Andreas Kirschniak — accepted AI-conference papers

2017

User-interface for teleoperation with mixed-signal haptic feedback

Daniel B. Thiem, Carsten Neupert, Johannes Bilz, Sebastian Matich, Julian Polzin, Roland Werthschützky +5

IROS 2017poster

Haptic feedback for minimally invasive surgery is a widely debated topic, especially force sensors for this kind of application are thoroughly researched. The current state-of-the-art includes several realization options, but none of them are suitable to be integrated in small diameter instruments.…

Cited by 6 Source ↗Scholar ↗

2016

3-D force measurement using single axis force sensors in a new single port parallel kinematics surgical manipulator

Sebastian Matich, Carsten Neupert, Andreas Kirschniak, Helmut F. Schlaak, Peter Pott

IROS 2016poster

Single port surgery is an innovative approach in the field of minimally invasive surgery. Although several telemanipulators exist to perform operations through only a single incision they all suffer from the lack of haptic feedback. To generate kinesthetic feedback the intracorporeal forces need to…

Cited by 14 Source ↗Scholar ↗

2015

A new single-port robotic system based on a parallel kinematic structure

Sebastian Matich, Carsten Neupert, Andreas Kirschniak, Helmut F. Schlaak, Peter P. Pott

IROS 2015poster

In this paper we present a new single port robotic system particularly designed for single port access surgery in the field of colon cancer. In contrast to most state of the art systems the two intracorporeal manipulator arms are set up using a parallel kinematic structure with 5DOF, which are integ…

Cited by 15 Source ↗Scholar ↗