput. Sci. Vol. 1. [CD-ROM]
Robot manipulation of deformable objects.
Henrich, D.; Woern, H.
2000. Berlin 2000
Planning of rapid grasp operations in unstructured scenes.
Mueller, M.; Woern, H.
2000. In: Proceedings of the International Conference on Intelligent Robots and Systems, IROS 2000, Takamatsu, Japan 2000. S. 1975-1980
On distributed diagnosis for automated production cells.
Laengle, T.; Woern, H.; Albert, M.
2000. In: Proceedings of the IAR Workshop, IAR / ICD 2000, Nancy, France 2000. Ed.: Institut Franco-Allemand pour les Applications de la Recherche, Intelligent Control and Diagnosis. S. 7-14
Occubot VI: Industrieroboter als intelligentes Sitztestsystem.
Beeh, F.; Laengle, T.; Woern, H.; O'Bannon, T.; Lentz, J.; Schnoor, B.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 23-27. (VDI-Berichte. 1552.)
Object handling with a robot system using various grippers.
Woern, H.; Fischer, T.; Mueller, M.; Rembold, D.
2000. In: Intelligent autonomous systems 6. Ed.: E. Pagello. Amsterdam 2000
Neue Werkzeuge für die Medizin - Medizintechnik und Biomedizin.
Doessel, O.; [Hrsg.]; Beth, T.; Bolz, A.; Dillmann, R.; Giannis, A.; Herrlich, P.; Kiencke, U.; Lenz, J.; Mueller, T.; Mueller-Glaser, K. D.; Paulsen, R.; Riedlinger, R.; Schweizerhof, K.; Wiesbeck, W.; Woern, H.; [Mitarb.].
2000. In: Die Technische Universität an der Schwelle zum 21. Jahrhundert. Hrsg.: H. Kunle. Berlin 2000. S. 285-304
Localization of flexible objects packed in transparent foils.
Mueller, M.; Woern, H.
2000. In: Tagungsband der Jahrestagung der Deutschen Arbeitsgemeinschaft für Mustererkennung e.V., DAGM 2000, Kiel 2000
Kraftsensorik in der mikroroboterbasierten Mikromontage.
Fahlbusch, S.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 397-402. (VDI-Berichte. 1552.)
Komponenten für Roboter in innovativen Anwendungen.
Woern, H.; Laengle, T.; Graf, R.
2000. it+ti, Informationstech. u. tech. Informatik 42 (2000) H. 1 S. 50-52
Intuitive operation planning based on force feedback.
Muenchenberg, J.; Woern, H.; Brief, J.; Kuebler, C.; Hassfeld, S.; Raczkowsky, J.
2000. In: Medicine meets virtual reality. MMVR 2000. Ed.: J.D. Westwood. Amsterdam 2000. S. 220-226. (Studies in health technology and informatics. 70.)
Intelligent microrobotic system for microassembly tasks.
Fatikow, S.; Seyfried, J.; Fahlbusch, S.; Buerkle, A.; Schmoeckel, F.; Woern, H.
2000. In: Proceedings of the 1st International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. S. 38-48
Intelligent control system for microrobots in a micromanipulation station.
Woern, H.; Buerkle, A.
2000. In: Proceedings of the 1st International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. S. 134-140
Human-robot-cooperation using multi-agent-systems.
Laengle, T.; Woern, H.
2000. In: Proceedings of the IMACS International Symposium on Mathematical Modelling, Wien, Austria 2000. S. 55-58
Flexible microrobots for micro assembly tasks.
Woern, H.; Seyfried, J.; Fahlbusch, S.; Buerkle, A.; Schmoeckel, F.
2000. In: Proceedings of the International Symposium on Micromechatronics and Human Science, MHS 2000, Nagoya, Japan 2000. S. 135-143
Entwicklung einer Roboterzelle für die Automation im Versandhandel.
Woern, H.; Rembold, D.; Mueller, M.; Laengle, T.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 259-264. (VDI-Berichte. 1552.)
Endoscopic robots.
Kuebler, C.; Raczkowsky, J.; Woern, H.
2000. In: Proceedings of 3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000, Pittsburgh, PA 2000. Berlin 2000. S. 949-955. (Lecture notes in computer science. 1935.)
Ein allgemeiner Ansatz zur Montage deformierbarer linearer Werkstücke mit Industrierobotern.
Remde, A.; Abegg, F.; Woern, H.; Henrich, D.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 371-376. (VDI-Berichte. 1552.)
Distributed diagnosis of technical systems.
Laengle, T.; Woern, H.; Albert, M.
