Tim Lueths's Results | SG-Lib • Solid Geometry Library Toolbox for Generative AI

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Some Results in Robotics and Navigation of Tim Lueth's Research - today
Last Change: 19.06.2020

Project: SGCL - Solid Geometry Coding Language

Participating scientists: Tim Lueth, Yilun Sun, Christian Dietz

Method & System: SG-Lib: A software library for the automatic and autonomous design of mechanisms and robots including sensors, actuators, control electronics and software.

Participating scientists: Tim Lueth

Research goal: Since 2010, the goal has been to enable the previously manual design process of automatic motion control systems and robots, from mechanics to the selection and ordering of drives and sensors, from cabling to power and control electronics to automatic programming of the machines with a toolbox for Matlab.

Research results: To date, more than 2000 functions have been developed, which can be subdivided into the following areas:

Other active research teams:
T. Varady & M.J.Pratt

Selection of our publications:
Tim C. Lueth, Franz Irlinger: "Berechnete Erzeugung von dreidimensionalen Oberflächenmodellen im STL-Format aus der Beschreibung planarer Mechanismen für die Generative Fertigung durch Selektives-Lasersintern [Computational 3D Surface Generation of Planar Mechanismus using STL File Format for Generative Manufacturing by Selective Laser Sintering]", angenommener Beitrag im Konferenzband 10. Kolloquium Getriebetechnik, TU Ilmenau, Sep. 11-13, 2013, pp 1-18.

Method & System: Mechanism Design by Topology Optimization of Large Displacement

Participating scientists: Yilun Sun, Tim Lueth

Research goal: Following the ideas of Ole Sigmund, we try to design mechanisms via topology optimization for large displacements of surface, edges, points. This method achieves completely different structures than the classical geometric design methods for mechanisms. We test to what extent and which task types of the design procedures can be mastered with this method.

Research results: We were able to show that within a few minutes before the definition of a task up to the complete printable STL file we were able to design a mechanism such as a pliers or a gripper and produce it with selective laser sintering.

Other active research teams:
M. P. Bendsoe and O. Sigmund

Selection of our publications:
Yilun Sun, Yuqing Liu, Lingji Xu, Yunzhe Zou, Angela Faragasso and Tim C. Lueth: " Automatic Design of Compliant Surgical Forceps with Adaptive Grasping Functions"

Project: Automated Design of Robots and Gripper on Demand

Participating scientists: Yannick Krieger, Andreas Schröffer, Tim Lueth

Research goal: Based on the SG library (www.sg-lib.org), the geometries of robots and grippers, the associated joints, the associated drives, and the associated control based on Arduino or Rasberry are to be designed fully automatically. For robots, the target is a movement or a working area. For grippers, the target is an object to be gripped and three poses as a motion sequence.

Research results: After the first printing of joints in 2010 and the launch of SG-Lib in 2012 as well as the first printed Jaco robot arms in 2013, we can now automatically produce lightweight arm segments between two frames in 2019. Automated design of swivel joints. Automatically integrate motors into the swivel joints and design control programs for control based on the Arduino µC. There is still a lot to do. Also in 2019 we designed grippers with SG library for the first time and also designed the control automatically.

Other active research teams:
to complete

Selection of our publications:
zu ergänzen

Project: Ligament- and tendon-free 1:1 movement models of patient-individual knee apparatuses

Participating scientists: Alexandra Mercader, Amir Bigdeli, Heinz Röttinger, Tim Lueth

Research goal: The aim of the research is to analyze the causes for the high resection rate of individual implanted knee joints. Our assumption is that the postoperative knee kinematics with the knee replacement does not correspond to the original knee kinematics. For this reason we would like to measure the relative spatial movement of the lower leg bone to the femur from a patient using a stereotactic measuring system and design a four-joint that can emulate these patient-individual knee movements without the ligamentous apparatus of the human joint. We "print" on a scale of 1:1 the model of the lower and upper leg bones with the movable quadrilateral joint in such a way that the knee can be spread as in the real operation and then the original implants, milling templates and surgical navigation systems can be applied to this knee model. The four-joint model allows the knee movement to be simulated on the 1:1 model without ligaments and the fit of the implant to be checked. This makes it possible to test the correct functioning of the previous clinical procedure in advance on a 1:1 model.

Research results: Based on an optical stereo camera (NDI) a software for the spatial recording of the relative leg movement was realized. The leg movement was registered with the bone surface models of the patient's knee. Using a four-joint synthesis method, a joint kinematic system was developed that can follow the individual knee movement or execute it without the ligamentous apparatus (tendons and ligaments). The kinematics were designed automatically and connected to the bone surface models. The 1:1 model of the bones with the four-joint was then produced additively.

Other active research teams:

none so far

Selection of our publications:
bisher keine

Project: Continuous geometric design of four-joints as 3-pose synthesis considering the feasibility of the motion

Participating scientists: Tim Lueth und Franz Irlinger

Research goal: With a new approach, we try to solve four-joints on the basis of geometrical methods that are numerically implemented, taking into account all general conditions. In contrast to purely geometric design methods, this method guarantees the mechanical feasibility of the four-joint solutions found. We test to what extent and which task types of the design procedures can be mastered with this method.

Research results: An interactive function library for Matlab was created, with which poses and/or contours can be defined as design tasks from hand sketches or drawings by the user, with which obstacles, effectors, or area specifications for rack points can be described. We were able to show that on the basis of three poses and one effector area (green) we can find and classify all actually existing solutions in a few seconds. We can limit the solution space by specifying criteria and define further criteria. The shapes of the effector, the crank and the swingarm can be calculated with reference to the collision areas and the nesting of the motion plane. A combination of prioritized "cutting" of the contours colliding during movement and path planning for the later contour of the crank or rocker arm is used. The method is based on the modeling of the four-joint as a passive RR chain which is forced by a cube onto a circular path. The inverse kinematic equation used for the RR chain can clearly identify the different joint configurations.

Other active research teams:
Kevin Russel, Qiong Shen, Raj S. Sodhi, New Jersey Institute of Technology | NJIT - Department of Mechanical & Industrial Engineering

Selection of our publications:
Tim Lueth und Franz Irlinger: "Ein neuer Ansatz zur Synthese und Konstruktion von Viergelenken nach Vorgabe von 3 Posen mit Matlab. 13.Kolloquium Getriebetechnik, 18.20.9.2019, Logos Verlag Berlin, pp. 71-84

Project: Design of a language for the design and additive manufacturing of mechanisms and robots (SGCL - Solid Geometry Coding Language)

Participating scientists: Tim Lueth, Yilun Sun, Christian Dietz

Research goal: The aim of the research is to develop a simple language for the design of motion machines and robots. For many scientists, interactive drawing programs such as Catia Solidworks and others are unsuitable because they have no experience in drawing three-dimensional bodies. The aim of language development is to facilitate access to design for non-engineers and, above all, to design bodies that are difficult to draw with standard CAD programs.

