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Schäfer","Ellen Klein","Sophie Weiland","Konstantin Frenzel","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Ellen", "last" : "Klein"}, {"first" : "Sophie", "last" : "Weiland"}, {"first" : "Konstantin", "last" : "Frenzel"}, {"first" : "Peter P.", "last" : "Pott"} ], "volume": "11","number": "1","pages": "505\u2013508", "issn" : "2364-5504", "doi" : "10.1515/cdbme-2025-0228", "bibtexKey": "Sch_fer_2025" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2f7090d4bbdc00590ac18164794dd11bc/maxschaefer", "tags" : [ "colonoscopy","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-colonoscopy","robot-assisted-surgery" ], "intraHash" : "f7090d4bbdc00590ac18164794dd11bc", "interHash" : "f04f397f09abf96e2d5cc087aad516bd", "label" : "Modular Test Rig to Evaluate Environmental Interactions of Soft Everting Robots in Colonoscopy", "user" : "maxschaefer", "description" : "", "date" : "2025-07-02 10:52:48", "changeDate" : "2025-07-02 10:52:48", "count" : 4, "pub-type": "inproceedings", "booktitle": "Proceedings of the 17th Hamlyn Symposium on Medical Robotics 2025", "year": "2025", "url": "https://www.hamlynsymposium.org/proceedings/", "author": [ "Johanna Dinkel","Anja Lachenmaier","Peter P. Pott","Max B. Schäfer" ], "authors": [ {"first" : "Johanna", "last" : "Dinkel"}, {"first" : "Anja", "last" : "Lachenmaier"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "Max B.", "last" : "Schäfer"} ], "pages": "9-10", "venue" : "London", "collection" : "HSMR 2025", "eventdate" : "24 - 27th June 2025", "eventtitle" : "The Hamlyn Symposium on Medical Robotics", "bibtexKey": "Dinkel_2025" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2b50f3e95779d358479005e23bd4e6a73/maxschaefer", "tags" : [ "cable-driven-parallel-robots","cable-robot","haptic-feedback","haptic-input-device","haptic-user-interface","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","parallel-kinematics","robot-assisted-surgery" ], "intraHash" : "b50f3e95779d358479005e23bd4e6a73", "interHash" : "2bffa89c3ef7be6306f4df9d29071ec6", "label" : "Robot-Assisted Surgery: High-Bandwidth Haptic Feedback Using a\r\nCable-Driven Input Device", "user" : "maxschaefer", "description" : "", "date" : "2025-06-30 10:43:15", "changeDate" : "2025-06-30 10:43:15", "count" : 3, "pub-type": "inproceedings", "booktitle": "Proceedings of the 17th Hamlyn Symposium on Medical Robotics 2025", "year": "2025", "url": "https://www.hamlynsymposium.org/proceedings/", "author": [ "Max B. Schäfer","Jonas Hotz","Mareike Spieß","Fabian Baumer","Konstantin Frenzel","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Jonas", "last" : "Hotz"}, {"first" : "Mareike", "last" : "Spieß"}, {"first" : "Fabian", "last" : "Baumer"}, {"first" : "Konstantin", "last" : "Frenzel"}, {"first" : "Peter P.", "last" : "Pott"} ], "pages": "125-126", "eventtitle" : "The Hamlyn Symposium on Medical Robotics", "venue" : "London", "eventdate" : "24 - 27th June 2025", "bibtexKey": "schafer2025robotassisted" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a57598c00be947ee8946fabe0f725451/maxschaefer", "tags" : [ "assistance","ergonomics","human-machine-interaction","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","nurse","robotic","scrub","system","workflow" ], "intraHash" : "a57598c00be947ee8946fabe0f725451", "interHash" : "74e41f4597d52fb0ee356e2055a4829a", "label" : "Automation Potential in the Workflow of a Scrub Nurse", "user" : "maxschaefer", "description" : "", "date" : "2025-06-30 10:38:08", "changeDate" : "2025-06-30 10:38:08", "count" : 6, "pub-type": "article", "journal": "Interdisciplinary Description of Complex Systems - scientific journal", "year": "2025", "url": "https://ideas.repec.org/a/zna/indecs/v23y2025i2p110-117.html", "author": [ "Peter Schmid","Max B. Schäfer","Nina M. Stadel","Peter P. Pott","Thomas Maier" ], "authors": [ {"first" : "Peter", "last" : "Schmid"}, {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Nina