Position innerhalb des Seitenbaumes

Max Schäfer

Dr.-Ing.

Wissenschaftlicher Mitarbeiter
Institut für Medizingerätetechnik

Kontakt

+49 711 685 68392
E-Mail

Pfaffenwaldring 9
70569 Stuttgart
Deutschland
Raum: 3.203

Publikationen

J. Dinkel, D. Weinmann, H. Bauer, D. Wichman, N. Malek, P. P. Pott, M. B. Schäfer, and B. Duckworth-Mothes, “Everting Robots für die Koloskopie – zwei neue Ansätze für eine bekannte Herausforderung,” in Endoscopy Campus, 2025, pp. 68–69. [Online]. Available: https://www.endoscopy-campus.com/wp-content/uploads/ec-magazin-2025-01.pdf
- BibTeX
- Link
BibTeX
@inproceedings{dinkel2025everting, author = {Dinkel, J. and Weinmann, D. and Bauer, H. and Wichman, D. and Malek, N. and Pott, P.P. and Schäfer, M.B. and Duckworth-Mothes, B.}, booktitle = {Endoscopy Campus}, eventdate = {2025}, eventtitle = {54. Jahrestagung der DGE-BV}, pages = {68-69}, title = {Everting Robots für die Koloskopie – zwei neue Ansätze für eine bekannte Herausforderung}, url = {https://www.endoscopy-campus.com/wp-content/uploads/ec-magazin-2025-01.pdf}, year = 2025 }
Link
https://www.endoscopy-campus.com/wp-content/uploads/ec-magazin-2025-01.pdf
M. Hutter, J. Mayer, M. B. Schäfer, P. P. Pott, and B. Gundelsweiler, “Potential of magnetic shape memory alloys in medical applications,” in Current Directions in Biomedical Engineering, Stuttgar, 2024, vol. 10, pp. 336–339. doi: doi:10.1515/cdbme-2024-2082.
- BibTeX
- Link
BibTeX
@inproceedings{HutterMayerSchäferPottGundelsweiler+2024+336+339, author = {Hutter, Marco and Mayer, Juliane and Schäfer, Max B. and Pott, Peter P. and Gundelsweiler, Bernd}, doi = {doi:10.1515/cdbme-2024-2082}, eventdate = {18.-20.09.2024}, eventtitle = {BMT 2024}, journal = {Current Directions in Biomedical Engineering}, number = 4, pages = {336--339}, title = {Potential of magnetic shape memory alloys in medical applications}, url = {https://doi.org/10.1515/cdbme-2024-2082}, venue = {Stuttgar}, volume = 10, year = 2024 }
Link
https://doi.org/10.1515/cdbme-2024-2082
D. Weinmann, P. P. Pott, and M. B. Schäfer, “Steerable Tip Enables Expanding Robot to Pass Sigmoid Curve,” in Proceedings of the 16th Hamlyn Symposium on Medical Robotics 2024, London, 2024, pp. 109–110. [Online]. Available: https://www.hamlynsymposium.org/proceedings/
- BibTeX
- Link
BibTeX
@inproceedings{weinmann2024steerable, author = {Weinmann, Denise and Pott, Peter P. and Schäfer, Max B.}, booktitle = {Proceedings of the 16th Hamlyn Symposium on Medical Robotics 2024}, eventdate = {25 - 28th June 2024}, eventtitle = {The Hamlyn Symposium on Medical Robotics}, pages = {109-110}, title = {Steerable Tip Enables Expanding Robot to Pass Sigmoid Curve}, url = {https://www.hamlynsymposium.org/proceedings/}, venue = {London}, year = 2024 }
Link
https://www.hamlynsymposium.org/proceedings/
C. J. E. Bauer, M. B. Schäfer, S. Riepe, M. Parenzan, S. Weiland, and P. P. Pott, “Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach,” in 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Sep. 2024, pp. 502–507. doi: 10.1109/BioRob60516.2024.10719769.
