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Department of Robotic Systems

Stefan Jörg


Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
in der Helmholtzgemeinschaft
Robotic Systems
Münchner Str. 20
82234 Oberpfaffenhofen

Phone: +49 8153 281046
Fax: +49 8153 281134
Email: Stefan Jörg

Fields of Interest:

  • Real-Time Signal Processing Architectures
  • Model-Driven Design of the Communication and Computation Architecture of Robotic Systems
  • Medical Robotic Systems

Current Projects:

Finished Projects:

  • SAFROS: A Seventh Framework Programme research project on Patient Safety in Robotic Surgery
  • BFS Project MiroSurge - A Universal, Minimally Invasive Surgical Robot System for the Surgery of the Future
  • KineMedic: Development of a robot prototype for the navigated placement of pedicle screws in the human spine. Cooperation with the company BrainLAB AG
  • BFS (Bayerische Forschungsstiftung) NaviPed Entwicklung eines navigationsunterstützten halbautomatischen Robotersystems für die Platzierung von Pedikelschrauben an der menschlichen Wirbelsäule
  • FPGA driven real time image processing
  • BFS (Bayerische Forschungsstiftung)  Montage in Bewegung: Assembly in Motion
  • ESS: Experimental Servicing Satellite
  • DevSensors - A Generic Sensor Interface for robot controllers

 

Publications:

Journal Papers

S. Jörg, R. Konietschke, J. Klodmann (2013) Classification of Modeling for Versatile Simulation Goals in Robotic Surgery. In: Frontiers of Intelligent Autonomous Systems, Studies in Computational Intelligence, 466 (10). Springer Heidelberg Berlin. ISBN 978-3-642-35485-4.

Tobergte, A., Passig, G., Kuebler, B., Seibold, U., Hagn, U., Fröhlich, F.A., Konietschke, R., Jörg, S., Nickl, M., Thielmann, S., Haslinger, R., Gröger, M., Nothhelfer, A., Le-Tien, L., Gruber, R., Albu-Schäffer, A., Hirzinger, G. (2010) MiroSurge – Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. PRESENCE - Teleoperators and Virtual Environments, MIT Press Journal, Oct. 2010;19(5):400-414. DOI: 10.1162/pres_a_00022.

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,   Volume 5, Number 2, March, 2010, Doi 10.1007/s11548-009-0372-4.

U. Hagn, M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-Schäffer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, G. Hirzinger, The DLR MIRO: a versatile lightweight robot for surgical applications, Industrial Robot: An International Journal, 2008, 35, pp. 324-336. Outstanding Paper Award

U. Hagn, T. Ortmaier, R. Konietschke, B. Kübler, U. Seibold, A. Tobergte, M. Nickl, S. Jörg, G. Hirzinger, Telemanipulator for Remote Minimally Invasive Surgery, IEEE Robotics & Automation Magazine, 2008, 15(4), pp. 28-38.

Conference and Workshop Papers

S. Jörg, M. Nickl, T. Bahls, S. Strasser (2013) SpaceWire-HS Host Adapter - An FPGA based PCI Express Device for Versatile High-Speed Channels, In Proceedings of the International Spacewire Conference 2013.

M. Nickl, S. Jörg, T. Bahls, B. Cook (2013) Towards High-Speed SpaceWire Links, In Proceedings of the International Spacewire Conference 2013.

S. Jörg, R. Konietschke, J. Klodmann (2013) Classification of Modeling for Versatile Simulation Goals in Robotic Surgery. Advances in Intelligent Systems and Computing, 194, Intelligent Autonomous Systems 12 - Volume 2, Proceedings of the IAS-12, Springer Heidelberg Berlin. ISBN 978-3-642-33931-8. ISSN 2194-5357S. 

M. Nickl and S. Jörg, T. Bahls, A. Nothhelfer, S. Strasser (2011) SpaceWire, A Backbone For Humanoid Robotic Systems, In Proceedings of the International Spacewire Conference 2011, pp 356-359.

S. Jörg and M. Nickl, A. Nothhelfer, T. Bahls, G. Hirzinger (2011) The Computing and Communication Architecture of the DLR Hand Arm System, In Proceedings of the 2011 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 1055-1062.

S. Jörg (2011) Robotic System Simulation and Modelling, Presentation at the IROS 2011 Workshop on Methods for Safer Surgical Robotics Procedures, workshop website.

