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Department of Robotic Systems

Publications of Rainer Konietschke

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Conference Videos

 

  • Konietschke, R.; Bodenmüller, T.; Rink, C.; Schwier, A.; Bäuml, B.; Hirzinger, G. (2011) Optimal Setup of the DLR MiroSurge Telerobotic System for Minimally Invasive Surgery. In Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA). abstract, video

  • Konietschke, R.; Hagn, U.; Nickl, M.; Jörg, S.; Tobergte, A.; Passig, G.; Seibold, U.; Le.Tien, L.; Kuebler, B.; Gröger, M.; Fröhlich, F.; Rink, Ch.; Albu-Schäffer, A.; Grebenstein, M.; Ortmaier, T.; Hirzinger, G. (2009) The DLR Miro Surge - A Robotic System for Surgery. In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA). Finalist for best video award abstract, video, bibtex
  • Borst, Ch.; Wimboeck, Th.; Schmidt, F.; Fuchs, M.; Brunner, B.; Zacharias, F.; Robuffo Giordano, P.; Konietschke, R.; Sepp, W.; Fuchs, S.; Rink, Ch.; Albu-Schäffer, A.; Hirzinger, G. (2009) Rollin' Justin - Mobile Platform with Variable Base. In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA). Best video award abstract, video

 

Conference and Workshop Papers

 

  • Lohmann, Martin and Konietschke, Rainer and Hellings, Anja and Borst, Christoph and Hirzinger, Gerhard (2012) A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS). CURAC 2012, 15.-16. Nov. 2012, Düsseldorf.
  • Klodmann, Julian and Konietschke, Rainer and Albu-Schäffer, Alin and Hirzinger, Gerhard (2011) Static Calibration of the DLR Medical Robot MIRO, a Flexible Lightweight Robot with Integrated Torque Sensors. IROS 2011, 25.-30. Sept. 2011, San Francisco, CA, USA.
  • Schwier, A.; Konietschke, R.; Bodenmüller, T.; Ende, T.; Kielhöfer, S.; Hirzinger, G. (2010) VR-Map: A New Device for Patient Registration and Optimal Robot Positioning. In 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Düsseldorf, Germany, 18.-19. November 2010. paper
  • Konietschke, R.; Tobergte, A.; Preusche, C.; Tripicchio, P.; Ruffaldi, E.; Webel, S.; Bockholt, U. (2010) A Multimodal Training Platform for Minimally Invasive Robotic Surgery. Proceedings of the 19th IEEE Symposium On Robot Human Communication Ro-Man10: 422-427. paper
  • Konietschke, R. (2009) Towards Motion Compensation and Force Feedback in Minimally Invasive Robotic Surgery . Presentation at CARS 2009 Workshop on Data Flow and Integration of Computer and Robot Assisted Surgical Procedures. workshop website
  • Konietschke, R. (2009) Increasing Accuracy in Minimally Invasive Robotic Surgery. Presentation at ICAR 2009 Workshop on Surgical Robotics and Computer-assisted Navigation for Minimally Invasive Interventions program, flyer
  • Konietschke, R.; Hirzinger, G. (2009) Inverse Kinematics with Closed Form Solutions for Highly Redundant Robotic Systems. In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA). paper
  • Tobergte, A.; Konietschke, R.; Hirzinger, G. (2009) Planning and Control of a Teleoperation System for Research in Minimally Invasive Robotic Surgery. In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA). paper
  • Hagn, U., Nickl, M., Jörg, S., Tobergte, A., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Konietschke, R., Le-Tien, L., Albu-Schäffer, A., Grebenstein, M., Ortmaier, T. & Hirzinger, G. (2008) DLR MiroSurge -- towards versatility in surgical robotics. 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. Proceedings of CURAC, 2008, pp. 143 - 146

  • Busam, A. and Suppa, Michael and Konietschke, Rainer and Bodenmüller, Tim and Boesecke, R. and Wiechnik, J. and Eggers, G. and Ortmaier, Tobias and Hirzinger, Gerd and Mühling, J. and Marmulla1, R. (2007) Risikoanalyse für einen handgeführten Laserscanner zur Patientenregistrierung in der navigierten MKG-Chirurgie. In: 6. Jahrestagung, 2007-10-11 bis 2007-10-13, Karlsruhe

  • Konietschke, Rainer and Busam, A. and Bodenmüller, Tim and Ortmaier, Tobias and Suppa, Michael and Wiechnik, J. and Welzel, T. and Eggers, G. and Hirzinger, Gerd and Marmulla, R. (2007) Accuracy Identification of Markerless Registration with the DLR Handheld 3D-Modeller in Medical Applications. In: 6. Jahrestagung, 2007-10-11 bis 2007-10-13, Karlsruhe paper

  • Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger (2006) A Humanoid Two-Arm System for Dexterous Manipulation, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 276-283, Genova/Italy, 2006. paper

  • R. Konietschke, G. Hirzinger, and Y. Yan (2006) All Singularities of the 9-DoF DLR Medical Robot Setup for Minimally Invasive Applications. In Advances in Robot Kinematics, (Ljubljana, Slovenia), 2006. paper
  • R. Konietschke, S. Frumento, T. Ortmaier, U. Hagn, and G. Hirzinger (2006) Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2006, (Beijing, China), 2006. paper
  • S. Frumento, R. Michelini, R. Konietschke, U. Hagn, T. Ortmaier, and G. Hirzinger (2006) A Co-Robotic Positioning Device for Carrying Surgical End-Effectors. In Proceedings of ESDA 2006, (Torino, Italy), 2006. paper
  • T. Ortmaier, H. Weiß, U. Hagn, M. Nickl, A. Albu-Schäffer, C. Ott, S. Jörg, R. Konietschke, L. Le-Tien, and G. Hirzinger (2006) A Hands-On-Robot for Accurate Placement of Pedicle Screws. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA), 2006. paper
  • R. Konietschke, T. Ortmaier, C. Ott, U. Hagn, L. Le-Tien, and G. Hirzinger (2006) Concepts of Human-Robot Cooperation for a new Medical Robot. In Proceedings of Human Centered Robotic Systems - HCRS, (Munich, Germany), pp. 1-6, October 2006. paper
  • Rainer Konietschke, Holger Weiss, Tobias Ortmaier, and Gerd Hirzinger (2004) A Preoperative Planning Procedure for Robotically Assisted Minimally Invasive Interventions. In 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), München, Germany, 8.-9. Dezember 2004. paper
  • Rainer Konietschke, Tobias Ortmaier, Holger Weiss, Gerd Hirzinger, and Robert Engelke (2004) Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery. In Advances in Robot Kinematics, Genua, Italy, 2004. paper
  • Rainer Konietschke, Tobias Ortmaier, Holger Weiß, Robert Engelke, and Gerd Hirzinger. Optimal Design of a Medical Robot for Minimally Invasive Surgery. In 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Nürnberg, Germany, 4.-7. November 2003. paper

 

Conference and Workshop Abstracts/Posters

 

  • R. Konietschke, A. Knoeferle, and G. Hirzinger (2007) The Autopointer: A New Augmented-Reality Device for Transfer of Planning Data into the Operating Room. In Proceedings of the 21st International Congress and Exhibition of Computer Assisted Radiology and Surgery, (Berlin, GERMANY), June 2007. abstract poster
  • R. Konietschke, A. Busam, T. Bodenmueller, T. Ortmaier, J.Wiechnik, M. Suppa, T.Welzel, G. Eggers, G. Hirzinger, and R. Marmulla (2007) Potential, Limitations and Challenges of Markerless Registration with the DLR 3D-Modeller in Medical Applications. In Proceedings of the 21st International Congress and Exhibition of Computer Assisted Radiology and Surgery, (Berlin, GERMANY), June 2007 abstract poster
  • Ortmaier, Tobias and Konietschke, Rainer (2006) Image Guided Robotic Surgery - Towards Less Invasive Therapy. In: ICRA Workshop on Robotics Based Medicine, 2006-05, Orlando, FL (USA) workshop program
  • R. Konietschke and G. Hirzinger (2006) A Registration-Free Intraoperative Procedure to Optimally Position the Ports and the Robots in MIRS. In 5th World Congress of Biomechanics, (Munich, Germany), July 2006. abstract
  • Rainer Konietschke, Holger Weiss, Tobias Ortmaier, Ulrich Hagn, Yuling Yan, and Gerd Hirzinger (2005) A Registration-Free Intraoperative Procedure to Optimally Position the Ports and the Robots in Robotically Assisted Minimally Invasive Surgery. In 4. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Berlin, Germany, 22.-24. September 2005.
  • Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Mathias Nickl, Alin Albu-Schäffer, Christian Ott, Stefan Jörg, Rainer Konietschke, Gerd Hirzinger, and Richard Wohlgemuth (2005) A New Robot for Navigated Placement of Pedicle Screws. In 4. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Berlin, Germany, 22.-24. September 2005.
  • Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Mathias Nickl, Alin Albu-Schaeffer, Christian Ott, Stefan Joerg, Rainer Konietschke, Gerd Hirzinger Robert Essenreiter, and Michael Bertram (2005) Ein neues System zum robotergestützten, navigierten Setzen von Pedikelschrauben. In IFM - Internationales Forum Mechatronik, Augsburg, Germany, 15.-16. Juni 2005.
  • Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Mathias Nickl, Alin Albu-Schäffer, Christian Ott, Stefan Jörg, Rainer Konietschke, Gerd Hirzinger, Robert Essenreiter, and Michael Bertram (2005) Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben. In VDI Wissensforum - Mechatronik 2005, Wiesloch bei Heidelberg, Germany, 1.-2. Juni 2005.
  • Rainer Konietschke, Tobias Ortmaier, Holger Weiß, Robert Engelke, and Gerd Hirzinger (2003) Link Length Optimisation of a Medical Robot in Minimally Invasive Surgery. In Proceedings of the 17th International Congress and Exhibition of Computer Assisted Radiology and Surgery, London, UK, June 2003. abstract poster

