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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".


  • 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

Robotic Trephine

AutorH. Peters, J.-P. Aubry, H. Wörn
Veröffentlicht inComputer Aided Surgery around the Head, Proc. 3rd International Symposium, Fortschritt-Berichte VDI
EditorS. Weber, F. Langlotz, J. Bier, T.C. Lüth
KurzfassungPurpose: In cranio- and maxillofacial surgery the execution of osteotomy has often reasonable impact on the patient’s postoperative appearance. Robot systems like RobaCKa enable surgeons to have cuts executed very precisely according to a preoperatively planned trajectory[1]. So far, though, this system does not mill through the whole scull bone since this bears the risk of hurting the dura mater. The capability of detecting the border between the bone and the dura mater would minimize this risk. Conventional opening of the scull by means of a trephine produces a hole of some 10 mm in diameter. Such a hole is e.g. required for taking brain biopsies. A smaller hole would mean less risk of infections. This paper presents our work towards a tool for reliably piercing the skull bone with a small drill and detecting the border between bone and the dura mater. Methods and Materials: The skull bone is a flat bone, consisting of 3 layers: the outer table (lamina externa), the diploë and the inner table (lamina interna). Compared to outer and inner table the diploë is relatively soft. Modern trephines are crown saws that rotate, driven by an electronic motor, while being pressed against the (usually skull) bone. As long as the pressure exceeds a certain value, the clutch connecting motor and saw is closed. When the saw has pierced the whole bone, the pressure drops and the clutch is released, interrupting the saw’s rotation. We have designed a robotic end effector for osteotomy and trephination with an own processor (PC/104+). Its milling tool (drill and motor) can be driven backward and forward by ultrasonic motors and thus control the penetration depth into the bone independently from the robot
Bibtex@article{ ipr_1127224297, author = "{H. Peters and J.-P. Aubry and H. W{{\"o}}rn}", title = "{Robotic Trephine}", year = "2005", journal = "{Computer Aided Surgery around the Head, Proc. 3rd International Symposium, Fortschritt-Berichte VDI}", pages = "72--73", }
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