M.", "last" : "Stadel"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "Thomas", "last" : "Maier"} ], "volume": "23","number": "2","pages": "110-117","abstract": "One of the heavily burdened actors in the operating theatre is the scrub nurse who is responsible for the organized and orderly workflow in the operating theatre. One of the main tasks of the scrub nurse is to perform quick and appropriate instrumentation because fast and proactive instrumentation is crucial for the success of the operation. The actual deficiency of specialist staff in the healthcare sector is motivating the automation of repetitive tasks and simple work steps in order to relieve staff in the future and free up capacity for complex and important activities. A robotic assistance system appears to be a suitable solution for many of these challenges. The vision is to develop advanced assistance systems for the handling of instruments in future surgical procedures. In this work, surgery of the carpal tunnel was chosen as example task. The focus lied on the type and scope of the individual working steps. The analysis was carried out by video analyses and by observing corresponding surgical procedures. Based on the results of the analysis, potentials for improving the workflow were derived and requirements for a robotic assistance system were defined.", "bibtexKey": "RePEc:zna:indecs:v:23:y:2025:i:2:p:110-117" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ee16f829ec61855d2c2f994755cdedee/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown" ], "intraHash" : "ee16f829ec61855d2c2f994755cdedee", "interHash" : "dfdab0b806f466150953482ea0ae8898", "label" : "Everting Robots für die Koloskopie \u2013 zwei neue Ansätze für eine bekannte Herausforderung", "user" : "maxschaefer", "description" : "", "date" : "2025-04-28 18:43:57", "changeDate" : "2025-04-29 07:45:53", "count" : 3, "pub-type": "inproceedings", "booktitle": "Endoscopy Campus", "year": "2025", "url": "https://www.endoscopy-campus.com/wp-content/uploads/ec-magazin-2025-01.pdf", "author": [ "J. Dinkel","D. Weinmann","H. Bauer","D. Wichman","N. Malek","P.P. Pott","M.B. Schäfer","B. Duckworth-Mothes" ], "authors": [ {"first" : "J.", "last" : "Dinkel"}, {"first" : "D.", "last" : "Weinmann"}, {"first" : "H.", "last" : "Bauer"}, {"first" : "D.", "last" : "Wichman"}, {"first" : "N.", "last" : "Malek"}, {"first" : "P.P.", "last" : "Pott"}, {"first" : "M.B.", "last" : "Schäfer"}, {"first" : "B.", "last" : "Duckworth-Mothes"} ], "pages": "68-69", "eventtitle" : "54. Jahrestagung der DGE-BV", "eventdate" : "2025", "bibtexKey": "dinkel2025everting" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c777fde72300f1cd7b2c35b3a305cf42/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown" ], "intraHash" : "c777fde72300f1cd7b2c35b3a305cf42", "interHash" : "086945670823f7e16522f9f758b9beb7", "label" : "Potential of magnetic shape memory alloys in medical applications", "user" : "maxschaefer", "description" : "", "date" : "2024-12-19 11:55:01", "changeDate" : "2024-12-19 11:55:01", "count" : 5, "pub-type": "inproceedings", "journal": "Current Directions in Biomedical Engineering", "year": "2024", "url": "https://doi.org/10.1515/cdbme-2024-2082", "author": [ "Marco Hutter","Juliane Mayer","Max B. Schäfer","Peter P. Pott","Bernd Gundelsweiler" ], "authors": [ {"first" : "Marco", "last" : "Hutter"}, {"first" : "Juliane", "last" : "Mayer"}, {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "Bernd", "last" : "Gundelsweiler"} ], "volume": "10","number": "4","pages": "336--339", "venue" : "Stuttgar", "eventdate" : "18.