DLR Medical Robotics GroupMiroSurge - A Robotic System for Surgery

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Sophie Thielmann

Institute of Robotics and Mechatronics

DLR - German Aerospace CenterOberpfaffenhofen (Munich)

Medical Robotics GroupGroup:

12 researchers5-10 student research assistants10 researchers with 50% contribution

Since 2005:40 publications25 patent applications

Cooperations:

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Cooperations: Several German and European projectsIndustry: KUKA Roboter, BrainLAB, Richard Wolf GmbH

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Specialized and Versatile Systems

Surgical robotic systems

Specialized systems Versatile systems

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Surgical technique Specific disease

Medical application in hardware

Industrial robots Medical robots

Medical application in software

The MIRO – a versatile medical robot

Compact and redundant

7 degrees of freedom

Coupled joints

Kinematic length 760 mm

Light weight

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Weight < 10 kg

Payload 30N

Torque sensors in all joints

Fast Space wire communication

MIRO Features

Safe interaction

Reduced mass

Compliant control

Adaptable and flexible

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Magnetic instrument interface

Kinematic redundancy

Accurate position control

Compliant impedance control

Torque control

Versatile Instrument Interface

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Instrument for MIRS

Full dexterity inside the patientSensing of manipulation forces/torquesSurgical gripper with force sensor

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Surgeon‘s Workstation for MIRSBimanual force feedback

Haptic device Omega.7Forces and grasping aredisplayed

Stereo visionAutostereoscopic displayEye-tracking

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Eye-trackingAugmented reality

Image stream via ethernetVideo serverVarious receiving clients

Control by optically tracked forceps

Conclusions

The MIRO, a versatile medical robotLight weight and redundantCompliant control

The DLR instrument for MIRSFull dexterity inside patientSensing of manipulation forces

Robot setup planning

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Robot setup planningPreoperative planningIntraoperative adaption to OR

Surgeon workstationForce feedbackStereo vision

Real time controlFlexible configuration of componentsSimple interface for surgeon