- Zusammenfassung
- BibTeX
Zusammenfassung
One of the major disadvantages of robot-assisted surgery is the absence of haptic feedback. A haptic user interface (HUI), which is part of a telemanipulation system addressing this issue, is described. To generate high-quality haptic feedback using the HUI, it is necessary to have a precise understanding of the system's behavior. The capstan drive of the HUI is modeled as a rotational two-mass system. The mechanical parameters are determined by minimizing the error between the mechanical transfer function, defined by motor torque as input and velocity as output, and measured frequency responses. The relationship between motor current and torque is approximated as Fourier series depending on the motor angle. Friction is modeled as Coulomb and viscous friction, Stribeck curve, and continuous approximation of the Stribeck curve. The model is utilized to enhance the precision of the generated feedback force. The described system enables the generation of haptic feedback with a maximum force of 6 N, a force resolution of 0.05 N, and a usable frequency bandwidth of 31 Hz.
BibTeX
@inproceedings{10719769, abstract = {One of the major disadvantages of robot-assisted surgery is the absence of haptic feedback. A haptic user interface (HUI), which is part of a telemanipulation system addressing this issue, is described. To generate high-quality haptic feedback using the HUI, it is necessary to have a precise understanding of the system's behavior. The capstan drive of the HUI is modeled as a rotational two-mass system. The mechanical parameters are determined by minimizing the error between the mechanical transfer function, defined by motor torque as input and velocity as output, and measured frequency responses. The relationship between motor current and torque is approximated as Fourier series depending on the motor angle. Friction is modeled as Coulomb and viscous friction, Stribeck curve, and continuous approximation of the Stribeck curve. The model is utilized to enhance the precision of the generated feedback force. The described system enables the generation of haptic feedback with a maximum force of 6 N, a force resolution of 0.05 N, and a usable frequency bandwidth of 31 Hz.}, author = {E. Bauer, Christian J. and Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Weiland, Sophie and Pott, Peter P.}, booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, doi = {10.1109/BioRob60516.2024.10719769}, issn = {2155-1782}, month = {09}, pages = {502-507}, title = {Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach}, year = 2024 }
M. B. Schäfer, “Extrakorporale Messung von Interaktionskräften zur Darstellung mit einem seilgetriebenen haptischen Eingabegerät für die Roboter-assistierte Chirurgie,” Dissertation, Universität Stuttgart, Stuttgart, 2024. doi: 10.18419/OPUS-14722.
- BibTeX
- Link
BibTeX
@phdthesis{https://doi.org/10.18419/opus-14722, address = {Stuttgart}, author = {Schäfer, Max B.}, copyright = {info:eu-repo/semantics/openAccess}, doi = {10.18419/OPUS-14722}, language = {de}, publisher = {Universität Stuttgart}, title = {Extrakorporale Messung von Interaktionskräften zur Darstellung mit einem seilgetriebenen haptischen Eingabegerät für die Roboter-assistierte Chirurgie}, type = {Dissertation}, url = {http://elib.uni-stuttgart.de/handle/11682/14741}, year = 2024 }
Link
http://elib.uni-stuttgart.de/handle/11682/14741
M. B. Schäfer, S. Riepe, M. Parenzan, C. J. E. Bauer, J. Hotz, J. G. Meiringer, S. Weiland, and P. P. Pott, “Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery,” Current Directions in Biomedical Engineering, vol. 10, Art. no. 2, 2024, doi: doi:10.1515/cdbme-2024-1068.
- BibTeX
- Link
BibTeX
@article{SchäferRiepeParenzanBauerHotzMeiringerWeilandPott+2024+62+65, author = {Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Bauer, Christian J. E. and Hotz, Jonas and Meiringer, Johannes G. and Weiland, Sophie and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2024-1068}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {62--65}, title = {Characterization of Dynamic Gripping Force Feedback for Robot-Assisted Surgery}, url = {https://doi.org/10.1515/cdbme-2024-1068}, volume = 10, year = 2024 }
Link
https://doi.org/10.1515/cdbme-2024-1068
J. Dinkel, D. Weinmann, P. P. Pott, and M. B. Schäfer, “Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy,” Current Directions in Biomedical Engineering, vol. 10, Art. no. 4, 2024, doi: doi:10.1515/cdbme-2024-2045.
