{  
   "types" : {
      "Bookmark" : {
         "pluralLabel" : "Bookmarks"
      },
      "Publication" : {
         "pluralLabel" : "Publications"
      },
      "GoldStandardPublication" : {
         "pluralLabel" : "GoldStandardPublications"
      },
      "GoldStandardBookmark" : {
         "pluralLabel" : "GoldStandardBookmarks"
      },
      "Tag" : {
         "pluralLabel" : "Tags"
      },
      "User" : {
         "pluralLabel" : "Users"
      },
      "Group" : {
         "pluralLabel" : "Groups"
      },
      "Sphere" : {
         "pluralLabel" : "Spheres"
      }
   },
   
   "properties" : {
      "count" : {
         "valueType" : "number"
      },
      "date" : {
         "valueType" : "date"
      },
      "changeDate" : {
         "valueType" : "date"
      },
      "url" : {
         "valueType" : "url"
      },
      "id" : {
         "valueType" : "url"
      },
      "tags" : {
         "valueType" : "item"
      },
      "user" : {
         "valueType" : "item"
      }      
   },
   
   "items" : [
   	  
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/21e495a8e5f81a4aed351f4b34f07088a/andreaspott",         
         "tags" : [
            "Admittance;","Import180214;","control","control;Cable-driven","myown;","parallel","robot;Force"
         ],
         
         "intraHash" : "1e495a8e5f81a4aed351f4b34f07088a",
         "interHash" : "538e0be8b3034d523236c042a562cafe",
         "label" : "Hybrid position/force control using an admittance control scheme in Cartesian space for a 3-DOF planar cable-driven parallel robot",
         "user" : "andreaspott",
         "description" : "",
         "date" : "2018-02-14 08:37:06",
         "changeDate" : "2018-02-14 07:56:09",
         "count" : 1,
         "pub-type": "article",
         "journal": "International Journal of Control, Automation and Systems",
         "year": "2016", 
         "url": "", 
         
         "author": [ 
            "Jong Pyo Jun","Xuemei Jin","Andreas Pott","Sukho Park","Jong-Oh Park","Seong Young Ko"
         ],
         "authors": [
         	
            	{"first" : "Jong Pyo",	"last" : "Jun"},
            	{"first" : "Xuemei",	"last" : "Jin"},
            	{"first" : "Andreas",	"last" : "Pott"},
            	{"first" : "Sukho",	"last" : "Park"},
            	{"first" : "Jong-Oh",	"last" : "Park"},
            	{"first" : "Seong Young",	"last" : "Ko"}
         ],
         "volume": "14","number": "4","pages": "1106--1113","abstract": "2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. This paper proposes a hybrid position/force control algorithm for a 3-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). The control algorithm is implemented using an admittance control scheme so that an external wrench error is used for modification of the pose of an end-effector in Cartesian space. Since the CDPR system is different from that of conventional serial or mobile robots, the control algorithm is constructed so as to convert the desired position of the end-effector into the desired cable lengths, to convert the measured tension of cables into the estimated wrench, and to modify the desired Cartesian position of the end-effector using the wrench difference and the admittance control scheme. Instead using two selection matrices at both the position-control loop and the force-control loop, one selection matrix is used to modify the desired position using the wrench difference. To evaluate the proposed algorithm, an experimental setup using the 3-DOF planar CDPR is constructed. A series of experiments shows that the external wrench is well-calculated using the cable tensions, and that the force control alone and the hybrid position/force control for CDPR are implemented with sufficient control performance.",
         "issn" : "15986446",
         
         "doi" : "10.1007/s12555-014-0538-x",
         
         "bibtexKey": "Jun2016"

      }
,
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/2250e0fa0b5a0a2ef8f54ec695dcc1700/peterpott",         
         "tags" : [
            "aspects;Haptic","aspects;ergonomics;gall","bladder","control","ergonomics;medical","extraction;grasping;haptic","feedback;instrument","feedback;workspace","imt-pott-alt","instruments;master","interface;minimally","interfaces","interfaces;Instruments;Kinematics;Manipulators;Surgery;User","intervention;robotic","invasive","kinematics;surgery;ergonomic","kinematics;teleoperated","model;rectum","movements;point-and-touch-task;porcine","myown","orifices;non-achievable","parallel","platform;teleoperation","precision;intra-corporal","resection","robot","robot;knotting","robotics;robot","scaling;natural","setup;transanal","single-port","slave","surgery;movement","surgery;visual","system;slave","tasks;laparoscopic"
         ],
         
         "intraHash" : "250e0fa0b5a0a2ef8f54ec695dcc1700",
         "interHash" : "080948a18217167c1f4e0798903ca470",
         "label" : "A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects",
         "user" : "peterpott",
         "description" : "",
         "date" : "2018-01-24 09:18:43",
         "changeDate" : "2018-01-24 08:18:55",
         "count" : 2,
         "pub-type": "inproceedings",
         "booktitle": "2017 IEEE World Haptics Conference (WHC)",
         "year": "2017", 
         "url": "http://tubiblio.ulb.tu-darmstadt.de/89058/", 
         
         "author": [ 
            "C. Hatzfeld","C. Neupert","S. Matich","M. Braun","J. Bilz","J. Johannink","J. Miller","Peter P. Pott","H. F. Schlaak","M. Kupnik","R. Werthschützky","A. Kirschniak"
         ],
         "authors": [
         	
