H. Weiss

Publications (10)0 Total impact

• Source

  Available from: Markus Grebenstein

  Conference Proceeding: A hands-on-robot for accurate placement of pedicle screws

  T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schaffer, C. Ott, S. Jorg, R. Konietschke, L. Le-Tien, G. Hirzinger
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  ABSTRACT: This paper presents a novel system for accurate placement of pedicle screws. The system consists of a new light-weight (<10 kg), kinematically redundant, and fully torque controlled robot. Additionally, the pose of the robot tool-center point is tracked by an optical navigation system, serving as an external reference source. Therefore, it is possible to measure and to compensate deviations between the intraoperative and the preoperatively planned pose. The robotic arm itself is impedance controlled. This allows for a new intuitive man-machine-interface as the joint units are equipped with torque sensors: the robot can be moved just by pulling/pushing its structure. The surgeon has full control of the robot at every step of the intervention. The hand-eye-coordination problems known from manual pedicle screw placement can be omitted
  Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on; 06/2006
• Conference Proceeding: A Virtual Reality Based Haptic Surgical Training System

  H. Weiss, T. Ortmaier, H. Maass, G. Hirzinger, U. Kuehnapfel
  2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Nürnberg, Nov. 2003; 11/2003
• Conference Proceeding: Telepresence and Teleaction in Minimally Invasive Surgery

  T. Ortmaier, H. Weiss, G. Hirzinger
  Robotik 2004, München, 17./18. 06.2004;
• Conference Proceeding: Mechatronics and Autonomy in Minimally Invasive Robotic Surgery

  T. Ortmaier, H. Weiss, G. Hirzinger
  3rd International Conference on Humanoid Robots (Humanoids2003), Munich and Karlsruhe, Oct. 2003;
• Conference Proceeding: Minimally Invasive Robotic Surgery: Foundations and Perspectives,

  T. Ortmaier, H. Weiss, G. Hirzinger
  ICRA 2003 - IEEE International Conference on Robotics and Automation, Workshop IV: Recent Advances in Medical Robotics, Taipei, Taiwan, Sept. 15, 2003;
• Conference Proceeding: Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery

  R. Konietschke, T. Ortmaier, H. Weiss, G. Hirzinger, R. Engelke
  9th International Symposium on Advances in Robot Kinematics(ARK), Sestri Levante, Italy, June 28 - July 1, 2004;
• Conference Proceeding: Sensorized and Actuated Instruments for Minimally Invasive Robotic Surgery

  U. Seibold, B. Kübler, H. Weiss, T. Ortmaier, G. Hirzinger
  Eurohaptics 2004, München, Germany, June 2004;
• Source

  Available from: dlr.de

  Conference Proceeding: Optimal Design of a Medical Robot for Minimally Invasive Surgery

  R. Konietschke, T. Ortmaier, H. Weiss, R. Engelke, G. Hirzinger
  2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Nürnberg, 4.-7. November 2003;
• Source

  Available from: curac.org

  Conference Proceeding: A New Robot for Minimally Invasive Surgery

  H. Weiss, T. Ortmaier, G. Hirzinger
  CURAC 2004 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., München, 8.-9. Okt. 2004;
• Source

  Available from: psu.edu

  Conference Proceeding: A Preoperative Planning Procedure for Robotically Assisted Minimally Invasive Interventions

  R. Konietschke, H. Weiss, T. Ortmaier, G. Hirzinger
  CURAC 2004 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., München, 8.-9. Okt. 2004;