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Department of Robotic Systems

   

Dr.-Ing. Ulrich Hagn

Coordinator Medical Assistance Systems

Institute of Robotics and Mechatronics
Department of Robotic Systems
Muenchnerstrasse 20
D-82234 Wessling
Germany

Phone: ++49 (0) 81 53 / 28-1075
Fax:     ++49 (0) 81 53 / 28-1134
ulrich.hagn(AT)dlr.de

 


Fields of Activity

My main research focuses on the development of the DLR medical robotic system MiroSurge and the new generation MIRO robot arms.
Besides project and team management, I work on system and mechanical design of the robotic arms.

Additionally:

- Coordinator of the medical device research group at the Institute of Robotics and Mechatronics
- Member of the institute's council and scientific board
- Involvement in projects on
         - instruments for conventional and robot assisted surgery
         - force reflecting hand controllers for master slave systems
         - 3D laser sensors

DLR MIRO

DLR MiroSurge  (watch MiroSurge on YouTube)

 


Publications

Doebele, S., Siebenlist, S., Vester, H., Wolf, P., Hagn, U., Schreiber, U., Stöckle, U., and Lucke, M. (2012) New method for detection of complex 3D fracture motion - Verification of an optical motion analysis system for biomechanical studies, BMC Musculoskeletal Disorders, Volume 13, 33, DOI: 10.1186/1471-2474-13-33

Tobergte, A., Helmer, P., Hagn, U., Thielmann, S., Albu-Schäffer, A., Hirzinger, G., Conti, F., (2011) The Sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console, Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 3023-3030

Tobergte, A., Helmer, P., Hagn, U., Thielmann, S., Hirzinger, G. (2011) Eine Chirurgenkonsole für MiroSurge, Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, pp. 105-108, 2011

Hagn, U. (2011) The Aspect of Versatility in the Design of a Lightweight Robot for Surgical Applications, doctor thesis, University of Hannover, 2011, ISBN 978-3-86853-797-0 (print,  PDF)

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), pp. 3175-3182, 2011

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, pp. 871-878, 2010, DOI: 10.1109/IROS.2010.5649984

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.

Bauernschmitt, R., Buss, M., Deml, B., Diepold, K., Färber, B., Färber, G., Hagn, U., Hirzinger, G., Hirche, S., Knoll, A., Müller, H., Ortmaier, T., Peer, A., Popp, M., Preusche, C., Reinhart, G., Shi, Z., Steinbach, E., Ulbrich, H., Walter, U., Zäh, M. (2010) High-Fidelity Telepresence and Teleaction. Video presentation, In Proceedings of the ICRA-2010 IEEE International Conference on Robotics and Automation, pp. 1092-1093, 2010 DOI: 10.1109/ROBOT.2010.5510000 

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, (2) 2010, pages 183-193. published online  DOI: 10.1007/s11548-009-0372-4, 2009

Hirzinger, G., Hagn, U. (2009) MiroSurge - ein innovatives Robotik-System, Zentralbl Chir, 134(5): 397-400, 2009, DOI: 10.1055/s-0029-1241106

Hirzinger, G., Hagn, U. (2009) Gelenkig am offenen Herzen. forschung - Das Magazin der Deutschen Forschungsgemeinschaft, 02/2009, available online

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. Video contribution presented at ICRA 2009, Finalist for best video award, DOI: 10.1109/ROBOT.2009.5152361 

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

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

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, DOI: 10.1108/01439910810876427

Frumento, S., Michelini, R., Konietschke, R., Hagn, U., Ortmaier, T. & Hirzinger, G.
A Co-Robotic Positioning Device for Carrying Surgical End-Effectors
Proceedings of International Conference ASME-ESDA, Torino, italy, 2006, 4-7 July, pp.1 -8

Konietschke, R., Ortmaier, T., Ott, C., Hagn, U., Le-Tien, L. & Hirzinger, G.
Concepts of Human-Robot Cooperation for a new Medical Robot
Proceedings of Human Centered Robotic Systems -- HCRS, 2006, pp.1 - 6

Ortmaier, T., Weiß, H., Hagn, U., Nickl, M., Albu-Schäfer, A., Ott, C., Jörg, S., Konietschke, R., Le-Tien, L. & Hirzinger, G.
A Hands-on-Robot for Accurate Placement of Pedicle Screws
Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation, 2006, pp. 4179 - 4186

Ortmaier, T., Weiss, H., Hagn, U., Grebenstein, M., Nickl, M., Ott, C., Albu-Schäffer, A., Hirzinger, G., Essensreiter, R. & Bertram, M.
Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben
VDI Wissensforum - Mechatronik 2005 - VDI-Berichte, 2005, pp. 661 - 686

Ortmaier, T., Weiss, H., Hagn, U., Ott, C., Hirzinger, G., Essenreiter, R. & Bertram, M.
Ein neues System zum robotergestützten, navigierten Setzen von Pedikelschrauben
XXVII Münchner Symposium für Experimentelle Orthopädie, 2005

Ortmaier, T., Weiß, H., Hagn, U., Grebenstein, M., Nickl, M., Albu-Schäffer, A., Ott, C., Jörg, S., Konietschke, R. & Hirzinger, G.
Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben
B. K. (ed.), ifm Internationales Forum für Mechatronik, Tagungsband, 2005, pp. 673 - 699

Ortmaier, T., Reintsema, D., Seibold, U., Hagn, U. & Hirzinger, G.
The DLR Minimally Invasive Robotics Surgery Scenario
Färber, G.; Hoogen, J. S. 453. O. (ed.)
Workshop on Advances in Interactive Multimodal Telepresence Systems, Munich, March 29-30, 2001
Proceedings, Hieronymus Buchreproduktions GmbH, München, 2001

Ortmaier, T., Seibold, U., Hagn, U., Boehm, D., Reichenspurner, H. & Hirzinger, G.
Autonomy and Haptic Feedback in Minimally Invasive Robotic Surgery
Fourth Annual Meeting of the International Society for Minimally Invasive Cardiac Surgery (ISMICS), Munich, June, 27-30, 2001


Awards

Best Paper Award: Tobergte, A., Helmer, P., Hagn, U., Thielmann, S., Hirzinger, G. (2011) Eine Chirurgenkonsole für MiroSurge, Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, pp. 105-108, 2011

Walter Reis Innovation Award 2010, 3rd place

Finalist for best video award: 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. Video contribution presented at ICRA 2009

Outstanding Paper Award: 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

Third Place at CURAC: 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

The EURON/EUnited Robotics Technology Transfer Award 2007

 


Students

If you are interested in a diploma or master thesis, please contact me.


 


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