            	{"first" : "C.",	"last" : "Hatzfeld"},
            	{"first" : "C.",	"last" : "Neupert"},
            	{"first" : "S.",	"last" : "Matich"},
            	{"first" : "M.",	"last" : "Braun"},
            	{"first" : "J.",	"last" : "Bilz"},
            	{"first" : "J.",	"last" : "Johannink"},
            	{"first" : "J.",	"last" : "Miller"},
            	{"first" : "Peter P.",	"last" : "Pott"},
            	{"first" : "H. F.",	"last" : "Schlaak"},
            	{"first" : "M.",	"last" : "Kupnik"},
            	{"first" : "R.",	"last" : "Werthschützky"},
            	{"first" : "A.",	"last" : "Kirschniak"}
         ],
         "pages": "1--6","abstract": "We present a new teleoperation setup for minimally invasive single-port surgery through natural orifices. The system consists of an intra-corporal parallel slave robot with two instrument arms and a corresponding master interface with four degrees of freedom and grasping. The master interface mimicks the slave robot kinematics to prevent non-achievable movements. With a workspace of ø 60 mm $\\times$ 85 mm, interaction forces of up to 5 N and mean speeds of up to 327 mm/s the robot is designed to perform a rectum resection intervention, an operation hardly possible with conventional laparoscopic instruments. In this work, we address several ergonomic aspects of the setup, including surgeon's pose, movement scaling, visual feedback, and haptic feedback. Two experiments were performed to investigate the accuracy and dexterity of the robotic system compared to conventional single-port systems. We found a significant decrease of errors in a point-and-touch-task when using the robot, but no effect on the duration of the task. Surgeons were able to perform suturing and knotting tasks as well as a gall bladder extraction in a porcine model with the robot in an hands on experiment. These experiments showed a good intuitivity and a high instrument control precision as described by the participants.",
         "bibtexKey": "hatzfeld2017teleoperated"

      }
,
      {
         "type" : "Publication",
         "id"   : "https://puma.ub.uni-stuttgart.de/bibtex/2250e0fa0b5a0a2ef8f54ec695dcc1700/droessler",         
         "tags" : [
            "aspects;Haptic","aspects;ergonomics;gall","bladder","control","ergonomics;medical","extraction;grasping;haptic","feedback;instrument","feedback;workspace","imt-pott-alt","instruments;master","interface;minimally","interfaces","interfaces;Instruments;Kinematics;Manipulators;Surgery;User","intervention;robotic","invasive","kinematics;surgery;ergonomic","kinematics;teleoperated","model;rectum","movements;point-and-touch-task;porcine","orifices;non-achievable","parallel","platform;teleoperation","precision;intra-corporal","resection","robot","robot;knotting","robotics;robot","scaling;natural","setup;transanal","single-port","slave","surgery;movement","surgery;visual","system;slave","tasks;laparoscopic"
         ],
         
         "intraHash" : "250e0fa0b5a0a2ef8f54ec695dcc1700",
         "interHash" : "080948a18217167c1f4e0798903ca470",
         "label" : "A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects",
         "user" : "droessler",
         "description" : "",
         "date" : "2017-10-26 19:04:07",
         "changeDate" : "2018-02-28 22:16:40",
         "count" : 2,
         "pub-type": "inproceedings",
         "booktitle": "2017 IEEE World Haptics Conference (WHC)",
         "year": "2017", 
         "url": "http://tubiblio.ulb.tu-darmstadt.de/89058/", 
         
         "author": [ 
            "C. Hatzfeld","C. Neupert","S. Matich","M. Braun","J. Bilz","J. Johannink","J. Miller","Peter P. Pott","H. F. Schlaak","M. Kupnik","R. Werthschützky","A. Kirschniak"
         ],
         "authors": [
         	
            	{"first" : "C.",	"last" : "Hatzfeld"},
            	{"first" : "C.",	"last" : "Neupert"},
            	{"first" : "S.",	"last" : "Matich"},
            	{"first" : "M.",	"last" : "Braun"},
            	{"first" : "J.",	"last" : "Bilz"},
            	{"first" : "J.",	"last" : "Johannink"},
            	{"first" : "J.",	"last" : "Miller"},
            	{"first" : "Peter P.",	"last" : "Pott"},
            	{"first" : "H. F.",	"last" : "Schlaak"},
            	{"first" : "M.",	"last" : "Kupnik"},
            	{"first" : "R.",	"last" : "Werthschützky"},
            	{"first" : "A.",	"last" : "Kirschniak"}
         ],
         "pages": "1--6","abstract": "We present a new teleoperation setup for minimally invasive single-port surgery through natural orifices. The system consists of an intra-corporal parallel slave robot with two instrument arms and a corresponding master interface with four degrees of freedom and grasping. The master interface mimicks the slave robot kinematics to prevent non-achievable movements. With a workspace of ø 60 mm $\\times$ 85 mm, interaction forces of up to 5 N and mean speeds of up to 327 mm/s the robot is designed to perform a rectum resection intervention, an operation hardly possible with conventional laparoscopic instruments. In this work, we address several ergonomic aspects of the setup, including surgeon's pose, movement scaling, visual feedback, and haptic feedback. Two experiments were performed to investigate the accuracy and dexterity of the robotic system compared to conventional single-port systems. We found a significant decrease of errors in a point-and-touch-task when using the robot, but no effect on the duration of the task. Surgeons were able to perform suturing and knotting tasks as well as a gall bladder extraction in a porcine model with the robot in an hands on experiment. These experiments showed a good intuitivity and a high instrument control precision as described by the participants.",
         "groups" : "public",
         
         "intrahash" : "250e0fa0b5a0a2ef8f54ec695dcc1700",
         
         "interhash" : "080948a18217167c1f4e0798903ca470",
         
         "timestamp" : "2017-10-26 07:04:07",
         
         "username" : "droessler",
         
         "bibtexKey": "Hatzfeld2017"

      }
	  
   ]
}