AIConfPaper
← Search

Ludwig Haide

7 accepted papers

2026

A Shared Control Architecture for Vitreoretinal Surgery With Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
RA-L 2026

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a

Cited by 0Source ↗Scholar ↗
2026

A Shared Control Architecture for Vitreoretinal Surgery with Safety Guarantee Using Control Barrier Functions

Nicola Piccinelli, Federico Vesentini, Marius Briel, Ludwig Haide, Eleonora Tagliabue, Marco Pellegrini +2
ICRA 2026poster

Control Barrier Functions (CBFs) provide a powerful framework for enforcing real-time safety in control systems and have seen increasing applications in safety-critical domains, such as surgical robotics. In vitreoretinal microsurgery, where precision and tissue protection are crucial, we propose a …

Cited by 0Source ↗Scholar ↗
2026

Automated Retinal Photocoagulation Using Instrument-Integrated OCT and Laser Pattern Mapping

Marius Briel, Ludwig Haide, Dongyue Wu, Justus Hornstein, Philipp Matten, Nicola Piccinelli +3
ICRA 2026poster

Retinal endolaser photocoagulation (REPC) is a repetitive intraocular surgical procedure that could greatly benefit from automation and distance-based control, improving both efficiency and safety. This work presents a robotic system designed for automated REPC, utilizing instrument-integrated optic…

Cited by 0Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
RA-L 2026

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru

Cited by 0Source ↗Scholar ↗
2026

Distance-Based Shared Control for Vitreoretinal Surgery

Marius Briel, Dongyue Wu, Maximilian Hess, Ludwig Haide, Nicola Piccinelli, Gernot Kronreif +3
ICRA 2026poster

The fragility of ocular tissues combined with the limited surgical workspace demands precise instrument control and focus, making sensor-integrated robotic systems a promising solution. In this paper, we introduce a surgical system for telemanipulated endolaser photocoagulation that leverages instru…

Cited by 0Source ↗Scholar ↗
2024

Lens Capsule Tearing in Cataract Surgery using Reinforcement Learning

Rebekka Charlotte Peter, Steffen Peikert, Ludwig Haide, Doan Xuan Viet Pham, Tahar Chettaoui, Eleonora Tagliabue +5
ICRA 2024poster

Cataract is the leading cause of blindness worldwide with an increasing number of patients due to changing demographics, making automation an important part in future surgical treatment. In this work, we focus on a substep of cataract surgery, the Continuous Curvilinear Capsulorhexis (CCC). With a h…

Cited by 0Source ↗Scholar ↗
2023

Using a Collaborative Robotic Arm as Human-Machine Interface: System Setup and Application to Pose Control Tasks

Christian A. Braun, Ludwig Haide, Lars Fischer, Sean Kille, Balint Varga, Simon Rothfuss +1
ICRA 2023poster

While robotic arms have been used in a vast range of application areas, so far no extensive reports on the utilization as human-machine interface exist. Compared to HMI devices from literature, the robotic arm used in this work (KUKA LBR iiwa 14 R820) features a relatively large workspace and is abl…

Cited by 6Source ↗Scholar ↗