[robotics-worldwide] Please post: Call for Participation to 2009 ICRA Workshop: Advanced Sensing and Sensor Integration in Medical Robotics

Rainer Konietschke rainer.konietschke at dlr.de
Wed Apr 29 02:41:41 PDT 2009


**ICRA 2009  Half-day Workshop (Wednesday, May 13, 8:30-12:30)

*Title: Advanced Sensing and Sensor Integration in Medical Robotics**

Abstract -- This half day workshop will focus on sensing and sensor
integration in medical robotics. It is intended to cover current
research on new sensor designs, sensor data fusion and modeling as well
as the integration of sensors into new challenging medical applications.
In medical robotics, one usually operates in a constantly changing
environment that contains objects of differing mobility and stiffness,
ranging from bony skeletal structures to soft tissue. Most of the
applications require high accuracy. In industrial robotics, high
positioning accuracy is usually achieved by a stiff and heavy design.
However, the physical space and safety considerations of an operating
room demand light weight robots with a compact design, but with
resultant lower stiffness and absolute accuracy. Advanced robot control
that includes additional end effector sensing and/or display modalities
is a common method to achieve the necessary accuracy. Redundancy and
corresponding safety issues are additionally addressed by the
appropriate selection of sensors (external as well as on robots). A
large variety of sensors are in use within the research community,
including such as computer vision, ultrasound, MRI/CT, and time of
flight cameras or IMUs to name a few. The workshop will support an
exchange of experiences with these modalities. Also robotically assisted
teleoperation will be discussed, since, in this case, advanced sensing
modalities are crucial to improve the immersion of the surgeon into the
remote operation site. The design and implementation of force sensing
and force feedback as well as of tactile feedback functionality will be

Workshop URL: http://robvis01.informatik.tu-muenchen.de/icra_workshop_2009/

*----- Time, Speakers and title of talk*


08:30 - 08:40 *— Welcome from the organizers*.
08:40 - 09:00* — M.Vitrani, P. Mozer, et al.: *Ultrasound images as a
reference for localization and positioning

09:00 - 09:20* — A. Krupa, G. Fichtinger,  et al.: *Rigid motion
compensation with a robotized 2D ultrasound probe using speckle
information and visual servoing
09:20 - 09:40* — O. Garcia, J. Civera, et al.: *Real-time 3D Modeling
from Endoscope Image Sequences
09:40 - 10:00* — O. Ruepp, and D. Burschka: *HybridScope: An Approach
for 3D Image Enhancement in Endoscopic Images

/10:00 - 10:10 -- Coffee break

10:10 - 10:30 *— U. Seibold, B. Kuebler, et al.**:* Endoscopic 3
DoF-Instrument with 7 DoF Force/Torque Feedback
10:30 - 10:50 *— R. Haslinger, G. Passig, et al.**: *Fiberoptic 6-DOF
Force-Torque-Sensing for Haptic Feedback in Minimally Invasive Robotic
10:50 - 11:10 *— B. Willaert, D. Reynaerts, et al.**: *Extracorporeal
force measurement system for robot assisted MIS with 3D force feedback
11:10 - 11:30 *— P. Poignet and R. Cortesao**:* Force control issues for
telerobotic surgery
11:30 - 11:45 *— M. Mahvash, P. Dupont**:* Cartesian Control of Flexible
Surgical Robots Using Tip Sensors
11:45 - 12:00 *— K. Hauser, R. Alterovitz, et al.**: *Feedback control
for steering needles in 3D deformable tissue
12:00 - 12:15 *— T. Haidegger, Z. Benyo, et al.**:* Sensor fusion for
patient motion compensation

/12:15 - 12:30 -- Discussion

/*Organizers: *Darius Burschka, Gregory D. Hager, Rainer Konietschke,
Allison M. Okamura



Dr.-Ing. Rainer Konietschke, DLR, D-82234 Wessling, Germany
Phone   : +49 / 8153 / 28-2498
Fax     : +49 / 8153 / 28-1134
Email   : Rainer.Konietschke at dlr.de
Web     : http://www.robotic.dlr.de/Rainer.Konietschke/
DLR (German Aerospace Center)
Institute of Robotics and Mechatronics
P.O. Box 11 16
82230 Wessling / Germany

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