-20.09.2024", "eventtitle" : "BMT 2024", "doi" : "doi:10.1515/cdbme-2024-2082", "bibtexKey": "HutterMayerSchäferPottGundelsweiler+2024+336+339" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/25bf6150a391ee0407a012ced1fa860cc/maxschaefer", "tags" : [ "colonoscopy","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-colonoscopy","soft-everting-robot" ], "intraHash" : "5bf6150a391ee0407a012ced1fa860cc", "interHash" : "94b220846f71fcda205874902557eb8e", "label" : "Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy", "user" : "maxschaefer", "description" : "", "date" : "2024-12-19 11:54:36", "changeDate" : "2024-12-19 11:54:36", "count" : 4, "pub-type": "article", "journal": "Current Directions in Biomedical Engineering", "year": "2024", "url": "https://doi.org/10.1515/cdbme-2024-2045", "author": [ "Johanna Dinkel","Denise Weinmann","Peter P. Pott","Max B. Schäfer" ], "authors": [ {"first" : "Johanna", "last" : "Dinkel"}, {"first" : "Denise", "last" : "Weinmann"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "Max B.", "last" : "Schäfer"} ], "volume": "10","number": "4","pages": "187--190", "doi" : "doi:10.1515/cdbme-2024-2045", "bibtexKey": "DinkelWeinmannPottSchäfer+2024+187+190" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/24c9d670232fb04e09c23e07007f0ba49/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-surgery","telemanipulation" ], "intraHash" : "4c9d670232fb04e09c23e07007f0ba49", "interHash" : "561b9b05deb1d72697352f9003ab0f00", "label" : "Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach", "user" : "maxschaefer", "description" : "", "date" : "2024-11-11 10:39:44", "changeDate" : "2024-11-11 10:39:44", "count" : 3, "pub-type": "inproceedings", "booktitle": "2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)", "year": "2024", "url": "", "author": [ "Christian J. E. Bauer","Max B. Schäfer","Sarah Riepe","Matthias Parenzan","Sophie Weiland","Peter P. Pott" ], "authors": [ {"first" : "Christian J.", "last" : "E. Bauer"}, {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Sarah", "last" : "Riepe"}, {"first" : "Matthias", "last" : "Parenzan"}, {"first" : "Sophie", "last" : "Weiland"}, {"first" : "Peter P.", "last" : "Pott"} ], "pages": "502-507","abstract": "One of the major disadvantages of robot-assisted surgery is the absence of haptic feedback. A haptic user interface (HUI), which is part of a telemanipulation system addressing this issue, is described. To generate high-quality haptic feedback using the HUI, it is necessary to have a precise understanding of the system's behavior. The capstan drive of the HUI is modeled as a rotational two-mass system. The mechanical parameters are determined by minimizing the error between the mechanical transfer function, defined by motor torque as input and velocity as output, and measured frequency responses. The relationship between motor current and torque is approximated as Fourier series depending on the motor angle. Friction is modeled as Coulomb and viscous friction, Stribeck curve, and continuous approximation of the Stribeck curve. The model is utilized to enhance the precision of the generated feedback force. The described system enables the generation of haptic feedback with a maximum force of 6 N, a force resolution of 0.05 N, and a usable frequency bandwidth of 31 Hz.", "issn" : "2155-1782", "doi" : "10.1109/BioRob60516.2024.10719769", "bibtexKey": "10719769" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2f0db69a55f669605543067ad75841e91/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-surgery","telemanipulation" ], "intraHash" : "f0db69a55f669605543067ad75841e91", "interHash" : "2b0d5fe9ed7945e19eb70a28274217f6", "label" : "Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery", "user" : "maxschaefer", "description" : "", "date" : "2024-09-12 15:51:41", "changeDate" : "2024-09-12 15:51:41", "count" : 3, "pub-type": "article", "journal": "Current Directions in Biomedical Engineering", "year": "2024", "url": "https://doi.org/10.1515/cdbme-2024-1068", "author": [ "Max B. Schäfer","Sarah Riepe","Matthias Parenzan","Christian J. E. Bauer","Jonas Hotz","Johannes G. Meiringer","Sophie Weiland","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Sarah", "last" : "Riepe"}, {"first" : "Matthias", "last" : "Parenzan"}, {"first" : "Christian J. E.", "last" : "Bauer"}, {"first" : "Jonas", "last" : "Hotz"}, {"first" : "Johannes G.", "last" : "Meiringer"}, {"first" : "Sophie", "last" : "Weiland"}, {"first" : "Peter