2000. In: Proceedings of the M&R 2000, International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. Vol. 1. S. 141-147
Digital factory: planning and running enterprises of the future.
Woern, H.; Frey, D.; Keitel, J.
2000. In: Proceedings of the 26th Annual Conference of the IEEE Electronics Society, IECON 2000, Nagoya, Japan 2000. IEEE Press 2000. S. 1286-1291
Cooperation between human beings and robot systems in an industrial environment.
Woern, H.; Laengle, T.
2000. In: Proceedings of the M&R 2000, International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. Vol. 1. S. 156-165
Collision avoidance path planning for multi-links manipulators in uncertain environment.
Woern, H.; Gonchar, L.; Yussupova, N.; Shakhmametova, G.
2000. In: Intelligent autonomous systems 6. Ed.: E. Pagello. Amsterdam 2000. S. 1025-1030
Bin-picking systems and applications: a state of the art.
Mueller, M.; Woern, H.
2000. In: Proceedings of the IASTED International Conference Robotics and Automation, RA 2000, Honolulu, HI 2000
Automatic selection of grippers for object handling.
Rembold, U.; Belougroudov, V.; Laengle, T.; Woern, H.
2000. In: Autonome mobile Systeme 2000. Hrsg.: R. Dillmann. Berlin 2000. S. 80-87
A pattern catalogue of surgical interventions for computer-supported operation planning.
Muenchenberg, J.; Woern, H.; Brief, J.; Kuebler, C.; Hassfeld, S.; Muehling, J.
2000. In: Medicine meets virtual reality. MMVR 2000. Ed.: J.D. Westwood. Amsterdam 2000. S. 227-229. (Studies in health technology and informatics. 70.)
A multisensorial robotic system for reliable picking of scarcely modelled objects.
Mueller, M.; Woern, H.
2000. In: Proceedings of the 6th International Conference on Control, Automation, Robotics and Vision, ICARCV 2000, Singapore, Malaysia 2000. S. 220-225
Stiffness control of object's pose for multifinger grippers.
Fischer, T.; Rapela, D.; Woern, H.
2000. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1999 (2000) S. 129-136
Robust detection of object displacements in unstructured scenes.
Mueller, M.; Stepanov, S.; Laengle, T.; Woern, H.
2000. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1999 (2000) S. 33-39
Segmentierung medizinischer Bilddaten : Erfahrungen mit der automatischen Anpassung eines Gewebemodells an individuelle Patientenaufnahmen.
Pernozzoli, A.; Raczkowsky, J.; Burghart, C.; Haßfeld, S.; Brief, J.; Rembold, U.; Wörn, H.
1999. KI-99 : Advances in Artificial Intelligence, Proceedings of the 23rd Annual German Conference on Artificial Intelligence, Bonn, Germany, 13th - 15th September 1999. Ed.: W. Burgard, Springer, Berlin
Sensor-based microrobot control in a micromanipulation desktop station.
Fatikow, S.; Buerkle, A.; Fahlbusch, S.; Woern, H.
1999. In: Proceedings of IARP Workshop on Micro Robots, Micro Machines and Systems, Moscow, Russia 1999. S. 43-48
Assembly planning in a flexible micro-assembly station.
Woern, H.; Seyfried, J.; Fatikow, S.; Faizullin, A.
1999. In: Proceedings of the 2nd International Workshop on Intelligent Manufacturing Systems, IMS 1999, Leuven, Belgium 1999. Ed.: H. Van Brussel. Leuven 1999. S. 487-496
Intelligent control of a mobile microrobot in a flexible microassembly station.
Woern, H.; Santa, K.; Fatikow, S.
1999. In: Proceedings of 6th International Symposium on Adaptive Systems Theory, SPAS'99, St. Petersburg, Russia 1999. S. 200-205
Control system of a smart microrobot cell.
Fatikow, S.; Woern, H.
1999. In: Proceedings of International Conference on Information Systems, Analysis and Synthesis / International Conference on Systemics, Cybernetics and Informatics, Orlando, Fla. 1999. S. 275-283
Sicher im Griff.
Woern, H.; Rembold, D.; Mueller, M.; Fischer, T.; Fahlbusch, S.
1999. Maschinenmarkt 105 (1999) S.-Ausg. "Deutschland innovativ 2000" S. 58-65
Strahlentherapieplanung und Feldkontrolle von Skelettmetastasen mit 3D-Sonographie.
Mende, U.; Krempien, R.; Hartmann, R.; Wannenmacher, M.; Woern, H.; Grabowski, H.; Haimerl, M.
1999. Strahlenther. u. Onkol. 175 (1999) S.-Nr. 1 S. 176
Simulation of frontal orbital advancement.