Research results: A language was developed based on the SG-Lib Toolbox, which is characterized by the following features:
- Use of simple character string with a sequence of simple commands, accuracy limited to 5µm. Diameter instead of radius etc.
- Generation, arrangement and modification of 2D contours as well as calculation using Boolean operators with a stack concept.
- Extrusion of 2D contours into 3D bodies, rotation of contours, helical extrusion
- Library of predefined 3D bodies such as spheres, gears, threads, letters, etc.
- Generation, arrangement and modification of 3D bodies as well as calculation via Boolean operators with a stack concept
- Frames as coordinating systems for arrangement and generation of kinematic chains
- Simple macros to shorten repeated command chains

Other active research teams:
None known

Selection of our publications:
Lueth, Tim (2015): SG-Library: "Entwicklung einer konstruktiven MATLAB-Toolbox zur räumlichen Modellierung von Körpern, Gelenken und Getrieben [Development of a Matlab Design-Toolbox for Modeling Solid Volumes of Bodies, Joints, and Mechanisms]",11. Getriebetechnik-Kolloquium 2015, TU München, September 2015, pp 183 - 203
Träger, M.F.; Krohmer, E.; Krieger, Y.S.; Lueth, T.C. (2015), "Automatisierte Konstruktion von Zahnradgetrieben für die Herstellung mittels Rapid-Prototyping-Verfahren." In Lueth, T.C., Irlinger, F. and Abdul-Sater, K. (Eds.), 11. Kolloquium Getriebetechnik, Garching b. München, Deutschland, 28.-30. September 2015, pp. 235–254
Lueth, T.C., Irlinger, F. (2013): "Berechnete Erzeugung von dreidimensionalen Oberflächenmodellen im STL-Format aus der Beschreibung planarer Mechanismen für die Generative Fertigung durch Selektives-Lasersintern [Computational 3D Surface Generation of Planar Mechanismus using STL File Format for Generative Manufacturing by Selective Laser Sintering]", Beitrag im Konferenzband 10. Kolloquium Getriebetechnik, TU Ilmenau, Sep. 11-13, 2013, pp 267-284

Project: Surgical navigation for the C-arm based spine surgeon

Participating scientists: WW, EL, SH, NS, JZ, BL, BZ, JZ, SS, CS, Tim Lueth

Research goal: The aim was to develop a very fast, efficient and easy-to-understand navigation system for spinal surgery. Robust, reprocessable electromagnetic instruments must be used. The system must provide a way to co-register C-arm projection image data and CT/MRT based volumetric image data.

Research results: The Integrated Navigation Tracking & Control System received the 2019 Spine Technology Award from the North American Spine Society (NASS) in 09/2019.

Other active research teams:
missing

Selection of our publications:
https://www.odtmag.com/contents/view_breaking-news/2019-09-23/nass-news-joimax-wins-2019-spine-technology-award/
Das System ist zertifiziert und weltweit im regulären klinischen Einsatz.

Project: 3D-Printing of Mechanisms and Robots

Participating scientists: Thomas Maier-Eschenloher, Samuel Detzel, Tim Lueth

Research goal: The aim of the project is to analyse how robot structures can be printed. Apart from the pure shaping, the question arises how large bodies can be divided into smaller printable units, how smaller units can be reassembled into larger units, how the necessary stiffness of the larger structures can be maintained.

Research results: We were able to show, for example, that the "arms" of the lightweight JACO robot can be printed in polyamide and that the carbon fiber arms of the original robot can be replaced by these printed arms. The 3D-printed arms have an internal structure similar to human bone (cancellous bone). The stiffness can be increased by inserting carbon rods into the channels.

Other active research teams:
currently unknwon

Selection of our publications:
unpublished

Project: Interactively controlled robot for guiding endoscopes in ENT medicine

Participating scientists: Thomas Maier, Stephan Nowatschin, Tim Lueth

Research goal: The aim was to convert a robot to guide a commercially available endoscope and to move it directly via a spacemouse in 6 degrees of freedom, whereby TCP rotations are separated from movements.

Research results: We were able to show that it is possible to dynamically control the JACO robot via a space mouse attached to it and use it as a support arm for an endoscope in the ENT Chrirgue.

Other active research teams:
unknown at this time

Selection of our publications:
unveröffentlich

Project: OR table cushion integrated robot for minimally invasive ultrasound imaging and automatic tracking and focusing of instruments

Participating scientists: Jan Gumprecht, Thomas Maier, Roland Eckl, Jens-Uwe Stolzenburg, Tim Lueth

Research goal: The system is characterized by the fact that without the presence of an additional assistant in the operating room, the surgeon can make ultrasound images with a robot. The patient should lie on a flexible cushion in order to bring the ultrasound waves without air reflection into the body and after the reflection to the ultrasound head. The robot should be able to move and tilt the ultrasound head within the cushions. The robot should be able to operate as a telemanipulator with a joystick, execute movement commands and automatically track defined sound echoes in the ultrasound images. The ultrasound can be focused on the instrument or a lesion.

Research results: We could show that it is possible to use an XY-mechanism with a tilting head to guide an ultrasound head together with it in a water tank and to move it via a joystick and control signals to follow a marker in an ultrasound image, for example.

Other active research teams:
Achim Schweikard, University of Lübeck
Nassir Navab, Technical University of Munich

Selection of our publications:
Gumprecht, J.D.J.; Maier, T.; Eckl, R.; Stolzenburg, J.; Lueth, T.C.; , "A new ultrasound imaging concept for laparoscopy in urology," Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE , vol., no., pp.5991-5994, Aug. 31

Project: A force feedback joystick for use in medical robotics

Participating scientists: Thomas Maier, Tim Lueth

Research goal: For the control of micro manipulators with integrated force measurement, an input device should be realized that transmits forces, risks, or more generally the approaching and crossing of borders to the treating physician in the form of perceptible forces.

Research results: A joystick with 4 degrees of freedom was realized, whose lever mechanism can be limited or extended in its position and speed by 4 actuators. In this way, movements of the doctor can be limited or transmitted to the doctor. We were able to show that we could transmit tactile information to the doctor with the active joystick.

Other active research teams:
Gerd Hirzinger, Munich, Germany
Hubertus Feussner, Right of the Isar, Munich

Selection of our publications:
T. Maier, T. Meschede, G. Strauss, T. Kraus, A. Dietz, and T.C. Lueth, “Joystick Control with Capacitive Release Switch for a Microsurgical Telemanipulator,” 2010 IEEE Human System Interaction, Rzszow, Poland: IEEE, 2010, pp. 223-229. Best Paper Award

Project: Development of a novel 3D printer based on an injection moulding machine

Participating scientists: Franz Irlinger, Oliver Kessling, Thomas Ottnad, Tim Lueth

Research goal: The aim of the work was to implement a new 3D process based on an injection moulding machine for liquefying plastic pellets by means of a screw and separating the strand into individual droplets. Also a cartesian movable movement plate has to be realized. At a later stage, software algorithms will be required which, from slicing to machine control, can generate not only the component shape but also support structures.

Research results: In the period 2008-2013 we were able to show which metal materials and actuators can be used to implement the drop generators and which mechanical operating principle enables reliable operation. In addition to the design of the machine, the software from the slicer to the G-Code generation was also implemented. Arburg introduced the product to the market in 2013.

