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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

Tool Centered Architecture for CIS

AutorH. Peters, H. Wörn
Veröffentlicht inCURAC 2005
KurzfassungPurpose Robotics in surgery is still evolving. Yet, such systems are huge and expensive. This is at least in part due to the monolithic architecture of such systems. Robot arm (manipulator) and the surgical tool - in this context we speak of the end effector - are considered as one tool, as well mechanically as from the software side. But only if you can separate robot and surgical tool and reuse the robot in other interventions with other end effectors, you can take it as the "automatically controlled, reprogrammable multipurpose manipulator" as it is defined by ANSI, RIA and ISO. Method We designed an end effector for osteotomy on the head with an own controller (PC/104+). A milling tool can be moved backward and forward by ultrasonic motors and so control the penetration depth into the bone very exactly and independently from the robot's movements. The device's own force-/torque sensor enables the detection of the bone's outer and inner border. In our software architecture, the tool is connected to the robot via Ethernet. Other sensors (e.g. tracking systems) and a host running a GUI can also be connected to the network. The devices offer services to each other. For example, the surgical tool can ask the robot to bring it to a specific position. The other way round, the robot can enquire the end effector’s force- and torque measurements for force-controlled movement. To ensure flexibility and interchangeability of the devices, a list of remote procedure calls (RPC) has been well defined, each addressing a specific service. Any device in the Medical Robot Network (MEDRONET) may implement one or more of these services and offer them to the other devices. Results The experimental setup in our lab consists of the end effector described above, a Stäubli RX90 robot, a computer running a GUI and an operation-plan server. Since the robot itself does not have an Ethernet interface and does not support RPC, a proxy has been inserted. Upon system start, the end effector, the operation-plan-server and the robot search the network for a GUI-service. Ones it has been found, both devices leave it to the GUI host to display any messages and to accept user input. At the same time the end effector looks out for a operation-plan-server delivering the trajectory to cut and for a transportation service that can take it to the specified poses. The robot can find the force-torque service from the end effector and thus offers a force controlled mode. Conclusion We propose a distributed architecture for computer integrated surgery systems. Its major benefit is that various devices (sensors, robots, surgical instruments) can freely be connected to form a surgical tool for a specific task. To enable this, the single devices must be self configuring to a very high degree. They have the whole knowledge about themselves and the methods they are used for. This includes that each device has to guarantee safety for patient, medical staff and the surrounding systems as far as any possible. In combination, the overall system will thus be even safer. The physical decomposition and reassembly is anyway required since some parts (e.g. milling tool) must, others (e. g. robot) can not be sterilized. The system is very flexible and works fine, but its usability has to be improved.
Bibtex@article{ ipr_1127292628, author = "{H. Peters and H. W{{\"o}}rn}", title = "{Tool Centered Architecture for CIS}", year = "2005", journal = "{CURAC 2005}", }
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