Initiative applications are always welcome
Ongoing Projects:
- Master Thesis: Development and design of a multifunctional laparoscope (PDF, 404.06 KB)
- Master Thesis: Validation of estimated orientation from inertial measurement units with an optical tracking system (PDF, 240.70 KB)
- Master Thesis: Path planning for hyper-redundant surgical robots
- Master Thesis: Switching tools on the fly - design and fabrication of a small-scale tool changing system for a miniature robot arm (PDF, 298.90 KB)
- Semester Project: Conception, implementation, and evaluation of a virtual simulation environment for a teleoperation user console (PDF, 955.59 KB)
- Master Thesis: Development and evaluation of a visual feature recognition framework for a robotic assembly system (PDF, 1.13 MB)
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)
- Master Thesis: Tool-changing laparoscope for reducing the surgery duration (PDF, 343.99 KB)
- Master Thesis: Learning desired null-space poses for inverse kinematics from the operator (PDF, 1.44 MB)
- Master Thesis: Development of a modular series elastic joint for a prototype robotic arm for surgeries (PDF, 1.24 MB)
- Master Thesis: Enhancement of telemanipulation: A survey on haptic feedback and motion scaling for a robotic endoscope
- Semester Thesis: 3-DoF haptic guidance for intuitive teleoperation of a robotic endoscope
- Master Thesis: Interactive approach path planning system for insertion of a robotic endoscope in the human knee (PDF, 276.99 KB)
- Master Thesis: Design and implementation of an encapsulated force sensing device for minimally invasive endoscopic palpation (PDF, 226.76 KB)
- Master Thesis: Assessment of different grasp type handles for a teleoperated 6-DoF peg-in-hole task with the lambda.6 device
- Internship: Structural analysis of a miniature parallel robot for precise milling in surgery
- Master Thesis: Intuitive surgeon robot interface to control macro-robots and exchange surgical tools
- Master Thesis: Vision-based registration and control of a robotic endoscope for laser ablation
- Master Thesis: Augmenting a custom haptic input device handle with force feedback for intuitive grasping
- Master Thesis: Design of a rotational endoscope joint with integrated joint position sensor (PDF, 1.21 MB)
- Master Thesis: Plug & p...erform surgery – design of a mechanical interface to safely detach a tendon-driven robotic endoscope (PDF, 132.15 KB)
- Bachelor Thesis: Real-time visual feature recognition and metrology for mechanical micro-Parts
- Master Thesis: Manipulating the micro-world - design and fabrication of a small-scale force-sensitive gripping device
