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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

Innovative End Effectors for Surgery

AutorH. Peters, J. Raczkowsky, G. Eggers & H. Wörn
Veröffentlicht inCARS 2006, Osaka, Japan
Kurzfassung1. Introduction Existing surgical robots are highly integrative systems with quite similar structures, regardless of the purpose they were designed for (see also [1]). Yet their rather monolithic system architectures lead to the condition that components from one system cannot be reused in another one. This disregards that in any robot system the end effector is the only component directly linked to the surgical intervention. All other components are usually not specialized. In this ongoing project we examine, how a robot system for surgery can be setup modularly, so that the subsystems including the end effector can be connected as required for different interventions. 2. Methods Our system architecture [2] bases on a peer-to-peer network. All components, including the robot, the end effector, the operation planning system and also the patient, are represented by servers, offering services to each other. The components keep the knowledge about themselves and do not rely on any knowledge about each other. The servers communicate over TCP/IP, using remote procedure calls (RPC) to employ each other’s services. In order to guarantee exchangeability of components and servers respectively, we defined the interfaces as well for the software as for the hardware. The servers must not rely on each other, though, since the network or any server therein could fail. 3. Results As an experimental environment we setup a small system for osteotomy on the skull, where an end effector for trepanation employs a robot to be carried according to an operation plan and to enquire its own position. The robot on the other hand can get forces and torques applied to the end effector from it and can thus, for example, offer a force controlled moving mode. In our experiments, the duration for acquiring both, force/torque and position from the end effector server is about 1 msec. 4. Conclusion Our results show that it is possible to design a modular surgical robot system, where all major subsystems, including end effector and robot, can be exchanged and reused for different interventions. Because of the system’s “plug and play” behavior, a user can configure the setup even intraoperatively.
Bibtex@article{ ipr_1155544221, author = "{H. Peters and J. Raczkowsky and G. Eggers & H. W{{\"o}}rn}", title = "{Innovative End Effectors for Surgery}", year = "2006", journal = "{CARS 2006, Osaka, Japan}", pages = "online", }
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