Other active research teams:
Eberhard Duffner and Herbert Kraibühler, Arburg, Lossburg

Selection of our publications:
Sebastian Gepp, Thomas Ottnad, Oliver Kessling, Franz Irlinger, Tim C. Lüth: "Druckabhängigkeit des Massenstroms von Polypropylenschmelzen durch Mikrodüsen kleiner 500 μm[mass flow rate of polypropylene melts through micro nozzles with diameters smaller than 500 μm]" Chemie Ingenieur Technik Volume 83, Issue 4, pages 552–557, April, 2011
Keßling, O.; Schink, M.; Irlinger, F.; Lüth, T. C. : "Lötzinndruck für die Flip-Chip Bestückung," MikroSystemTechnik KONGRESS 2009, 12.-14. Oktober 2009 / Berlin
Ottnad, Thomas; Irlinger, Franz; Lueth, Tim C.; , "Design, construction, and verification of a printhead - tolerant towards bubbles - dosing liquid wax using rapid prototyping techniques," Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on , vol., no., pp.215-219, 3-7 July 2011
Thomas Ottnad, Franz Irlinger, and Tim C. Lueth: "Use of an analytic approach to proof numerical calculations of the deflection behaviour of thin plates," 9TH INTERNATIONAL CONFERENCE ON MATHEMATICAL PROBLEMS IN ENGINEERING, AEROSPACE AND SCIENCES: ICNPAA 2012, AIP Conf. Proc. 1493, pp. 727-733;
Ottnad, T.; Kagerer, M.; Irlinger, F.; Lueth, T.C.; , "Modification and further development of a drop on demand printhead for wax enabling future 3D-printing and rapid prototyping," Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on , vol., no., pp.117-122, 11-14 July 2012

Project: Surgical navigation system for the insertion of dental implants in maxillofacial surgery (RoboDent II)

Participating scientists: Thomas Maier, Sebastian Stopp, Thomas Wenger, Alexander Rautenberg, Herbert Deppe, Tim Lueth

Research goal: Through a new technology with 5mm gas ball trackers, improved and more fragile trackers, new display technology for the second display the attempt to improve dental navigation was started again. The aim of the work was also to provide patients with implants and a matching superstructure within one appointment. For this purpose, the position of the dental implants must be precisely planned, they must be aligned in parallel and the planning must be precisely feasible.

Research results: In the period 2008-2011, the system was modified by new smaller trackers, the software significantly improved and new display technologies tested (iPhone 02/2008 wireless). One problem remains the billing model, which did not finance the introduction of complex technology that has to be funded by the physician versus disposables that the physician is allowed to bill for.

Other active research teams:
Materialize

Selection of our publications:
Lueth, Tim C.; Wenger, Thomas; Rautenberg, Alexander; Deppe, Herbert; , "RoboDent and the change of needs in computer aided dental implantology during the past ten years," Robotics and Automation (ICRA), 2011 IEEE International Conference on , vol., no., pp.1-4, 9-13 May 2011
Stopp, T. Maier und T.C. Lueth (2008): "Neue Verfahren in der computergestützten dentalen Implantologie [New methods in computer-aided dental implantology]" DER MKG-CHIRURG, Volume 1, Number 1, 10-21

Project: A Navigation System for Liver Surgery

Participating scientists: Mathias Markert, Nikita Shevchenko, Johannes Schwaiger, Niko Dörfler, Stephan Nowatschin, Stefan Weber, Tim Lueth

Research goal: In liver surgery, compact tumors are integrated into the flexible liver tissue. The tumors are resected in an open surgical procedure. Liver tissue (parenchyma) grows again. The vascular system of the liver is located in the immediate vicinity of the tumours and does not regrow. The injury of the vascular trees during an intervention can represent a considerable risk for the patients, which is why the tumours should be removed as close as possible to the tumour borders. If tumour tissue remains behind, there is a considerable risk of tumour neoplasm. A risk assessment is therefore necessary, which was calculated for the first time by the Peitgen Group, Bremen. Now a navigation system for soft tissue should be realized, with which an operation planning for risk minimization can be also converted by the medical team accordingly.

Research results: In the period 2005-2010, a clinically approved liver navigation system was developed and evaluated in a clinical study at several clinics in Germany.

Other active research teams:
Heinz-Otto Peitgen, MEVIS, University of Bremen

Selection of our publications:
(2011) Johannes Schwaiger, Mathias Markert, Nikita Shevchenko und Tim C. Lueth: "The effects of real-time image navigation in operative liver surgery," International Journal of Computer Assisted Radiology and Surgery, Volume 6, Number 6, 785-796, 2011, DOI: 10.1007/s11548-011-0557-5
(2011) Bernhard Seidl, Nikita Shevchenko, Tim Christian Lueth, "Efficient Semi-Automatic Segmentation of Liver-Tumors from CT-Scans with Interactive Refinement," Proceedings of the IASTED International Conference "Biomedical Engineering" (Biomed 2011), February 16 - 18, 2011, Innsbruck, Austria, pp. 310 - 315., DOI: 10.2316/P.2011.723-019
(2011) Doerfler, N.; Seidl, B.; Shevchenko, N.; Stenzel, R.; Lueth, T.C.; "Blood vessel detection in navigated ultrasound: An assistance system for liver resections", Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on, 2011 , pp. 445 - 450, DOI: 10.1109/ICCME.2011.5876781
(2011) Nikita Shevchenko, Mathias Markert and Tim C. Lueth, "A Fast Recognition Algorithm for Liver Tissue Segmentation from CT Scans", Proceedings of the IASTED International Conference "Biomedical Engineering" (Biomed 2011), February 16 - 18, 2011, Innsbruck, Austria, pp. 316 - 320., DOI: 10.2316/P.2011.723-021
(2011) Shevchenko, N.; Schwaiger, J.; Markert, M.; Flatz, W.; Lueth, Tim C.; , "Evaluation of a resectable ultrasound liver phantom for testing of surgical navigation systems," Engineering in Medicine and Biology Society,EMBC, 2011 Annual International Conference of the IEEE , vol., no., pp.916-919, Aug. 30 2011-Sept. 3 2011, doi: 10.1109/IEMBS.2011.6090205
(2010) Markert M, Koschany A, Lueth T.: "Tracking of the liver for navigation in open surgery." Int J Comput Assist Radiol Surg. 2010 May;5(3):229-35. Epub 2009 Aug 7. Review., DOI: 10.1007/s11548-009-0395-x, PMID: 20033499
(2010) Schwaiger, J.; Markert, M.; Seidl, B.; Shevchenko, N.; Doerfler, N.; Lueth, T.C.; , "Risk analysis for intraoperative liver surgery," Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE , vol., no., pp.410-413, Aug. 31 2010-Sept. 4 2010, doi: 10.1109/IEMBS.2010.5627313, PMID: 21096534
(2010) Shevchenko, N.; Seidl, B.; Schwaiger, J.; Markert, M.; Lueth, T.C.; , "MiMed liver: A planning system for liver surgery," Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE , vol., no., pp.1882-1885, Aug. 31 2010-Sept. 4 2010, doi: 10.1109/IEMBS.2010.5627120, PMID: 21096423
(2009) Oldhafer KJ, Stavrou GA, Prause G, Peitgen HO, Lueth TC, Weber S.: "How to operate a liver tumor you cannot see." Langenbecks Arch Surg. 2009 May;394(3):489-94. Epub 2009 Mar 12., doi: 10.1007/s00423-009-0469-9, PMID: 19280221
(2009) G. A. Stavrou, S. Weber, H. -O. Peitgen, T. C. Lueth und K. J. Oldhafer: "[First Resection of a Non Visible, Non Palpable Liver tumour Using Modern Visualization Techniques and Navigation]" CHIRURGISCHES FORUM UND DGAV FORUM 2009 Deutsche Gesellschaft für Chirurgie, 2009, Volume 38, VI, 81-83, DOI: 10.1007/978-3-642-00625-8_33
(2009) Markert M.; Koschany A.; Lueth T.C. (2009): "Tracking of the liver for navigation in open surgery." CARS: Int'l Congress on Computer Assisted Radiology and Surgery, Berlin, Germany, 23.-27. Juni 2009. In Lemke,et al. (Ed.), International Journal of Computer Assisted Radiology and Surgery 4(Suppl. 1), Springer Verlag, pp. S286-S287.
(2007) Nowatschin, S.; Markert, M.; Weber, S.; Lueth, T.C.; , "A system for analyzing intraoperative B-Mode ultrasound scans of the liver," Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE , vol., no., pp.1346-1349, 22-26 Aug. 2007, doi: 10.1109/IEMBS.2007.4352547
(2007) Nowatschin S., W. S., Lueth T.C. (2007). "Automatic landmark extraction in intraoperative ultrasound images of the liver." CARS 2007 Proceedings of the 21th Congress on Computer Aided Radiology and Surgery, June 27-30, Berlin, Germany
(2006) Markert M., Weber S., Kleemann M., Bruch H.P., Lueth T.C. (2006): "Comparison of fundamental requirements for soft tissue navigation with a novel assistance system for open liver surgery." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan, Int J CARS (2006) 1:pp. 498-499.
(2006) Nowatschin S., Weber S., Lueth T.C. (2006): "Comparison of different phantoms for evaluating of new assistance systems for open liver surgery." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan, Int J CARS (2006) 1:498
(2006) Nowatschin S., Weber S., Lueth T.C. (2006): "Fast and simple segmentation of vessels in the liver using intraoperative ultrasound data." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan, Int J CARS (2006) 1:288-290.
(2006) Weber S., Markert M., Nowatschin S., Kleemann M., Bruch H.P., Lueth T. C. (2006): "Computer Assistance for Supporting Complex Liver Resections." World Congress of the International Hepato-Biliary-Pancreato Association (IHBPA), Edinburgh, UK , September 3 - 7, 2006.