- BibTeX
- Link
BibTeX
@article{DinkelWeinmannPottSchäfer+2024+187+190, author = {Dinkel, Johanna and Weinmann, Denise and Pott, Peter P. and Schäfer, Max B.}, doi = {doi:10.1515/cdbme-2024-2045}, journal = {Current Directions in Biomedical Engineering}, number = 4, pages = {187--190}, title = {Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy}, url = {https://doi.org/10.1515/cdbme-2024-2045}, volume = 10, year = 2024 }
Link
https://doi.org/10.1515/cdbme-2024-2045
M. B. Schäfer, J. H. Friedrich, J. Hotz, L. Worbs, S. Weiland, and P. P. Pott, “Robotic Scrub Nurse: Surgical Instrument Handling with a Granular Jamming Gripper,” Current Directions in Biomedical Engineering, vol. 9, Art. no. 1, 2023, doi: doi:10.1515/cdbme-2023-1044.
- BibTeX
- Link
BibTeX
@article{SchäferFriedrichHotzWorbsWeilandPott+2023+174+177, author = {Schäfer, Max B. and Friedrich, Jolanda H. and Hotz, Jonas and Worbs, Lukas and Weiland, Sophie and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2023-1044}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {174--177}, title = {Robotic Scrub Nurse: Surgical Instrument Handling with a Granular Jamming Gripper}, url = {https://doi.org/10.1515/cdbme-2023-1044}, volume = 9, year = 2023 }
Link
https://doi.org/10.1515/cdbme-2023-1044
M. B. Schäfer, S. Weiland, L. Worbs, I. T. Khaw, and P. P. Pott, “Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device,” in Cable-Driven Parallel Robots, Cham, 2023, pp. 97–108. doi: https://doi.org/10.1007/978-3-031-32322-5_8.
- Zusammenfassung
- BibTeX
Zusammenfassung
In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback.
BibTeX
@inproceedings{10.1007/978-3-031-32322-5_8, abstract = {In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback.}, address = {Cham}, author = {Sch{\"a}fer, Max B. and Weiland, Sophie and Worbs, Lukas and Khaw, Ing Tien and Pott, Peter P.}, booktitle = {Cable-Driven Parallel Robots}, doi = {https://doi.org/10.1007/978-3-031-32322-5_8}, editor = {Caro, St{\'e}phane and Pott, Andreas and Bruckmann, Tobias}, isbn = {978-3-031-32322-5}, pages = {97--108}, publisher = {Springer Nature Switzerland}, title = {Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device}, year = 2023 }
M. B. Schäfer, A. M. Glöckner, G. R. Friedrich, J. G. Meiringer, and P. P. Pott, “Measuring interaction forces in surgical telemanipulation using conventional instruments,” Robotica, pp. 1–13, 2023, doi: DOI: 10.1017/S0263574722001758.
Zusammenfassung
Minimally invasive surgery (MIS) has been an essential tool in the surgical sector for many years due to its crucial advantages compared to open surgery. To overcome remaining limitations, teleoperated MIS experienced a strong emergence. However, the widespread usage of such systems is hindered by the enormous financial hurdle. The use of standard components and conventional tools for teleoperated MIS can facilitate integration into existing hospital workflows and can be a cost-efficient and versatile approach for research purposes. To compensate for the lack of haptic feedback, some teleoperation setups inherit a sensor system allowing them to record interaction forces and display them at the user interface. In research and in commercially available systems, different positions for the sensor can be found. In this paper, mechanical interfaces for the guidance and actuation of non-wristed and wristed standard instruments are presented. Furthermore, a method for the extracorporeal measurement of interaction forces is presented, characterized, and discussed. The overall mean relative error of the magnitude of the interaction force is 9.4%, while the overall mean absolute error of the force vector is 14.4 $^$ , both below the respective human differential perception threshold. The presented measurement method is a simple, yet sufficiently accurate approach to measure interaction forces in surgical telemanipulation.
