Open Projects:
- Master Thesis: Tool-changing laparoscope for reducing the surgery duration (PDF, 343.99 KB)
- Master Thesis: Tri-axial force sensor for an eye surgery (PDF, 154.98 KB)
- Master Thesis: Design and evaluation of a measurement probe for contact-forces in minimally invasive kee surgery (PDF, 661.93 KB)
- Master Thesis: Assessment of the functional rotational workspace of different handles for the Lambda.6 haptic device (PDF, 595.41 KB)
- Master Thesis: Vision-based registration and control of a robotic endoscope for laser ablation (PDF, 209.81 KB)
- Master Thesis: Augmenting a custom haptic input device handle with force feedback for intuitive grasping (PDF, 865.64 KB)
- Master Thesis: Manipulating the micro-world - design and fabrication of a small-scale force-sensitive gripping device (PDF, 547.16 KB)
Ongoing Projects:
- Semester Thesis: 3-DoF haptic guidance for intuitive teleoperation of a robotic endoscope (PDF, 675.16 KB)
- Master Thesis: Learning desired null-space poses for inverse kinematics from the operator (PDF, 873.41 KB)
- Master Thesis: Enhancement of telemanipulation: A survey on haptic feedback and motion scaling for a robotic endoscope (PDF, 229.12 KB)
- Master Thesis: Development of a modular series elastic joint for a prototype robotic arm for surgeries (PDF, 1.24 MB)
- Master Thesis: Design and implementation of an encapsulated force sensing device for minimally invasive endoscopic palpation (PDF, 226.76 KB)
- Master Thesis: Interactive approach path planning system for insertion of a robotic endoscope in the human knee (PDF, 276.99 KB)
Completed Projects:
- Master Thesis: Surgical robot for laser osteotomy (PDF, 3.00 MB)
- Bachelor Thesis: Design of Active Leg Fixation for a Self-Stabilizing Robotic Endoscope (PDF, 1.17 MB)
- Master Thesis: Actuation and Control of a Robotic Endoscope for Laser Osteotomy in the Knee (PDF, 2.60 MB)
- Master Thesis: Actuation design for a bone-mounted parallel mechanism (PDF, 942.54 KB)
- Master Thesis: Intuitive haptic telemanipulator for a robotic endoscope (PDF, 615.43 KB)
- Semester Thesis: Design of a flexible endoscope shaft for laser osteotomy in the knee (PDF, 2.60 MB)
- Master Thesis: End-effector stabilization of a robotic endoscope in laser osteotomy (PDF, 117.31 KB)
- Semester Thesis: Design of a decoupling mechanism for disturbance rejection in robotic laser osteotomy (PDF, 701.26 KB)
- Master Thesis: Visual servoing test bench for an articulated robotic endoscope (PDF, 217.71 KB)
- Semester Thesis: Design and simulation of series elastic joints for a prototype surgical robotic arm (PDF, 1.24 MB)
- Semester Thesis: Design of series elastic actuation for a cable-driven articulated endoscope (PDF, 544.06 KB)