Grabowski, H.; Hassfeld, S.; Muenchenberg, J.; Brief, J.; Rembold, U.; Woern, H.
1999. Virtual reality 1999 H. 4 S. 235-240 und in: Proceedings of Conference: Computer Assisted Radiology and Surgery, CARS 99, Paris 1999. S. 645-650
Simulation der Knochenverlagerung beim Frontal Orbital Advancement.
Grabowski, H.; Hassfeld, S.; Brief, J.; Muenchenberg, J.; Rembold, U.; Woern, H.
1999. In: Bildverarbeitung für die Medizin 1999. Hrsg.: H. Evers. Berlin 1999. S. 278-283. (Informatik aktuell.)
Sensorintegration in Robotersteuerung am Beispiel taktiler Sensoren für Greiferfinger.
Mueller, M.; Rembold, D.; Mendieta, J.; Laengle, T.; Woern, H.
1999. In: Proceedings of the SPS/IPC/DRIVES'99, Nürnberg, Germany 1999. S. 885-894
Robust detection of object displacements in unstructured scenes.
Mueller, M.; Stepanov, S.; Laengle, T.; Woern, H.
1999. In: Proceedings of the IAR Workshop'99, Strassbourg, France 1999. S. 1-6
Robot controlled osteotomy in craniofacial surgery.
Burghart, C.; Keitel, J.; Hassfeld, S.; Rembold, U.; Woern, H.
1999. In: Workshop on Haptic Devices in Medical Applications, HDMA, Paris 1999. S. 12-22
Robot assisted craniofacial surgery: first clinical evaluation.
Burghart, C.; Krempien, R.; Redlich, T.; Pernozzoli, A.; Grabowski, H.; Muenchenberg, J.; Albers, J.; Hassfeld, S.; Vahl, C.; Rembold, U.; Woern, H.
1999. In: Proceedings. Computer Aided Radiology and Surgery, Paris 1999. S. 828-833
Picking-up deformable linear objects with industrial robots.
Remde, A.; Henrich, D.; Woern, H.
1999. In: Proceedings. 30th International Symposium on Robotics, 30th ISR, Tokyo, Japan 1999. Ed.: Int. Fed. of Robotics. Shibakoen : Japan Robot Assoc. 1999. S. 213-218
Manipulating deformable linear objects: efficient simulation of the workpiece behavior.
Remde, A.; Henrich, D.; Karl, S.; Woern, H.
1999. In: Proceedings of the IASTED International Conference on Robotics and Applications, RA'99, Santa Barbara, CA 1999. Anaheim, CA : IASTED 1999. S. 64-70
Manipulating deformable linear objects: contact state transitions and transition conditions.
Remde, A.; Henrich, D.; Woern, H.
1999. In: Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'99, Kyongju, Korea 1999. Vol. 3. Kyunghee Printing 1999. S. 1450-1455
Manipulating deformable linear objects - vision-based recognition of contact state transitions.
Abegg, F.; Henrich, D.; Woern, H.
1999. In: Proceedings of the 9th International Conference on Advanced Robotics, ICAR'99, Tokyo 1999. Ed.: Japan Robot Assoc. Tokyo 1999. S. 135-140
Kamera-basiertes Sensorsystem eines mobilen Mikroroboters.
Woern, H.; Buerkle, A.
1999. In: Autonome Mobile Systeme 1999. Hrsg.: G. Schmidt. Berlin 1999. S. 88-97
Human-robot-cooperation using multi-agent-systems.
Laengle, T.; Woern, H.
1999. In: Proceedings of the MAS'99, International Conference on Multi-Agent Systems, Vienna, Austria 1999. S. 289-294
Grasping and reliable picking of overlapping objects in unstructured scenes.
Mueller, M.; Laengle, T.; Woern, H.
1999. In: Proceedings of the International Conference on Advanced Robotics, ICAR'99, Tokyo, Japan 1999. S. 53-58
Ein experimentelles Robotersystem für die craniomaxillofaciale Chirurgie.
Raczkowsky, J.; Burghart, C.; Grabowski, H.; Muenchenberg, J.; Woern, H.; Hassfeld, S.
1999. In: Proceedings of AUTOMED 99, Darmstadt 1999
Distributed diagnosis and teleservice for automated production cells.
Woern, H.; Laengle, T.
1999. In: Proceedings of the ECC'99, European Control Conference, Karlsruhe, Germany 1999. S. 930
Die Sternum-Metastase bei Mammakarzinom, Stellenwert der Sonographie.
Mende, U.; Krempien, R.; Schweikart, S.; Wannenmacher, M.; Grischke, E.-M.; Haimerl, M.; Woern, H.