Project: Panel-PC based navigation systems for ENT surgery

Participating scientists: Stefan Weber, Mario Strauß, Gero Strauß, Friedrich Bootz, Tim Lueth

Research goal: In the period 2003-2005, the ENT medical science developed the wish not to simply use the existing neuro-navigation system as a discipline with a large number of cases, but to implement a special system for ENT surgery.

Research results: In close cooperation with the ENT Clinic Leipzig, a first ENT navigation system based on the MKG hardware was developed in 2002-2005. With the advent of powerful panel PC solutions in 2005, it became possible to plan and graphically display the navigation on a panel PC. We were able to show that a surgical navigation system can be very small and portable and can be operated almost completely without touching the screen.

Other active research teams:
Maurice Ferré, VT, later GE

Selection of our publications:
Stefan Weber, Mario Strauss, Tim C. Lueth: "A new small, light and mobile navigation system for application within the sterile situs", CARS 2005 International Congress Series, Volume 1281, May 2005, Page 1353
Strauss, M.; Stopp, S.; Koulechov, K.; Lueth, T. (2006): A novel miniaturized navigation system for ent surgery and its first clinical application. CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan, Int J CARS (2006) 1:503. (1st Price ISCAS Poster Award 2006)
Strauss G, Koulechov K, Röttger S, Bahner J, Trantakis C, Hofer M, Korb W, Burgert O, Meixensberger J, Manzey D, Dietz A, Lueth T.: "Evaluation of a navigation system for ENT with surgical efficiency criteria." Laryngoscope. 2006 Apr;116(4):564-72
The system is certified and in regular clinical use worldwide.

Project: NaviView - A Navigated Mobile Image Viewer for Surgical Navigation and Augmented Reality

Participating scientists: Stefan Weber, Andreas Hein, Tim Lueth

Research goal: The aim of the work was to realize a screen that allows the viewing of medical image data and whose image representation of the previously acquired patient image data (e.g. CT) depends on its absolute pose in space (Virtual Reality) or on the pose relative to the patient. Moving the monitor gives the impression of looking into the patient. A simple user interface/slide control allows either a zoom or a depth shift of the image data. The patient image data is calculated as layer images or surface images. A camera mounted on the back of the camera allows the recording of real-time image information of a camera together with its position relative to the patient and simultaneously displaying it on the screen (Augmented Reality). The physician now has the impression that he can both look through the screen at the patient and at the same time assign the planning data of the operation and the patient image data to the exact location. The frame of the screen greatly reduces the parallax problem. The information on the screen is always correct and independent of the doctor's point of view. The user automatically centers a view perpendicular to the screen.

Research results: In May 2002, we were able to implement such a system for the first time, which could be used in hospital operations at the Charité from 2003 onwards. A later version had already integrated the stereo measurement technology into the back of the device.

Other active research teams:
at this time, no known

Selection of our publications:
Weber S, Hein A, Lueth TC.: "A mobile and navigated image viewer for surgery--evaluation of precision." Stud Health Technol Inform. 2003;94:395-400. 94:395-400.
Weber, S. Klein, M. Hein, A. Krueger, T. Lueth, T. C. Bier, J.: "The Navigated Image Viewer - Evaluation in Maxillofacial Surgery," Lecture Notes in Computer Science, 2003, Volume 2878, Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003, Seiten 762-769
Weber, S.; Klein, M.; Hein, A.; Krueger, T.; Lueth, T.C.; Bier, J.; , "Application of different visualization concepts in the navigated image viewer," Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on , vol.1, no., pp. 779- 784 vol.1, 27-31 Oct. 2003
Weber S., Hein A., Lueth T. (2002): "Evaluierung der Genauigkeit bei der navigierten Darstellung medizinischer Bilddaten." Jahrestagung der CURAC 2002, Leipzig, 4.-5. Oktober 2002,

Project: Robot-based isocentric C-arm for volumetric imaging

Participating scientists: Ralf Tita, Andreas Hein, Tim Lueth

Research goal: The aim of the project was to convert a standard C-arm for intraoperative 2D projection images into an intraoperative Conebeam computer tomograph. Several intermediate goals have to be achieved. Measurement of the position of X-ray source and image converter at each image acquisition. Motorization of two axes to always move the X-ray beam through an isocenter during rotation. It must be possible to move the X-ray source and the image converter along the X-ray axis if collisions occur. Since the radon transformation is based on equidistant angular changes, algebraic reconstruction (ART/SART) must be used. However, the calculation takes about 40 minutes on a PC and the calculation time must be pressed for less than 1 minute. The measuring device must be calibratable in order to be used permanently in clinical operation. Similar to intraoperative CT, automatic patient registration can be achieved in combination with surgical navigation.