P.", "last" : "Pott"} ], "volume": "10","number": "2","pages": "62--65", "doi" : "doi:10.1515/cdbme-2024-1068", "bibtexKey": "SchäferRiepeParenzanBauerHotzMeiringerWeilandPott+2024+62+65" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/248eea42c7196bc18049f4c223e225a1b/maxschaefer", "tags" : [ "cable-driven-parallel-robots","cable-robot","haptic-feedback","haptic-input-device","haptic-user-interface","haptics","imt","institut-für-medizingerätetechnik","medizingerätetechnik","minimally-invasive-surgery","myown","robot-assisted-surgery","telemanipulation" ], "intraHash" : "48eea42c7196bc18049f4c223e225a1b", "interHash" : "e44621520df573b7e008314f5220dbdf", "label" : "Extrakorporale Messung von Interaktionskräften zur Darstellung mit einem seilgetriebenen haptischen Eingabegerät für die Roboter-assistierte Chirurgie", "user" : "maxschaefer", "description" : "", "date" : "2024-08-16 08:45:03", "changeDate" : "2024-08-16 09:15:13", "count" : 3, "pub-type": "phdthesis", "publisher":"Universität Stuttgart","address":"Stuttgart", "year": "2024", "url": "http://elib.uni-stuttgart.de/handle/11682/14741", "author": [ "Max B. Schäfer" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"} ], "copyright" : "info:eu-repo/semantics/openAccess", "language" : "de", "doi" : "10.18419/OPUS-14722", "bibtexKey": "https://doi.org/10.18419/opus-14722" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ae558e2b8b3cafa8604b45559480a3df/maxschaefer", "tags" : [ "colonoscopy","endoscopy","everting-robot","expanding-robot","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-colonoscopy","robot-assisted-endoscopy","robot-assisted-surgery" ], "intraHash" : "ae558e2b8b3cafa8604b45559480a3df", "interHash" : "f50d96af743880dc4c40663bbdc4c287", "label" : "Steerable Tip Enables Expanding Robot to Pass Sigmoid Curve", "user" : "maxschaefer", "description" : "", "date" : "2024-07-01 09:26:08", "changeDate" : "2024-07-01 09:26:08", "count" : 4, "pub-type": "inproceedings", "booktitle": "Proceedings of the 16th Hamlyn Symposium on Medical Robotics 2024", "year": "2024", "url": "https://www.hamlynsymposium.org/proceedings/", "author": [ "Denise Weinmann","Peter P. Pott","Max B. Schäfer" ], "authors": [ {"first" : "Denise", "last" : "Weinmann"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "Max B.", "last" : "Schäfer"} ], "pages": "109-110", "eventtitle" : "The Hamlyn Symposium on Medical Robotics", "venue" : "London", "eventdate" : "25 - 28th June 2024", "bibtexKey": "weinmann2024steerable" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/295ffd793cf760392fa70de01bd9b4396/maxschaefer", "tags" : [ "Granular-Jamming-Gripper","Medical-Robotics","RSN","Robot-Assisted-Surgery","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robotic-scrub-nurse" ], "intraHash" : "95ffd793cf760392fa70de01bd9b4396", "interHash" : "0b7da7d0dfb01de0809a2afc4de7863a", "label" : "Robotic Scrub Nurse: Surgical Instrument Handling with a Granular Jamming Gripper", "user" : "maxschaefer", "description" : "", "date" : "2023-10-10 10:49:46", "changeDate" : "2023-10-10 10:49:46", "count" : 4, "pub-type": "article", "journal": "Current Directions in Biomedical Engineering", "year": "2023", "url": "https://doi.org/10.1515/cdbme-2023-1044", "author": [ "Max B. Schäfer","Jolanda H. Friedrich","Jonas Hotz","Lukas Worbs","Sophie Weiland","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Jolanda H.", "last" : "Friedrich"}, {"first" : "Jonas", "last" : "Hotz"}, {"first" : "Lukas", "last" : "Worbs"}, {"first" : "Sophie", "last" : "Weiland"}, {"first" : "Peter P.", "last" : "Pott"} ], "volume": "9","number": "1","pages": "174--177", "doi" : "doi:10.1515/cdbme-2023-1044", "bibtexKey": "SchäferFriedrichHotzWorbsWeilandPott+2023+174+177" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2e4d3069082d5f50e5d6c2c7aec423d8d/maxschaefer", "tags" : [ "cable-driven-parallel-robots","cable-robot","haptic-feedback","haptic-input-device","haptic-user-interface","haptics","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-surgery" ], "intraHash" : "e4d3069082d5f50e5d6c2c7aec423d8d", "interHash" : "5f54203b5c41629b8a44a4c08a9118cb", "label" : "Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device", "user" : "maxschaefer", "description" : "", "date" : "2023-07-14 15:00:49", "changeDate" : "2023-07-14 15:02:09", "count" : 3, "pub-type": "inproceedings", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2023", "url": "", "author": [ "Max B. Schäfer","Sophie Weiland","Lukas Worbs","Ing Tien Khaw","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Sophie", "last" : "Weiland"}, {"first" : "Lukas", "last" : "Worbs"}, {"first" : "Ing Tien", "last" : "Khaw"}, {"first" : "Peter P.", "last" : "Pott"} ], "editor": [ "Stéphane Caro","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Stéphane", "last" : "Caro"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "pages": "97--108","abstract": "In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback.", "isbn" : "978-3-031-32322-5", "doi" : "https://doi.org/10.1007/978-3-031-32322-5_8", "bibtexKey": "10.1007/978-3-031-32322-5_8" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/241cd248cbfe13d146a961c61e0393b9a/maxschaefer", "tags" : [ "RAS","haptic-feedback","haptics","imt","institut-für-medizingerätetechnik","interaction-force","medizingerätetechnik","myown","robot-assisted-surgery","telemanipulation","teleoperated-surgery" ], "intraHash" : "41cd248cbfe13d146a961c61e0393b9a", "interHash" : "bca40a5edee72ccd0a5cadf802785966", "label" : "Measuring interaction forces in surgical telemanipulation using conventional instruments", "user" : "maxschaefer", "description" : "", "date" : "2022-12-23 11:22:00", "changeDate" : "2023-07-14 15:07:24", "count" : 3, "pub-type": "article", "booktitle": "Robotica","publisher":"Cambridge University Press", "year": "2023", "url": "https://www.cambridge.org/core/article/measuring-interaction-forces-in-surgical-telemanipulation-using-conventional-instruments/7B1F9D9AD052A510D3D13265438929C0", "author": [ "Max B. Schäfer","Anja M. Glöckner","Gerrit R. Friedrich","Johannes G. Meiringer","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Anja M.", "last" : "Glöckner"}, {"first" : "Gerrit R.", "last" : "Friedrich"}, {"first" : "Johannes G.", "last" : "Meiringer"}, {"first" : "Peter P.", "last" : "Pott"} ], "pages": "1-13","abstract": "Minimally invasive surgery (MIS) has been an essential tool in the surgical sector for many years due to its crucial advantages compared to open surgery. To overcome remaining limitations, teleoperated MIS experienced a strong emergence. However, the widespread usage of such systems is hindered by the enormous financial hurdle. The use of standard components and conventional tools for teleoperated MIS can facilitate integration into existing hospital workflows and can be a cost-efficient and versatile approach for research purposes. To compensate for the lack of haptic feedback, some teleoperation setups inherit a sensor system allowing them to record interaction forces and display them at the user interface. In research and in commercially available systems, different positions for the sensor can be found. In this paper, mechanical interfaces for the guidance and actuation of non-wristed and wristed standard instruments are presented. Furthermore, a method for the extracorporeal measurement of interaction forces is presented, characterized, and discussed. The overall mean relative error of the magnitude of the interaction force is 9.4%, while the overall mean absolute error of the force vector is 14.4 $^$ , both below the respective human differential perception threshold. The presented measurement method is a simple, yet sufficiently accurate approach to measure interaction forces in surgical telemanipulation.", "issn" : "02635747", "doi" : "DOI: 