Open Projects:
- Master Thesis: Object slippage detection for a miniature force-sensitive gripper (PDF, 1.93 MB)
- Master Thesis: Shared control of a robotic endoscope
- Master Thesis: Cell damage spreading in lesioned and laser ablated cartilage samples (PDF, 6.41 MB)
- Master Thesis: Refreshing articular cartilage defects by laser ablation - parameter optimization and validation (PDF, 13.67 MB)
- Master Thesis: Design, implementation, and evaluation of a sterile workflow for robot-assisted laser ablation of cartilage tissue (PDF, 8.80 MB)
- Master Thesis: Planning paths for hyper-redundant robots using medical image data (PDF, 630.86 KB)
- Master Thesis: Development of attachment mechanisms for a minimally invasive surgical robot (PDF, 1.89 MB)
- Master Thesis: Intraoperative registration of a surgical tool with preoperative CT data based on optical tracking (PDF, 568.68 KB)
- Master Thesis: Ergonomically optimal and adaptable placement of user-side devices for a visuo-haptic teleoperation console
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: Machine learning approach for automated assessment of organoid vasculature (PDF, 621.42 KB)
- Master Thesis: Development of a minimally invasive 3D printing robot (PDF, 1.37 MB)
- Master Thesis: Quantitative evaluation of shared surgeon-robot workspace for robot assisted knee surgeries (PDF, 2.94 MB)
- Bachelor Thesis: Comparing cascaded controller architectures for reactive series elastic actuators (PDF, 2.39 MB)
Completed Projects:
- Master Thesis: Surgical robot for laser osteotomy
- Bachelor Thesis: Design of Active Leg Fixation for a Self-Stabilizing Robotic Endoscope
- Master Thesis: Actuation and Control of a Robotic Endoscope for Laser Osteotomy in the Knee
- Master Thesis: Actuation design for a bone-mounted parallel mechanism
- Master Thesis: Intuitive haptic telemanipulator for a robotic endoscope
- Semester Thesis: Design of a flexible endoscope shaft for laser osteotomy in the knee
- Master Thesis: End-effector stabilization of a robotic endoscope in laser osteotomy
- Semester Thesis: Design of a decoupling mechanism for disturbance rejection in robotic laser osteotomy
- Master Thesis: Visual servoing test bench for an articulated robotic endoscope
- Semester Thesis: Design and simulation of series elastic joints for a prototype surgical robotic arm
- Semester Thesis: Design of series elastic actuation for a cable-driven articulated endoscope
- Master Thesis: Tool-changing laparoscope for reducing the surgery duration
- Master Thesis: Learning desired null-space poses for inverse kinematics from the operator
- 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
- Master Thesis: Path planning for hyper-redundant surgical robots
- Semester Project: Conception, implementation, and evaluation of a virtual simulation environment for a teleoperation user console
- Master Thesis: Switching tools on the fly - design and fabrication of a small-scale tool changing system for a miniature robot arm
- Master Thesis: Optimization-based design of a robotic endoscope for intraventricular tumor surgery
- Internship: Path planning for planar hyper-redundant surgical robots (PDF, 183.12 KB)
- Master Thesis: Robot-assisted laser ablation of engineered cartilage tissue - implementation of custom ablation shapes and evaluation of chondrocyte viability
- Master Thesis: Development and evaluation of a virtual simulation environment for a visuo-haptic user console (PDF, 957.18 KB)
- Master Thesis: Development and evaluation of a visual feature recognition framework for a robotic assembly system
- Master Thesis: Development of an endoscopic device to treat pathologies in the posterior third ventricle (PDF, 536.16 KB)