Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab

Single Port Surgery

Due to reduction of trauma miminal invasive surgery is currently developing to "Single-Port"-surgery, where all instruments are inserted (in the abdomen) bundled through one port. Systems have to be developed that will seamlessly integrate with habitual surgical operations and have a high degree of mechanical flexibility as well as a sufficient number of degrees of freedom to be able to perform necessary manipulation and avoid obstacles.

Further information about the Single-Port project can be found here.


Multimodal intuitive user interface

In order to make use of the full potential provided by the "Single-Port-System" (SPS), answers to completely different challenges on control and user interface (for the surgeon) have to be found. For a safe operation, especially a realistic "immersion" of the surgeon into the operational area is essential: only with an intuitive handling via a multimodal interface for the surgeon the inherent complexity of the SPS with its many degrees of freedom can be controlled. Therefore, in addition to tool kinematics and controls, a force feedback in combination with a tactile display is required as well as an overlay of pre- and intraoperative data on a 3D reconstruction of the operational area in conjunction with Virtual Fixtures.

Moreover, a situated analyses of the workflow will allow a recognition of the current state of the operation, which will be used for anticipatory support for the surgeon.

For further information please contact Oliver Weede.


Haptic Sensors

In this part of the project miniaturized end-effectors (e.g. scissors, forceps) with integrated sensors will be developed. Based on those sensors and actuators the intuitive user interface will be designed.

One goal of this project is the development of a modular set of end-effectors. Therefor, a suitable sensor for sensing the 6D position will be designed and developed, which has to be integrated into the end-effectors. Furthermore, miniaturized force sensors and tactile sensors will be integrated into the end-effectors.

Based on those sensors, the corresponding position data and tactile and kinesthetic information is processed for a realistic representation on the haptic interface, for which a tactile display has to be designed. A haptic model is developed which converts the detected signals into a (for the surgeon) realistic experience.

At the example of palpation this technology will be demonstrated and evaluated. With the haptic feedback, the performance of the surgeon will be improved und thus, the quality of the operation is increased. In vitro tests will be conducted to evaluate the system.

For further information please contact .