BibTeX
@article{schafer2022measuring, abstract = {Minimally invasive surgery (MIS) has been an essential tool in the surgical sector for many years due to its crucial advantages compared to open surgery. To overcome remaining limitations, teleoperated MIS experienced a strong emergence. However, the widespread usage of such systems is hindered by the enormous financial hurdle. The use of standard components and conventional tools for teleoperated MIS can facilitate integration into existing hospital workflows and can be a cost-efficient and versatile approach for research purposes. To compensate for the lack of haptic feedback, some teleoperation setups inherit a sensor system allowing them to record interaction forces and display them at the user interface. In research and in commercially available systems, different positions for the sensor can be found. In this paper, mechanical interfaces for the guidance and actuation of non-wristed and wristed standard instruments are presented. Furthermore, a method for the extracorporeal measurement of interaction forces is presented, characterized, and discussed. The overall mean relative error of the magnitude of the interaction force is 9.4%, while the overall mean absolute error of the force vector is 14.4 $^{\circ }$ , both below the respective human differential perception threshold. The presented measurement method is a simple, yet sufficiently accurate approach to measure interaction forces in surgical telemanipulation.}, author = {Schäfer, Max B. and Glöckner, Anja M. and Friedrich, Gerrit R. and Meiringer, Johannes G. and Pott, Peter P.}, booktitle = {Robotica}, doi = {DOI: 10.1017/S0263574722001758}, issn = {02635747}, pages = {1-13}, publisher = {Cambridge University Press}, title = {Measuring interaction forces in surgical telemanipulation using conventional instruments}, url = {https://www.cambridge.org/core/article/measuring-interaction-forces-in-surgical-telemanipulation-using-conventional-instruments/7B1F9D9AD052A510D3D13265438929C0}, year = 2023 }
Link
https://www.cambridge.org/core/article/measuring-interaction-forces-in-surgical-telemanipulation-using-conventional-instruments/7B1F9D9AD052A510D3D13265438929C0
M. B. Schäfer, M. Hemmer, A. M. Glöckner, and P. P. Pott, “Robotic Telemanipulation System for Minimally Invasive Surgery using a Passive Universal Joint and Inertial Sensors,” in Proceedings of the 14th Hamlyn Symposium on Medical Robotics 2022, London, 2022, pp. 61–62. [Online]. Available: https://hamlynsymposium.org/proceedings/
- BibTeX
- Link
BibTeX
@inproceedings{schafer2022robotic, author = {Schäfer, Max B. and Hemmer, Moritz and Glöckner, Anja M. and Pott, Peter P.}, booktitle = {Proceedings of the 14th Hamlyn Symposium on Medical Robotics 2022}, eventdate = {26 - 29th June 2022}, eventtitle = {The Hamlyn Symposium on Medical Robotics}, pages = {61-62}, title = {Robotic Telemanipulation System for Minimally Invasive Surgery using a Passive Universal Joint and Inertial Sensors}, url = {https://hamlynsymposium.org/proceedings/}, venue = {London}, year = 2022 }
Link
https://hamlynsymposium.org/proceedings/
G. A. Giacoppo, J. Meiringer, M. B. Schäfer, J. Mayer, M. da Silva, L. Finke, and P. P. Pott, “Influence of a fixed twisting zone on Twisted String Actuation,” Mannheim, 2022.
- BibTeX
BibTeX
@inproceedings{giacoppo2022influence, author = {Giacoppo, Giuliano A and Meiringer, Johannes and Schäfer, Max B and Mayer, Juliane and da Silva, Michael and Finke, Lars and Pott, Peter P}, booktitle = {ACTUATOR22}, eventdate = {29.-30.06.2022}, eventtitle = {ACTUATOR22}, title = {Influence of a fixed twisting zone on Twisted String Actuation}, venue = {Mannheim}, year = 2022 }
M. B. Schäfer, J. Nawratil, M. Hemmer, S. Weiland, and P. P. Pott, “Cable-Driven Linear Haptic Display for Medical Interventions,” in Proceedings of the 14th Hamlyn Symposium on Medical Robotics 2022, London, 2022, pp. 125–126. [Online]. Available: https://hamlynsymposium.org/proceedings/
- BibTeX
- Link
BibTeX
@inproceedings{schafer2022cabledriven, author = {Schäfer, Max B. and Nawratil, Julia and Hemmer, Moritz and Weiland, Sophie and Pott, Peter P.}, booktitle = {Proceedings of the 14th Hamlyn Symposium on Medical Robotics 2022}, eventdate = {26 - 29th June 2022}, eventtitle = {The Hamlyn Symposium on Medical Robotics}, pages = {125-126}, title = {Cable-Driven Linear Haptic Display for Medical Interventions}, url = {https://hamlynsymposium.org/proceedings/}, venue = {London}, year = 2022 }
Link
https://hamlynsymposium.org/proceedings/
M. B. Schäfer, S. Eggstein, K. W. Stewart, and P. P. Pott, “360° Laparoscopic Imaging System to Facilitate Camera Control and Orientation in Minimally Invasive Surgery,” Current Directions in Biomedical Engineering, vol. 8, Art. no. 2, 2022, doi: doi:10.1515/cdbme-2022-1068.