Research results: Robo-C is the world's first volumetric C-arm with a dynamic isocenter. It was first presented as a product by Instrumentation Ziehm, Nürberg, 2003 at the ERC. We were able to show that the algorithms can be calculated on a GPU and that the calculation time can be reduced to less than one minute. Often only a few images are needed to calculate a volumetric image. The resulting artefacts can be reduced by the surgeon through additional images. In this project, the axis of rotation was not motorized, but the physician rotates the C-arm manually. Images are triggered automatically. The calibration required a very large tracker at the X-ray source and image converter to evaluate the deformation of the C-arm due to the weight of the Qulle or the image converter and to calculate the projects. The algebraic reconstruction uses the X-ray attenuation forms I=I0*exp(sum(di*mi) along a beam axis, where the stands for discrete voxel distances and mi for the X-ray absorption coefficients in the voxel. The logarithmization of the equation leads to a very large linear system of equations

Other active research teams:
Willi Alfred Calendar, University of Erlangen

Selection of our publications:
Tita R., Lueth T.C. (2004): Ein interaktiv-steuerbarer, isozentrischer C-Bogen zur intraoperativen 3D-Bildgebung . Robotik , München,
Germany, 17.-18.06.2004
Ralf Tita; Wolfgang Holler; Sven Huth; T. C. Lueth; "Near Real Time Tomographic 3D Reconstruction with the use of the PC Graphics
Accelerator", Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on, pp 279 - 284.
Tita, R.; Lueth, T.C.; , "Free isocentric 3d imaging and a novel approach for wobble trajectories using a modified standard c-arm,"
Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual Conference of the IEEE , vol., no., pp.4418-4421
Das System ist zertifiziert und weltweit im regulären klinischen Einsatz.

Project: A method for navigated imaging with X-ray projection images (Navi-X)

Participating scientists: Daniel Szymanski, Dirk Schauer, Andreas Hein, Tim Lueth

Research goal: The aim of the project is to reduce the X-ray dose in the planning of dental procedures by means of registered imaging with navigated 2D CCD image converters.
The planning of interventions in dental implantology for the use of drilling templates or surgical navigation systems is based on preoperative volumetric imaging in CT/DVT. These imaging devices are usually not to be found in practice, require high investments, trained personnel and generate X-ray radiation which affects PAtient and, if necessary, personnel. It should be investigated whether the use of normal small X-ray apparatus with CCD detector is sufficient for volumetric imaging with high resolution but low local radiation exposure and image volume.

Research results: We have implemented a system in which the pose (position and orientation) of the X-ray source and the pose of the high-resolution image converter (CCD sensor) are tracked and the relative orientation is represented by a small screen on the tube. The patient's pose is also measured in order to register different images locally in the patient and to enable surgical navigation without additional (i.e. automatic) registration. The triggering of the X-ray source is only possible if a) the CCD sensor is located in the beam path. b) the alignment of the CCD sensor provides an essential projection surface and c) the image provides essential additional information, for example from a different angle. We were able to show that such a system is functional for high-resolution (CT/DVT) imaging of individual implants at the beginning of 2002.

Other active research teams:
none known

Selection of our publications:
Daniel Szymanski, Dirk Schauer, Tobias Jahnz, Tim Lueth: "Ein Tubusadpapter zur Navigation eines dentalen Röntgengerätes." Bildverarbeitung für die Medizin 2004: 254-258
D. Szymanski, T. C. Lueth, "An automatic intervention documentation system for dental navigation systems," International Congress Series, Volume 1268, CARS 2004 - Computer Assisted Radiology and Surgery. Proceedings of the 18th International Congress and Exhibition, June 2004, Page 1387
D Szymanski, A Hein, T.C Lueth, "Navi-X--a planning and treatment system for dental implantology based on navigated projection images," International Congress Series, Volume 1256, CARS 2003. Computer Assisted Radiology and Surgery. Proceedings of the 17th International Congress and Exhibition, June 2003, Pages 1243-1249

Project: Combination of Hand-On-Robotics with Navigated Control® in Spine Surgery

Participating scientists: Andreas Hein, Marc Kneissler, Christian Woiciechowsky, Ulrich-Wilhelm Thomale, Tim Lueth

Research goal: After the Hand-on-Robot OTTO v. Decke had been realized from 1997-2000 and the Navigated Control procedure had been developed at the beginning of 2000, we wanted to investigate which advantage can be realized with the Hand-on-Robot Control and which advantage with Navigated Control.

Research results: Andreas Hein implemented a combination of both methods on the 7-DoF Mitsubish PA-10 (OTTO II) in December 2001. We were able to show that the Navigated Control method is advantageous as a protective function, while the hands-on approach used at OTTO increases comfort as a three- or six-dimensional virtual template. Since the robot is many times more expensive than an already necessary navigation camera, it is necessary to weigh up when a robot is really necessary and when Navigated Control alone is sufficient.

Other active research teams:
Brian Davies, Imperial College London

Selection of our publications:
Hein, A.; Lueth, T.C.; , "Control algorithms for interactive shaping [surgical robots]," Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , vol.2, no., pp. 2025- 2030 vol.2, 2001
Woiciechowsky C., Hein A., Thomale U., Kneissler M., Lueth T.: Introduction of a medical robotic system into spine surgery. 12th World Congress of Neurosurgery, Sydney, Australia, 16.-20. Sept., 2001
Thomale U.-W., Woiciechowsky C., Hein A., Kneissler M., Lueth T.: Introduction of a novel fixation device for robotic assisted spinal surgery. 6th International Workshop on Computer Assisted Surgery and Rapid Prototyping in Medicine (CAS 2001), Nürnberg, Germany, 11.-13. Oct., 2001

Project: Tissue Engineering of Heart Valves

Participating scientists: Ralf Sodian, Andreas Hein, Daniel Szymanski, Roland Hetzer, Tim Lueth

Research goal: The aim of the project was to produce tissue engineered heart valve replicas based on the geometry of individual heart valves and to implant them instead of using standardized heart valves.

Research results: We were able to show that it is possible to segment the vessel geometry from CT image data and to print it in 3D and to produce scaffolds for the settlement of cells on the scaffolds using the 3D prints. The cells were grown on the scaffolds in the bioreactor. The cultured valves were implanted in sheep.

Other active research teams:
Joseph Philip Vacanti, Harvard Medical School
Robert Langer, MIT, Cambridge

Selection of our publications:
Szymanski, D.; A. Hein, R. Sodian, P. Fu, R.Hetzer, T. Lüth: "3D Rekonstruktion kardiovaskulärer Strukturen für das Rapid Prototyping und Tissue Engineering."
Automed 2001, Bochum, Germany, Sep., 17.-18., 2001
Sodian R, Loebe M, Hein A, Martin DP, Hoerstrup SP, Potapov EV, Hausmann H, Lueth T, Hetzer R.: "Application of stereolithography for scaffold fabrication for tissue engineered heart valves." ASAIO J. 2002 Jan-Feb;48(1):12-16.
Sodian R, Fu P, Lueders C, Szymanski D, Fritsche C, Gutberlet M, Hoerstrup SP, Hausmann H, Lueth T, Hetzer R.: "Tissue engineering of vascular conduits: fabrication of custom-made scaffolds using rapid prototyping techniques." Thorac Cardiovasc Surg. 2005 Jun;53(3):144-149.