10.1017/S0263574722001758", "bibtexKey": "schafer2022measuring" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26c1766d40ad898d21a61c07ba88317e5/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown" ], "intraHash" : "6c1766d40ad898d21a61c07ba88317e5", "interHash" : "1a4fbc98add335849eb7ff8a11973f5a", "label" : "Endurance Test Rig for Twisted String Actuators", "user" : "maxschaefer", "description" : "", "date" : "2022-10-13 15:52:51", "changeDate" : "2022-10-13 13:52:51", "count" : 5, "pub-type": "inproceedings", "year": "2022", "url": "", "author": [ "Giuliano A. Giacoppo","Max B. Schäfer","Peter P. Pott" ], "authors": [ {"first" : "Giuliano A.", "last" : "Giacoppo"}, {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Peter P.", "last" : "Pott"} ], "eventtitle" : "IKMT 2022", "venue" : "Linz, Austria", "eventdate" : "14.-15.09.2022", "bibtexKey": "giacoppo2022endurance" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/28e76f825c9352cf39875750cd9cede0e/maxschaefer", "tags" : [ "haptic-feedback","haptics","imt","institut-für-medizingerätetechnik","medizingerätetechnik","myown","robot-assisted-surgery","telemanipulation" ], "intraHash" : "8e76f825c9352cf39875750cd9cede0e", "interHash" : "c81724e134a6c04271a9645eea3130e6", "label" : "Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current", "user" : "maxschaefer", "description" : "", "date" : "2022-09-09 21:03:04", "changeDate" : "2022-09-09 19:03:04", "count" : 5, "pub-type": "article", "journal": "Current Directions in Biomedical Engineering", "year": "2022", "url": "https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html", "author": [ "Max B. Schäfer","Johannes G. Meiringer","Julia Nawratil","Lukas Worbs","Giuliano A. Giacoppo","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Johannes G.", "last" : "Meiringer"}, {"first" : "Julia", "last" : "Nawratil"}, {"first" : "Lukas", "last" : "Worbs"}, {"first" : "Giuliano A.", "last" : "Giacoppo"}, {"first" : "Peter P.", "last" : "Pott"} ], "volume": "8","number": "1","pages": "105--108","abstract": "Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument\u2019s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.", "doi" : "doi:10.1515/cdbme-2022-0027", "bibtexKey": "SchäferMeiringerNawratilWorbsGiacoppoPott+2022+105+108" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/20fb9adba4e9884766db46f75ecc0b725/maxschaefer", "tags" : [ "imt","institut-für-medizingerätetechnik","laparoscopy","medizingerätetechnik","minimally-invasive-surgery","myown" ], "intraHash" : "0fb9adba4e9884766db46f75ecc0b725", "interHash" : "4bf2023648e24524b3faf098031769fd", "label" : "Steerable Flexible Laparoscope to Facilitate Camera Guidance During Minimally Invasive Procedures", "user" : "maxschaefer", "description" : "", "date" : "2022-09-09 21:00:52", "changeDate" : "2022-09-09 19:03:19", "count" : 5, "pub-type": "article", "journal": "Current Directions in Biomedical Engineering", "year": "2022", "url": "https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1016/html", "author": [ "Max B. Schäfer","Madeleine Waltner","Giuliano A. Giacoppo","Peter P. Pott" ], "authors": [ {"first" : "Max B.", "last" : "Schäfer"}, {"first" : "Madeleine", "last" : "Waltner"}, {"first" : "Giuliano A.", "last" : "Giacoppo"}, {"first" : "Peter P.", "last" : "Pott"} ], "volume": "8","number": "2","pages": "57--60","abstract": "In conventional laparoscopy, the field of view of the surgeon is limited. Angled laparoscopes enable the observation of surrounding structures, however, to change the viewing perspective on a specific object, permanent repositioning and rotation of the shaft is required. In this paper, a demonstrator of a steerable flexible laparoscope is presented, enabling the user to intuitively adjust the perspective onto an object by means of a single control element. The laparoscope provides a viewing angle of ± 50° at 50 mm working distance. In first tests, the presented laparoscope showed advantages regarding intuitiveness of the control, easier handling, and improved depth perception.", "doi" : "doi:10.1515/cdbme-2022-1016", "bibtexKey": "SchäferWaltnerGiacoppoPott+2022+57+60" } ] }