Zusammenfassung
During laparoscopic procedures, the surgeon's view of the situs, and thus her or his performance, is dependent on the skills of the camera assistant. The surgeon lacks control over his own field of view and there is a high potential for reducing mental load and workflow issues. In this paper, a research setup of a 360° laparoscopic imaging system is presented and evaluated. The system consists of a 360° camera and a head-mounted display, through which the surgeon can inspect the situs. In a user test, the system showed advantages over a conventional laparoscope regarding orientation in thesitus, intuitiveness of operation, and faster task completion.
BibTeX
@article{SchäferEggsteinStewartPott+2022+265+268, abstract = {During laparoscopic procedures, the surgeon's view of the situs, and thus her or his performance, is dependent on the skills of the camera assistant. The surgeon lacks control over his own field of view and there is a high potential for reducing mental load and workflow issues. In this paper, a research setup of a 360° laparoscopic imaging system is presented and evaluated. The system consists of a 360° camera and a head-mounted display, through which the surgeon can inspect the situs. In a user test, the system showed advantages over a conventional laparoscope regarding orientation in thesitus, intuitiveness of operation, and faster task completion.}, author = {Schäfer, Max B. and Eggstein, Selina and Stewart, Kent W. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-1068}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {265--268}, title = {360° Laparoscopic Imaging System to Facilitate Camera Control and Orientation in Minimally Invasive Surgery}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1068/html}, volume = 8, year = 2022 }
Link
https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1068/html
J. Mayer, M. B. Schäfer, J. Liu, G. A. Giacoppo, T. Markert, S. Matich, P. Brunner, and P. P. Pott, “Hand-Held Device for Force Estimation during Tool-Tissue Interaction,” Mannheim, Jun. 2022.
- Zusammenfassung
- BibTeX
Zusammenfassung
When manipulating tissue during medical interventions, high-accuracy movements are important to avoid injuries. However, feedback is limited and it is hard to establish control loops to ensure correct movements. We propose the use of a novel highly compact 6-axis force / torque sensor (Ø 10.5 mm x 11.0 mm) within a hand piece to determine low forces and torques during various small-scale procedures including gentle tool-tissue interaction. For a first validation of the system, different venepuncture cannulas were connected to the sensor top and driven into skinned fruits (toma-toes and grapes) as well as into a silicone block. During insertion of the needle tips, maximum forces of 74 – 158 mN (tomato) and 51 - 161 mN (grape) were recorded, and steadily increasing forces in the range of 0 – 250 mN when insert-ing needles 7.5 mm into silicone. For a 0.99 g screw nut (9.73 mN), the measured gravitational force was 10.6 ± 1.5 mN during ten measurement sets. During the insertion, needle torques of up to 9.5 mNm were observed. Different cutting phases were seen similar to the phases during needle penetration testing. We conclude that the compact measurement setup used is suitable to measure the low forces and torques occurring when cutting soft, aqueous human tissues with or without skin-like layers.