Project: Surgical navigation system for inserting dental implants in maxillofacial surgery (RoboDent)

Participating scientists: Detlef Hildebrandt, Olaf Schermeier, Juergen Bier, Thomas Maier, Sebastian Stopp, Tim Lueth

Research goal: The aim of the work was to provide patients with implants and a matching superstructure within one appointment. For this purpose, the position of the dental implants must be precisely planned, they must be aligned in parallel and the planning must be precisely realizable.

Research results: During 2000 and 2001, we were able to demonstrate that, although originally designed as a robot, such a system, through precise navigation-assisted manual guidance of the handpiece alone, allows implantologists to place dental implants so accurately that a previously fabricated superstructure can be placed. The system was chosen as the TOP product at the world's largest dental trade fair, IDS 2001 in Cologne.

Other active research teams:
Joshua Lustman, Hebrew University, DenX (Ori Hadomi), Israel
W.F.Thumfart, Innsbruck, Michael Truppe, Vienna, Austria

Selection of our publications:
O. Schermeier and Tim Lueth (2002). Methoden und Verfahren zur Navigation in der dentalen Implantologie [Methods for Navigation in Dental Implantology] at - Automatisierungstechnik: Vol. 50, Issue 6, pp. 253 ff.
Meyer U, Wiesmann HP, Runte C, Fillies T, Meier N, Lueth T, Joos U.: "Evaluation of accuracy of insertion of dental implants and prosthetic treatment by computer-aided navigation in minipigs." Br J Oral Maxillofac Surg. 2003 Apr;41(2):102-8.S.
Stopp, T. Maier und T.C. Lueth (2008): "Neue Verfahren in der computergestützten dentalen Implantologie [New methods in computer-aided dental implantology]" DER MKG-CHIRURG, Volume 1, Number 1, 10-21

Project: Table-integrated robot for mammabiopsy in nuclear spin tomography (MRT)

Participating scientists: Oliver Wendt, Yuichiro Honda, Tim Lueth, Johann Oellinger, Carsten Siewert, Roland Felix

Research goal: The aim was to develop a robot that can be operated without image artifacts in a magnetic resonance tomograph and can perform a precise breast biopsy.

Research results: In the period 1997-2000 such an MRT table and coil-integrated robot was developed. At the time of completion, however, the focus for mammary biopsies was again on CT and ultrasound. A patent dispute with Siemens stopped the conversion into the final medical product. The pictures show the trade fair appearance at MEDAC 2000.

Other active research teams:
Siemens

Selection of our publications:
(1999) M Hentschel, J. Oellinger, C. Siewert, H. Wieder, N. Hosten, O. Wendt, T. Lueth, U. Boenick and R. Felix: "H and P-NMR Characterisation of a Double Breast Coil for Spectroscopic Measurements and Imaging - Charakteristik einer neu entwickelten Mammadoppelspule für die NMR Spektroskopie 1H31P) und Bildgebung", Biomedizinische Technik/Biomedical Engineering 1999 44:10 , 272-277 , DOI: 10.1515/bmte.1999.44.10.272, PMID: 10584401
(1998) Oellinger H, Wendt O, Siewert C, Park IC, Dorsch M, Lueth TC, Felix R, Boenick U.: "Effekte von para- und diamagnetischen Materialien in einem 1,5-Tesla-Hochfeld-Magnetresonanztomographen (MRT) [Effects of para- and diamagnetic materials in a 1.5 Tesla high field magnetic resonance tomography system]," Biomed Tech (Berl). 1998 Oct;43(10):281-6, DOI: 10.1515/bmte.1998.43.10.281
(2000) O Wendt, J. Oellinger, T C Lueth, R. Felix and U. Boenick: "The Effects of the Use of Piezoelectric Motors in a 1.5-Tesla High-Field Magnetic Resonance Imaging System (MRI) - Effekte von piezoelektrischen Motoren in einem 1,5-Tesla-Hochfeld-Magnetresonanztomographen (MRT)", Biomedizinische Technik/Biomedical Engineering 2000 45:1-2 , 20-25 , DOI: 10.1515/bmte.2000.45.1-2.20
(2000) O. Wendt, J. Oellinger, U. Boenick, R. Felix, T.C. Lueth, D. Schauer: "Biopsieeinrichtung zur histologischen Sicherung von Kleinstumoren in der MR-Mammagraphie," Biomedizinische Technik/Biomedical Engineering Jan 2000, Band 45, Nr. s1, Seiten 220–221, DOI: 10.1515/bmte.2000.45.s1.220
(2000) Johann Oellinger, Oliver Wendt, Carsten Siewert, Tim Lueth (2000): "Automatisch gesteuerte Mammabiopsie." Humboldt Spektrum, 3/2000, S.48-51.

Project: 3D ultrasound imaging and robot assisted seed implantation for prostate brachytherapy

Participating scientists: Stefan Weber, Rolf Lechtenberg, Christoph Tiede, Andreas Eckert, Tim Lueth

Research goal: The aim was to build an integrated 3D ultrasound and a sea implantation site system for the brachytheraia at the prosatata.

Research results: An ultrasound probe is moved in the rectum via a linear drive, which can be actively controlled or passively moved by the physician. A patented tissue protection body with integrated ultrasound visible markings allows non-invasive tomographic imaging of the tissue around the prostate as well as tracking and position measurement of the needle tip of manually or assisted-in needles. An ejection mechanism can be activated when the needle is retracted to eject a seed where it is optimal for the radiation source due to the current position of the needle tip and continuous irradiation planning. The process is patented and was similarly used for Navifitty or free-hand 3D printing in 2006.

Other active research teams:
no group known to us at the time

Selection of our publications:
Patente

Project: Automatically Controlled Imaging and Registration with a Motorized Mobile CT

Participating scientists: Jochen Albrecht-Queck, Cyrill v. Tiesenhausen, Oliver Schwerdner, Frank Hoelzle, Martin Klein, Norbert Hosten, Nils Haberland, Roland Felix, Juergen Bier, Tim Lueth

Research goal: The aim of the work was to automatically register the patient during the intraoperative imaging with a computer tomograph in order to perform the surgical navigation or the surgical robotic intervention with minimal registration error.

Research results: The procedure was first published by Tim Lüth in April 1998 in the Humbold-Spektrum. For this purpose, a fixed tracker with several active LEDs for the IGT Flashpoint 5000 stereo camera system was attached and a tracker at the operating table or directly at the patient's head. Since the tracker geometry relative to the patient can be recognized in the CT image and the position of the image relative to the CT traceker is also known, the patient can be registered automatically. A similar system was realized in a second project by Cyrill v. Tiesenhausen for the BGU Clinic in Frankfurt.