1999. Strahlenther. u. Onkol. 175 (1999) S.-Nr. 1 S. 120
An intuitive operation planning system for craniofacial surgery.
Muenchenberg, J.; Brief, J.; Grabowski, H.; Kuebler, C.; Hassfeld, S.; Raczkowsky, J.; Rembold, U.; Woern, H.
1999. In: Proceedings of 1st International Workshop on Haptic Devices in Medical Applications, HDMA, Paris 1999. S. 94-101
A system architecture for computer and robot assisted craniofacial surgery.
Pernozzoli, A.; Burghart, C.; Brief, J.; Hassfeld, S.; Raczkowsky, J.; Muehling, J.; Rembold, U.; Woern, H.
1999. In: Proceedings of EUREL 1999, Pisa 1999
3D norm data - the first step towards semiautomatic virtual craniofacial surgery.
Brief, J.; Hassfeld, S.; Muenchenberg, J.; Grabowski, H.; Redlich, T.; Walz, M.; Krempien, R.; Raczkowsky, J.; Burgert, O.; Salb, T.; Rembold, U.; Woern, H.; Muehling, J.
1999. In: Proceedings of Conference: Computer Assisted Radiology and Surgery, CARS 99, Paris 1999. S. 834-838
Autonome Mobile Systeme 1998. 14. Fachgespräch, Karlsruhe, 30. November - 1. Dezember 1998.
Woern, H.; Dillmann, R.; Henrich, D.; [Hrsg.].
1999. Berlin 1999. (Informatik aktuell.)
Segmentierung medizinischer Bilddaten unter Verwendung eines automatisch generierten patientenspezifischen Gewebemodells und Superquadriken.
Burghart, C.; Pernozzoli, A.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings des Workshops Bildverarbeitung für die Medizin 1998 : Algorithmen - Systeme - Anwendungen, Aachen, Deutschland, 26. - 27. März 1998. Hrsg.: T. Lehmann, Springer, Berlin
Robot Cell for Craniofacial Surgery.
Burghart, C.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings of the 24th Anual Conference of the IEEE Industrial Electronics Society, IECON 1998, Aachen, Germany, 31st August - 4th September 1998, IEEE, Piscataway (NJ). doi:10.1109/IECON.1998.724121
Accuracy Tests and Sensor Fusion Using a Surgical Robot and an Optical Tracking System.
Burghart, C.; Frey, D.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings of the International Conference on Intelligent Autonomous Systems, IAS-5, 1998. Ed. Y. Kakazu, IOS Press, Berlin
A surgical robotic system for maxillofacial surgery.
Burghart, C.; Raczkowsky, J.; Rembold, U.; Wörn, H.; Haßfeld, S.
1998. CARS 1998 : Computer Assisted Radiology and Surgery, Proceedings of the 12th International Symposium and Exhibition, Tokyo, Japan, 24th - 27th June 1998. Ed.: H. U. Lemke, Elsevier, Amsterdam
Distributed autonomous robotic systems 3. DARS, 1998, Karlsruhe.
Lueth, T.; Dillmann, R.; Woern, H.; [Mitarb.].
1998. Berlin 1998
On-line path planning with optimal C-space discretization.
Henrich, D.; Wurll, C.; Woern, H.
1998. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 98, Victoria, Canada 1998
On-line motion planning for medical applications.
Burghart, C.; Wurll, C.; Henrich, D.; Raczkowsky, J.; Rembold, U.; Woern, H.
1998. In: The 24th Annual Conference of the IEEE Industrial Electronics Society, IECON'98, Aachen, Germany 1998
On-line path planning by heuristic hierarchical search.
Henrich, D.; Wurll, C.; Woern, H.
1998. In: The 24th Annual Conference of the IEEE Industrial Electronics Society, IECON'98, Aachen, Germany 1998
A distributed planning and control system for industrial robots.
Wurll, C.; Henrich, D.; Woern, H.; Damm, M.; Schloen, J.; Maier, W.
1998. In: The 5th IEEE International Advanced Motion Control Workshop, AMC 98, Coimbra, Portugal 1998
Multi-directional search with goal switching for robot path planning.
Henrich, D.; Wurll, C.; Woern, H.
1998. In: The 11th International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems, IEA/AIE 98, Castellan, Spain 1998. Vol. 2. S. 75-84
6 DOF path planning in dynamic environments. A parallel on-line approach.
Henrich, D.; Wurll, C.; Woern, H.
1998. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 98, Leuven, Belgium 1998. Vol. 1. S. 330-335
Automatic off-line programming and motion planning for industrial robots.
