Ulrich Seibold
Dipl.-Ing. Mechanical Engineering

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

Phone: ++49 (0) 81 53 / 28-2455
Fax:     ++49 (0) 81 53 / 28-1134
email:  ulrich.seibold(AT)dlr.de

Fields of activity

• Concepts and development of tactile and kinesthetic force sensors for application in minimally invasive robotic surgery.
• Concepts and development of wrist and end-effectors kinematics for minimally invasive surgical instruments.
• Miniaturized mechatronic drive systems for medical applications.
• Development of strategies and devices for haptic feedback and sensory substitution for teleoperation.
• More generally, I'm interested in robotic and mechatronic components in the fileds of precision, micro, medical and optical engineering.

     

Short CV

Publications

U. Seibold, B. Kuebler, S. Thielmann, G. Hirzinger. „Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback.” Workshop contribution, presented at ICRA2009, Kobe, Japan, 2009 (unpublished).

R. Haslinger, G. Passig, U. Seibold, G.Hirzinger. “Fiberoptic 6-DOF Force-Torque-Sensing for Haptic Feedback in Minimally Invasive Robotic Surgery.” Workshop contribution, presented at ICRA2009, Kobe, Japan, 2009 (unpublished).

U. Hagn, R. Konietschke, A. Tobergte, M. Nickl, S. Jörg, B. Kübler, G. Passig, M. Gröger, F. Fröhlich, U. Seibold, L. Le-Tien, A. Albu-Schäffer, A. Nothhelfer, F. Hacker, M. Grebenstein, and G. Hirzinger. “DLR MiroSurge: a versatile system for research endoscopic telesurgery.” International Journal of Computer Assisted Radiology and Surgery, 2009;5(2):183-193. DOI: 10.1007/s11548-009-0372-4.

U. Hagn, T. Ortmaier, R. Konietschke, B. Kübler, U. Seibold, A. Tobergte, M. Nickl, S. Jörg, and G. Hirzinger. “Telemanipulator for remote minimally invasive surgery.” IEEE Robotics & Automation Magazine, 15(4):28–38, December 2008.

 U. Seibold, B. Kuebler, and G. Hirzinger. “Prototypic force feedback instrument for minimally invasive robotic surgery”, pages 377–400. Medical Robotics, I-Tech Education and Publishing, Vienna, Austria, 2008. ISBN-13: 978-3-902613-18-9.

B. Deml, T. Ortmaier, and U. Seibold. “The touch and feel in minimally invasive surgery.” In HAVE 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications. Ottawa, Ontario, Canada, pages 33–38, October 2005.

 B. Kübler, U. Seibold, and G. Hirzinger. “Development of actuated and sensor integrated forceps for minimally invasive robotic surgery.” The International Journal of Medical Robotics and Computer Assisted Surgery, 1(3):96–107, April 2005.

U. Seibold, B. Kübler, and G. Hirzinger. “Prototype of instrument for minimally invasive surgery with 6-axis force sensing capability.” In ICRA - Procedings of the IEEE International Conference on Robotics and Automation, pages 498–503, March 2005.

U. Seibold, B. Kübler, H. Weiss, T. Ortmaier, and G. Hirzinger. “Sensorized and actuated instruments for minimally invasive robotic surgery.” In EuroHaptics, pages 482–485, Munich, Germany, June 2004.

U. Seibold and G. Hirzinger. “A 6-axis force/torque sensor design for haptic feedback in minimally invasive robotic surgery.” In MICRO.tec - 2nd VDE World Microtechnologies Congress, pages 239–244, 2003.

T. Ortmaier, U. Seibold, U. Hagn, D. Boehm, H. Reichenspurner, and G. Hirzinger. “Autonomy and haptic feedback in minimally invasive robotic surgery.” In 4th Annual Meeting of the International Society for Minimally Invasive Cardiac Surgery (ISMICS), Munich, Germany, 2001.

Awards

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

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

Supervised diploma thesis

Göppner, K. (2010): Online measurement of cable tension in a minimally invasive surgical instrument

Schwier, A. (2008): Integration of fiberoptic sensors in a minimally invasive surgical instrument

Thielmann, S. (2008): Design of a drive unit for surgical forceps

Schechner, V. (2007): Concept and ergonomics of a bi-manual haptic workstation for minimally invasive robotic surgery

Kübler, B. (2003): Design of a drive unit for medical forceps in the field of minimal invasive robotic surgery

Sturm, M. (2000): Mechanical design of surgical forceps for minimal invasive telesurgery