Grebenstein, M., Albu-Schäffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W., Gruber, R., Hagn, U., Haslinger, R., Höppner H., Jörg, S., Nickl, M., Nothhelfer, A., Petit, F., Pleintinger, B., Reil, J., Seitz, N., Wimböck, T., Wolf, S., Wüsthoff, T., Hirzinger, G. (2011) The DLR Hand Arm System, In Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 3175-3182.

Thielmann, S., Seibold, U., Haslinger, R., Passig, G., Bahls, T., Joerg, S., Nickl, M., Nothhelfer, A., Hagn, U., Hirzinger G. (2010) MICA - A new generation of versatile instruments in robotic surgery. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 871-878, DOI: 10.1109/IROS.2010.5649984

M. Nickl, S. Jörg, G. Hirzinger, The Virtual Path: The Domain Model for the Design of the MIRO Surgical Robotic System, 9th International IFAC Symposium on Robot Control, 2009, Gifu, Japan, pp 97-103.

U. Hagn, M. Nickl, S. Jörg, A. Tobergte, B. Kübler, G. Passig, M. Gröger, F. Fröhlich, U. Seibold, R. Konietschke, L. Le-Tien, A. Albu-Schäffer, M. Grebenstein, T. Ortmaier, G. Hirzinger, DLR MiroSurge -- towards versatility in surgical robotics, Proceedings of CURAC, S. 143 - 146, 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., Leipzig, 2008, ISBN 978-3-00-025798-8.

F. Lange, B. Willberg, P. Meusel, J. Langwald, S. Jörg, M. Frommberger, G. Hirzinger, Montage am kontinuierlich bewegten Band, Robotik 2008, VDI-Tagungsband 2012.

F. Lange, K. H. Strobl, J. Langwald, S. Jörg, G. Hirzinger, B. Gruber, J. Klein, Kameragestützte Montage von Rädern an kontinuierlich bewegte Fahrzeuge, Robotik 2008, VDI-Tagungsband 2012.

S. Jörg, M. Nickl, G. Hirzinger, Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems, Proceedings of the International Conference on Intelligent Robots and Systems, Peking, October, 2006.

T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schäffer, Ch. Ott, S. Jörg, R. Konietschke, L. Le-Tien, G. Hirzinger, A Hands-On-Robot for Accurate Placement of Pedicle Screws, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006, Orlando, Florida, USA.

T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schaeffer, C. Ott, S. Jörg, R. Konietschke, G. Hirzinger, R. Wohlgemuth, Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben, 4. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) 22.-24. September 2005, Berlin, Deutschland.

T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schaeffer, C. Ott, S. Jörg, R. Konietschke, G. Hirzinger, R. Essenreiter und M. Bertram, Ein neues System zum robotergestützten, navigierten Setzen von Pedikelschrauben, IFM - Internationales Forum Mechatronik, 15 - 16 Juni 2005, Augsburg, Deutschland.

T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schaeffer, C. Ott, S. Jörg, R. Konietschke, G. Hirzinger, R. Essenreiter und M. Bertram, Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben, VDI Wissensforum - Mechatronik 2005, 1 - 2 Juni 2005, Wiesloch bei Heidelberg, Deutschland.

S. Jörg, J. Langwald and M. Nickl, FPGA based Real-Time Visual Servoing, Proc. International Conference on Pattern Recognition, Cambridge, UK, 2004.

J. Grewe, P. Meusel, S. Jörg, G. Hirzinger, Sensorgeführte Montage am bewegten Objekt mittels nachgiebigem Kraft-Momenten-Sensor, Robotik 2000, Tagung Berlin 29. und 30. Juni 2000, VDI Berichte 1552, S. 151-157, VDI-Verl., Düsseldorf, 2000.

S. Jörg, J. Langwald, J. Stelter, C. Natale and G. Hirzinger, Flexible Robot-Assembly using a Multi-Sensory Approach, Proc. IEEE Int. Conference on Robotics and Automation, pp. 3687-3694, San Francisco, CA, 2000.

Conference Videos

R. Konietschke, U.Hagn, M. Nickl, S. Jörg, A. Tobergte, G. Passig, U. Seibold, L. Le-Tien, B. Kübler, M. Gröger, F. Fröhlich, C. Rink, A. Albu-Schäffer, M. Grebenstein, T. Ortmaier, G. Hirzinger, The DLR Mirosurge - A Robotic System For Surgery, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, Kobe, Japan, pp 1589-1590. Finalist for best video award

S. Jörg, J. Langwald, J. Stelter and G. Hirzinger, Flexible Robot-Assembly using a Multi-Sensory Approach, Video Proc. IEEE Int. Conference on Robotics and Automation, San Francisco, CA, 2000.

 

 


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