BibTeX
@inproceedings{mayer2022handheld, abstract = {When manipulating tissue during medical interventions, high-accuracy movements are important to avoid injuries. However, feedback is limited and it is hard to establish control loops to ensure correct movements. We propose the use of a novel highly compact 6-axis force / torque sensor (Ø 10.5 mm x 11.0 mm) within a hand piece to determine low forces and torques during various small-scale procedures including gentle tool-tissue interaction. For a first validation of the system, different venepuncture cannulas were connected to the sensor top and driven into skinned fruits (toma-toes and grapes) as well as into a silicone block. During insertion of the needle tips, maximum forces of 74 – 158 mN (tomato) and 51 - 161 mN (grape) were recorded, and steadily increasing forces in the range of 0 – 250 mN when insert-ing needles 7.5 mm into silicone. For a 0.99 g screw nut (9.73 mN), the measured gravitational force was 10.6 ± 1.5 mN during ten measurement sets. During the insertion, needle torques of up to 9.5 mNm were observed. Different cutting phases were seen similar to the phases during needle penetration testing. We conclude that the compact measurement setup used is suitable to measure the low forces and torques occurring when cutting soft, aqueous human tissues with or without skin-like layers.}, author = {Mayer, Juliane and Schäfer, Max B. and Liu, Jan and Giacoppo, Giuliano A. and Markert, Timo and Matich, Sebastian and Brunner, Pascal and Pott, Peter P.}, booktitle = {Proceedings of the ACTUATOR22}, eventdate = {29.-30.06.2022}, eventtitle = {ACTUATOR22}, month = {06}, title = {Hand-Held Device for Force Estimation during Tool-Tissue Interaction}, venue = {Mannheim}, year = 2022 }
M. B. Schäfer, M. Waltner, G. A. Giacoppo, and P. P. Pott, “Steerable Flexible Laparoscope to Facilitate Camera Guidance During Minimally Invasive Procedures,” Current Directions in Biomedical Engineering, vol. 8, Art. no. 2, 2022, doi: doi:10.1515/cdbme-2022-1016.
Zusammenfassung
In conventional laparoscopy, the field of view of the surgeon is limited. Angled laparoscopes enable the observation of surrounding structures, however, to change the viewing perspective on a specific object, permanent repositioning and rotation of the shaft is required. In this paper, a demonstrator of a steerable flexible laparoscope is presented, enabling the user to intuitively adjust the perspective onto an object by means of a single control element. The laparoscope provides a viewing angle of ± 50° at 50 mm working distance. In first tests, the presented laparoscope showed advantages regarding intuitiveness of the control, easier handling, and improved depth perception.
BibTeX
@article{SchäferWaltnerGiacoppoPott+2022+57+60, abstract = {In conventional laparoscopy, the field of view of the surgeon is limited. Angled laparoscopes enable the observation of surrounding structures, however, to change the viewing perspective on a specific object, permanent repositioning and rotation of the shaft is required. In this paper, a demonstrator of a steerable flexible laparoscope is presented, enabling the user to intuitively adjust the perspective onto an object by means of a single control element. The laparoscope provides a viewing angle of ± 50° at 50 mm working distance. In first tests, the presented laparoscope showed advantages regarding intuitiveness of the control, easier handling, and improved depth perception.}, author = {Schäfer, Max B. and Waltner, Madeleine and Giacoppo, Giuliano A. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-1016}, journal = {Current Directions in Biomedical Engineering}, number = 2, pages = {57--60}, title = {Steerable Flexible Laparoscope to Facilitate Camera Guidance During Minimally Invasive Procedures}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1016/html}, volume = 8, year = 2022 }
Link
https://www.degruyter.com/document/doi/10.1515/cdbme-2022-1016/html
G. A. Giacoppo, M. B. Schäfer, and P. P. Pott, “Endurance Test Rig for Twisted String Actuators,” Linz, Austria, 2022.
- BibTeX
BibTeX
@inproceedings{giacoppo2022endurance, author = {Giacoppo, Giuliano A. and Schäfer, Max B. and Pott, Peter P.}, eventdate = {14.-15.09.2022}, eventtitle = {IKMT 2022}, title = {Endurance Test Rig for Twisted String Actuators}, venue = {Linz, Austria}, year = 2022 }
M. B. Schäfer, J. G. Meiringer, J. Nawratil, L. Worbs, G. A. Giacoppo, and P. P. Pott, “Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current,” Current Directions in Biomedical Engineering, vol. 8, Art. no. 1, 2022, doi: doi:10.1515/cdbme-2022-0027.
Zusammenfassung
Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.