 

Journal Papers

 

  • Jörg, Stefan and Konietschke, Rainer and Klodmann, Julian (2013) Classification of Modeling for Versatile Simulation Goals in Robotic Surgery. Advances in Intelligent Systems and Computing, 194. Springer Heidelberg Berlin. ISBN 978-3-642-33931-8. ISSN 2194-5357
  • Tobergte, Andreas and Passig, Georg and Kübler, Bernhard and Seibold, Ulrich and Hagn, Ulrich and Fröhlich, Florian and Konietschke, Rainer and Jörg, Stefan and Nickl, Mathias and Thielmann, Sophie and Haslinger, Robert and Gröger, Martin and Nothhelfer, Alexander and Le-Tien, Luc and Gruber, Robin and Albu-Schäfer, Alin and Hirzinger, Gern (2010) MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. PRESENCE - Teleoperators and Virtual Environments. MIT Press Journals, Vol. 19, No. 5, pp. 400-414. DOI: 10.1162/pres_a_00022.
  • Bauernschmitt, R.; Braun, E.U.; Buss, M.; Fröhlich, F.; Hirche, S.; Hirzinger, G.; Kammerl, J.; Knoll , A.; Konietschke , R.; Kübler, B.; Lange, R.; Mayer , H.; Rank , M.; Schillhuber, G.; Staub, C.; Steinbach, E.; Tobergte, A.; Ulbrich, H.; Vittorias, I.; Zhao, C. (2009) On the Role of Multimodal Communication in Telesurgery Systems. In: Proceedings . IEEE . 11th International Congress of the IUPESM, World Congress on Medical Physics and Biomedical Engineering , 5. Oct. - 7. Oct. 2009 , Rio de Janeiro, Brazil.
  • Hagn, U.; Konietschke, R.; Tobergte, A.; Nickl, M.; Jörg, S.; Kuebler, B.; Passig, G.; Gröger, M.; Fröhlich, F.; Seibold, U.; Le-Tien, L.; Albu-Schäffer, A.; Nothelfer, A.; Hacker, F.; Grebenstein, M.; Hirzinger, G. (2009) DLR MiroSurge - A Versatile System for Research in Endoscopic Telesurgery. In: International Journal of Computer Assisted Radiology and Surgery, 2009. published online first, Doi: 10.1007/s11548-009-0372-4, print version in press. paper
  • Hagn, U.; Ortmaier, T.; Konietschke, R.; Kuebler, B.; Seibold, U.; Tobergte, A.; Nickl, M.; Joerg, S.; Hirzinger, G. (2008) Telemanipulators for Remote Minimally Invasive Surgery. In: IEEE Robotics and Automation Magazine (RAM), 2008;15(4):28-38. DOI: 10.1109/MRA.2008.929925 paper
  • Hagn, U., Nickl, M., Jörg, S., Passig, G., Bahls, T., Nothhelfer, A., Hacker, F., Le-Tien, L., Albu-Schäffer, A., Konietschke, R., Grebenstein, M., Warpup, R., Haslinger, R., Frommberger, M. & Hirzinger, G. (2008) The DLR MIRO: A versatile lightweight robot for surgical applications Industrial Robot: An International Journal, EMERALD GROUP PUBLISHING LIMITED, 2008, Vol. 35(4), pp. 324 - 336, Outstanding Paper Award Winner paper

 

Books

 

  • Konietschke, Rainer (2008) Planning of Workplaces with Multiple Kinematically Redundant Robots. Dissertation thesis, Technische Universität München PhD thesis

 

  • Rainer Konietschke. Aufbauoptimierung für Roboter in medizinischen Anwendungen. Munich University of Technology, Germany, Diploma Thesis, 2001.

Media

Supervised Thesises

 

  • Huber, M. and Hagn, U. and Konietschke, R. (2004) Konzeption eines Supportsystems für die Chirurgierobotik
  • Mayr, M. and Konietschke, R. (2004) Matching zweier Punktwolken zur intraoperativen Patientenregistrierung.
  • Frumento, S. (2006): Kinematic design Optimization of an actuated carrier for the DLR multi-arm surgical system (advised PhD thesis)

 

 

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