Woern, H.; Wurll, C.; Henrich, D.
1998. In: Proceedings of the 29th International Symposium on Robotics, ISR 98, Birmingham, UK 1998. S. 196 199
Schnelle Kollisionserkennung durch parallele Abstandsberechnung.
Henrich, D.; Gontermann, S.; Woern, H.
1998. In: Autonome mobile Systeme 1997. 13. Fachgespräch, Stuttgart 1997. Hrsg.: P. Levi. Berlin 1997. S. 131-142. (Informatik aktuell.)
Flexible Steuerung pneumatischer Greifer.
Remde, A.; Henrich, D.; Woern, H.
1998. Feinwerktech., Mikrotech., Mikroelektron. 12 (1998) S. 940-943
Grasping with multifingered grippers.
Doersam, T.; Fischer, T.; Munoz, L.-A.; Woern, H.
1998. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1997 (1998) S. 67-71
Modular design of consistent enterprise models.
Reithofer, W.; Raczkowsky, J.; Woern, H.
1997. In: Australasia-Pacific Forum on Intelligent Processing & Manufacturing of Materials, IPMM'97, Gold Coast, Australia 1997. S. 1157-1163
Cooperation in human-robot-teams.
Laengle, T.; Hoeniger, T.; Rembold, U.; Woern, H.
1997. In: Proceedings of the International Conference on Informatics and Control, ICI&C, St. Petersburg, Russia 1997. Vol. 3. S. 1306-1314
A review of parallel processing approaches to robot kinematics and Jacobian.
Henrich, D.; Karl, J.; Woern, H.
1997. Karlsruhe 1997. (Interner Bericht. Fakultät für Informatik, Universität Karlsruhe. 1997,10.)
Parallele Bewegungsplanung in dynamischen Umgebungen.
Wurll, C.; Henrich, D.; Woern, H.
1997. Karlsruhe 1997. (Interner Bericht. Fakultät für Informatik, Universität Karlsruhe. 1997,20.)
Entwicklung eines Fertigungssystems zum automatischen Schweissen von Behaeltern.
Woern, H.; Mazac, K.; Hajdu, E.; Rothoerl, E.; Kuka Schweissanlagen und Roboter GmbH, A.
1984. KfK-PFT 77 (Maerz 84)
Prozessueberwachung in flexiblen Fertigungssystemen.
Stute, G.; Storr, A.; Doettling, W.; Schwager, J.; Woern, H.; Institut fuer Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen, U. S.
1978. KfK-PDV 148 (Mai 78)
Grundlagen der Prozessautomatisierung fuer die Fertigung/Prozessteuerung (Steuerung flexibler Fertigungssysteme).
Stute, G.; Storr, A.; Binder, D.; Doettling, W.; Fink, H.; Firnau, J.; Herrscher, A.; Woern, H.; Institut fuer Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen, U. S.
1977. KFK-PDV 107 (Februar 77)
Einsatz von Mikroprozessoren zur Prozesslenkung.
Barthel, F.; Bauer, G.; Blask, H.; Caninenberg, W.; Faerber, G.; Fink, H.; Freyberger, F.; Fromme, G.; Frueh, J.; Illi, D.; Knoepker, R.; Kobitzsch, W.; Koch, G. R.; Krieger, J.; Kup, B.; Lauber, R.; Liedke, G.; Neudorfer, E.; Patz, M.; Pelz, K.; Schatz, J.; Schaefer, K.; Schmidt, V.; Schnieder, E.; Seifert, M.; Siebert, H.; Siefkes, H.; Spieth, U.; Stams, D.; Stocker, H.; Walze, H.; Wolfgarten, H.; Woern, H.
1977. PDV-Fachtagung, Karlsruhe, 3.-4.November 1976 KFK-PDV 101 (Januar 77)
Einsatz von Mikroprozessoren zur Prozesslenkung.
Barthel, F.; Bauer, G.; Blask, H.; Caninenberg, W.; Faerber, G.; Fink, H.; Freyberger, F.; Fromme, G.; Frueh, J.; Illi, D.; Knoepker, R.; Kobitzsch, W.; Koch, G. R.; Krieger, J.; Kup, B.; Lauber, R.; Liedke, G.; Neudorfer, E.; Patz, M.; Pelz, K.; Schatz, J.; Schaefer, K.; Schmidt, V.; Schnieder, E.; Seifert, M.; Siebert, H.; Siefkes, H.; Spieth, U.; Stams, D.; Stocker, H.; Walze, H.; Wolfgarten, H.; Woern, H.
1977. PDV-Fachtagung, Karlsruhe, 3.-4.November 1976 KFK-PDV 101 (Januar 77)