Other active research teams:
Thorsten M. Buzug, Philips Research Laboratories, Hamburg

Selection of our publications:
Tim Lueth: "Navigation und Robotik in der Medizin [Navigation and Robotics in Medicine]," Humboldt-Spektrum 04/1998, Heft 4/98, S. 16-20.
Albrecht, J.; T. Lueth, A. Hein, M. Stien, J. Bier (1999): Accuracy Analysis of CT Images With a Navigated Intraoperative CT. CARS'99,
Paris, France, June. In H.U. Lemke et al. (Eds.), Computer Assisted Radiology and Surgery 1999, Elsevier Science Publishers.
Hoelzle F, Klein M, Schwerdtner O, Lueth T, Albrecht J, Hosten N, Felix R, Bier J.: "Intraoperative computed tomography with the mobile
CT Tomoscan M during surgical treatment of orbital fractures." Int J Oral Maxillofac Surg. 2001 Feb;30(1):26-31

Project: Simulation and Monitoring of Robot Assisted Surgery

Participating scientists: Malte Stien, Daniel Szymanski, Andreas Hein, Tim Lueth

Research goal: If the movement of patients and instruments can be monitored by stereotactic measurement technology (IGT Flashpoint 5000) and by encoders of the movement of the robot kinematics, then it is possible to graphically calculate a scene that reflects the current operating situation in detail. During bone surgery (head surgery), even the removal of bone tissue and changes in CT image data can be recorded. The advantage of this procedure is that viewers can take any focus.

Research results: We were able to show that using graphical simulation systems such as AnySYM/Robcad, it was possible to load image textures of current screen contents as well as medical image data into the graphical simulation in order to carry out a monitoring system for interventions in this way. In the period 1998-1999 the spectrum of applications was extended from MKG surgery to dentistry and prostate seed implantation (brachytherapy),

Other active research teams:
Gerd Hirzinger, DLR Oberpfaffenhofen, Germany
Hervé Druais, DeeMed-Elekta IGS, Grenoble, France
Stefan Linner, AnySIM, Munich, Germany

Selection of our publications:
Stien M, Hein A, Szymanski D, Lueth T.: "A new approach for modelling kinematic dependencies for monitoring locations of objects in closed kinematic chains." Stud Health Technol Inform. 2002, Springer, Medicine Meets Virtual Reality (MMVR), Newport Beach, USA, Jan. 23. - 26, pp. 85: 504-506.
Stien M, Hein A, Szymanski D, Lueth T.: "A system for simulation and monitoring of robot-assisted and navigation-assisted surgical interventions." Stud Health Technol Inform. 2002, Springer, Medicine Meets Virtual Reality (MMVR), Newport Beach, USA, Jan. 23. - 26, pp. 85: 501-503.
Stien, M; Y.-W. Lin, T. Lueth, H. Druais, G. Volkwein, S. Linner, J. Bier (1999): "Simulation and Monitoring of Surgical Robotics Interventions," CARS 1999 Computer Assisted Radiology and Surgery, Elsevier Science B.V., 1999, pp. 818-822
Stien, M., T. Lueth, A. Hein (1999): "Sicherheitstechnische Aspekte verteilter Informationssysteme in einem Hi-Tech-OP. " Automed'99, 2. Wokshop "Automatisierungstechnische Verfahren für die Medizin", Darmstadt, 25.-26. Februar. In S. Leonhardt, et al. (Ed.), Fortschritt-Berichte VDI - Reihe 17, Nr. 183, VDI Verlag GmbH.
Stien, M.; A. Hein, D. Szymanski, T. Lüth: "Optimierung von navigationsgestützten chirurgischen Eingriffen durch grafische Simulation." Automed 2001, Bochum, Germany, Sep., 17.-18., 2001

Project: An interactive hands-on robot for oral and maxillofacial surgery

Participating scientists: Andreas Hein, Jochen Albrecht, Malte Stien, Stefan Zachow, Frank Hoelzle, Martin Klein, Juergen Bier, Tim Lueth

Research goal: The aim was to realize the world's first clinically applicable instrument-guiding Hands-on Robot (OTTO from ceiling) for tactile head surgery and to demonstrate an advantageous use for patients.

Research results: In the period from early 1997 to late 1999, the ceiling-mounted delta kinematics of the SurgiScope were converted from a double joystick-controlled (submarine mode) microscope holder to a hands-on instrument-guiding robot. This involved the modification and extension of hardware components as well as a completely new real-time control, which included the active stereo camera (IGT Flashpoint 5000) in addition to the robot encoder. The robot was controlled by the surgeon's touch, whereby the robot receives a virtual mass and a virtual friction as well as virtual potential fields to precisely achieve an off-line programmed task (several implants) based on volumetric CT imaging and still give the physician the feeling of being able to move the robot freely. The controller was completed in 1999. The preparation of the approval documents for the TÜV in the period end of 1999 - beginning of 2000. The first clinical use took place in May 2000. The robot was operated in combination with a mobile intraoperative computer tomograph, TomoScan M from Philips, for 1 year regularly clinically. The doctors involved were Jürgen Bier, Martin Klein and Frank Hoelzle. The following projects investigated smaller robots (RoboDent), redundant robots (OTTO II, Mitsubishi PA-10) and Navigated Control® as a replacement for the large ceiling mounted robot. Malte Stien dealt with simulation and telemanipulation, Andreas Hein with real-time control of the hands-on robot and Jochen Albrecht (Queck) with intraoeprative tomographic imaging and automatic registration of CT and robot/navigation.

Other active research teams:
Brian Davies, Imperial College London, United Kingdom
Russel Taylor, Johns Hopkins University, Baltimore, USA
Moshe Shoham, Technion, Haifa, Israel

Selection of our publications:
Lueth, T.C.; Hein, A.; Albrecht, J.; Demirtas, M.; Zachow, S.; Heissler, E.; Klein, M.; Menneking, H.; Hommel, G.; Bier, J.; , "A surgical robot system for maxillofacial surgery," IEEE IECON 1998 Industrial Electronics Society, 1998. vol.4, no., pp.2470-2475
Hein, A.; Lueth, T.C.; Hommel, G.; , "Contact observation of interactive surgical robotics systems," Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on , vol.2, no., pp.733-739 vol.2, 1999
Andreas Hein und Tim C. Lueth: "Image-Based Control of Interactive Robotics Systems" MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI’99 Lecture Notes in Computer Science, 1999, Volume 1679/1999, 1125-1132

Project: Behavior Based Robot Control for Assembly Tasks

Participating scientists: Jochen Heinzmann, Ulrich Rembold, Tim Lueth

Research goal: Our research goal was to show that even complex tasks as the assembly of the cranfield assembly benchmark can be performed by behaviour based robots.

Research results: We modified a real-time operating system (Francesco Mondada) on the Khepera robot so that it was possible to dynamically install and delete several real-time tasks at runtime. Thus several behaviors could be activated overlapping each other and activated and deactivated as a process chain. We were able to show that a seemingly primitive behavioral robot can still successfully remove a pen from a reserve and insert it into a hole.

