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Department of Robotic Systems

Ulrich Seibold
Dr.-Ing. Mechanical Engineering

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

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



Mechanical Engineering at Munich Technical University, Germany


Mechanical Engineering at Braunschweig Technical University, Precision and Microtechnology Option


DAAD Exchange Program to University of Waterloo, Ont., Canada

since 2000

Researcher at DLR, Institute of Robotics



U. Seibold. „An Advanced Force Feedback Tool Design for Minimally Invasive Robotic Surgery.” Dissertation, TU-München, 2013.

A. Tobergte, G. Passig, B. Kübler, U. Seibold, U. Hagn, F. Fröhlich, R. Konietschke, S. Jörg, M. Nickl, S. Thielmann, R. Haslinger, M. Gröger, A. Nothhelfer, L. Le-Tien, R. Gruber, A. Albu-Schäffer, and G. Hirzinger. „MiroSurge - Advanced user interaction modalities in minimally invasive robotic surgery.” in Presence: Teleoperators and Virtual Environments, vol. 19(5), pp. 400--414, 2010.

S. Thielmann, U. Seibold, R. Haslinger, G. Passig, T. Bahls, S. Jörg, M. Nickl, A. Nothhelfer, U. Hagn, and G. Hirzinger. „MICA - A new generation of versatile instruments in robotic surgery.” in IROS - Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct. 2010. 

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 Workshop contribution, presented at ICRA2009, Kobe, Japan, 2009 (unpublished).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. Hagn, M. Nickl, S. Jörg, A. Tobergte, B. Kübler, G. Passig, M. Gröger, U. Seibold, R. Konietschke, T. Ortmaier, and G. Hirzinger. „DLR MiroSurge -- towards versatility in surgical robotics.” in CURAC - Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, D. Bartz, S. Bohn, and J. Hoffmann, Eds., Leipzig, Germany, 2008, pp. 143--146.

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.


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

Fröhlich, M. (2012): Towards realistic haptic organ phantoms for medical training on minimally invasive robotic surgery systems.

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.

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