Other active research teams:
Rodney Brooks, MIT Media Lab, Cambridge USA
Francesco Mondada, EFPL Lausanne
Alexander Zelinsky, Canberra, Jochen Heinzmann later cofunded "Seeing Machines"

Selection of our publications:
T. Lueth, T. Laengle, J. Heinzman, Dynamic task mapping in a real-time controller for distributed cooperating robot systems, Control Engineering Practice, Volume 4, Issue 6, June 1996, Pages 831-838
Lueth, T.; R. Grasman, Th. Laengle, J. Wang (1996): Cooperation Among Distributed Controlled Robots by Local Interaction Protocols. Invited paper at ISRAM Int'l. Symp. on Robotics and Manufacturing, Montpellier, France, May, Robotics and Manufacturing, Vol. 6, ASME Press, 1996, pp. 405-410

Project: KAMRO - Karlsruhe Autonomous Assembly Robot (DFG SFB 314 Artificial Intelligence)

Participating scientists: Thomas Hugel, Jan Schloen, Dietmar Kappey, Martin Damm, Uwe Nassal, Xioqing Cheng, Andreas Hoermann, Thomas Längle, Ulrich Rembold, Tim Lueth

Research goal: The goal of the KAMRO project in the DFG SFB 314 (Artificial Intelligence) was to realize an autonomous assembly robot that could handle an assembly task with just one command: "Assemble Cranfield-Assembly-Benchmark". The Cranfield Assembly Benchmark is a kind of pendulum to be assembled with different complex assembly sub-tasks, which was originally developed for the comparison of robot programming languages. The shorter the robot program, the more efficient the language. KAMRO should manage with only one assembly priority graph and find the shortest possible assembly option based on the actual position of the components on the table. To do this, a part with one arm must also be picked up, transferred to the other arm and then assembled. It must also be possible to interrupt and resume assembly. To do this, components must be removed so that they can be picked up afterwards. For the first time, force torque sensors should be used on the grippers and handheld cameras for assembly.

Research results: In the third phase of the SFB 314 (Artificial Intelligence) the assembly of the Cranfield Assembly Benchmark was based on an assembly priority graph. The sequence control was provided by Andreas Hörmann and Xioqing Cheng. The image processing was done by Dietmar Kappey. The robot control by Jan Schloen and Martin Damm. The mobile packaging by Uwe Nassal, Martin Damm and Tim Lueth. The work on the central, decentralized and distributed control by Tim Lueth and Thomas Längle. In 1994, the robot was able to autonomously drive, assemble, interrupt and resume assembly on-board for 45 minutes in Hartmut Weule's hall via W-LAN to the AI planning system coupled with a real-time operating system. Today, KAMRO is located in the Deutsches Museum in Munich.
Previously, the KAMRO robot had been installed at Ulrich Rembold's chair during the first phase of SFB 314 (Artificial Intelligence 1985-1987, 1988-90, 1991-1993, 1994-1995). It consists of a holonomic platform with Mecanum wheels and two PUMA 260 arms in hanging configuration. In the second phase, the cranfield assembly benchmark was assembled by teach-in programming.

Other active research teams:
Oussama Khatib, Stanford Robotics Lab
Rüdiger Dillmann, University of Karlsruhe, had initiated the KAMRO project when he was still a research assistant at the Rembold Chair. He later set up the robot PRIAMOS at his own chair.

Selection of our publications:
Lueth, T.C.; Rembold, U.; , "Extensive manipulation capabilities and reliable behavior at autonomous robot assembly," Robotics and Automation, 1994, IEEE International Conference on , pp. 3495-3500 vol.4, 8-13 May 1994, also invited for the IEEE R&A Magazine
Nassal, U.M.; Damm, M.; Lueth, T.C. (1994): Mobile Manipulation A Mobile Platform Supporting a Manipulator System for an Autonomous Robot. WCRR SME World Conference on Robotics Research, pp. 11-11 to 11-24. (invited for the SME Trans. MS94-218)
Laengle, Th., T.C. Lueth, U. Rembold (1995): A Distributed Control Architecture for Autonomous Robot Systems. In H. Bunke et al. (Eds.), Modelling and Planning for Sensor Based Intelligent Robot Systems, World Scientific, pp. 384-402.

Project: Simulation and planning of assembly systems and autonomous robots (ESPRIT-2 CIM-PLATO)

Participating scientists: Klaus Hoermann, Bernd Welz, Tim Lueth, Jianwei Zhang, Ulrich Rembold, Georg Näger, Ulf Osmers

Research goal: The aim of Tim Lueth's work was to plan the layout of a robot production cell in such a way that motion tasks can be performed collision-free.

Research results: With the software library of Peter Adolphs (later CEO of Pepperl+Fuchs) for the real-time motion planning of a KUKA robot under Professor Henning Tolle (ISRA AG), it was possible to transform the potential obstacles into the Cartesian configuration space (Klaus Hoermann). We were able to show that motion planning under geometric boundary conditions in the Cartesian configuration space is possible without simulation.

Other active research teams:
Hartmut Weule and Dieter Spath, University of Karlsruhe
Peter Adolphs and Henning Tolle, Technical University of Darmstadt

Selection of our publications:
Lueth, T.C.; , "Automated planning of robot workcell layouts," Robotics and Automation, 1992. Proceedings., ICRA 1992 IEEE International Conference on , vol., no., pp.1103-1108 vol.2, 12-14 May 1992
Näger, G.; Lueth, T.C. (1994): Development of an Integrated Domain Representation for Configuration, Action Planning, and Layout Planning of Assembly Systems, ISPE/IFAC Int.´l Conf. on CAD/CAM, Robotics and Factories of the Future, Ottawa, August, 21-24, 1994, pp. 87-92.
T. Lueth, U. Osmers, D. Spath, U. Rembold: "Information Infrastructure and Information Processing in Distributed Controlled Production Cells", FAIM'96, 6th Int'l. Conf. on Flexible Automation & Intelligent Manufacturing, Atlanta, Georgia, May 13-15, 1996

Method & System: Impact Point Calculation for the Control of a Table Tennis Game Robot with Neural Networks

Participating scientists: Kurt Siedenburg, Joachim Wietzke, Rüdiger Bien, Tim Lueth, Wolfgang Hilberg

Research goal: The aim of Tim Lüth's work was to determine the point of impact of a flying table tennis ball with the help of neural networks from several position data of two PSD elements (simple 2D cameras).

Research results: Based on the methods of Joachim Schürmann, the trajectory was approximated using polynomial classifiers and the quick-and-dirty rule (multi-layer perceptron) from a sequence of 2D position information of a pair of PSD element doubles and the impact point of the club (planar loudspeaker) was calculated. In the thesis, the estimated impact position was compared with the theoretically calculated impact position. The comparison with the real trajectory could not be completed.

Other active research teams:
Joachim Schürmann, Daimler Benz Research
Helge Ritter, Bielefeld University

Selection of our publications:
Tim Lueth, Joachim Wietzke, Rüdiger Bien: Neuronale Netze spielen Tischtennis [Neural-Net controlled robot plays Ping Pong] . DAGMSymposium
1991: Proceeding Mustererkennung 1991, 13. DAGM-Symposium, Springer-Verlag 82-87

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