BibTeX
@article{SchäferMeiringerNawratilWorbsGiacoppoPott+2022+105+108, abstract = {Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.}, author = {Schäfer, Max B. and Meiringer, Johannes G. and Nawratil, Julia and Worbs, Lukas and Giacoppo, Giuliano A. and Pott, Peter P.}, doi = {doi:10.1515/cdbme-2022-0027}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {105--108}, title = {Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html}, volume = 8, year = 2022 }
Link
https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html
S. Weiland, M. B. Schäfer, K. W. Stewart, and P. P. Pott, “Compact 3D-printed z-positioning unit for high-throughput microscopy,” in Proceedings of the ACTUATOR21, Mannheim, Feb. 2021. [Online]. Available: https://ieeexplore.ieee.org/document/9400637
Zusammenfassung
Modern day biomedical research requires analysis of a considerable number of cell populations. Frequent observation of each sample is essential to determine e.g. growth characteristics of the cells. Automated high-throughput microscopes offer the ability to scan large numbers of samples in short periods of time. In order to get in-focus images of the sample, precise and fast positioning along the z-axis is needed. The availability of such automated microscopes, however, is limited due to high acquisition costs, resulting in tightly scheduled utilization. In this paper, a compact and inexpensive High-Throughput Microscope, using a monolithic lever mechanism for precise z-positioning, is presented. Multiple microscope elements are positioned along the z-axis in open loop control with a step-width of 10 μm and an overall displacement of 2 mm. Providing a reasonable trade-off between cost and positioning accuracy, the presented z-positioning unit is an inexpensive and compact approach for the use in the field of low-cost microscopy. However, further improvements in order to increase accuracy and enhance linear movement with little to no backlash must be considered.
BibTeX
@conference{weiland2021compact, abstract = {Modern day biomedical research requires analysis of a considerable number of cell populations. Frequent observation of each sample is essential to determine e.g. growth characteristics of the cells. Automated high-throughput microscopes offer the ability to scan large numbers of samples in short periods of time. In order to get in-focus images of the sample, precise and fast positioning along the z-axis is needed. The availability of such automated microscopes, however, is limited due to high acquisition costs, resulting in tightly scheduled utilization. In this paper, a compact and inexpensive High-Throughput Microscope, using a monolithic lever mechanism for precise z-positioning, is presented. Multiple microscope elements are positioned along the z-axis in open loop control with a step-width of 10 μm and an overall displacement of 2 mm. Providing a reasonable trade-off between cost and positioning accuracy, the presented z-positioning unit is an inexpensive and compact approach for the use in the field of low-cost microscopy. However, further improvements in order to increase accuracy and enhance linear movement with little to no backlash must be considered. }, author = {Weiland, Sophie and Schäfer, Max B. and Stewart, Kent W. and Pott, Peter P.}, booktitle = {Proceedings of the ACTUATOR21}, editor = {Schlaak, Helmut F.}, eventdate = {17.-19.02.2021}, eventtitle = {ACTUATOR21}, month = {02}, title = {Compact 3D-printed z-positioning unit for high-throughput microscopy}, url = {https://ieeexplore.ieee.org/document/9400637}, venue = {Mannheim}, year = 2021 }
Link
https://ieeexplore.ieee.org/document/9400637
D. Schlesiger, G. Giacoppo, M. B. Schäfer, and P. P. Pott, “Twisted string actuation with position feedback for robotic endoscopy,” Current Directions in Biomedical Engineering, 2021, [Online]. Available: https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2087/html
Zusammenfassung
A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented.
BibTeX
@article{schlesiger2021twisted, abstract = {A twisted string actuator (TSA) is a small, strong, lightweight, and low-cost gear, transforming rotation into a linear pulling movement. The TSA consists of two or more strings that are twisted along their common longitudinal axis. The helix formed in this process becomes shorter the further the bundle is twisted. A possible application is a tendon-based endoscopic robot. To control the movement of the endoscope, a precise contraction of the tendon is necessary. Since the strings of the TSA show an elastic behaviour, position feedback is needed to determine the exact movement of the TSA. In this paper, a TSA with a closed-loop position control by a low-cost displacement sensor is presented.}, author = {Schlesiger, Davina and Giacoppo, Giuliano and Schäfer, Max B. and Pott, Peter P.}, booktitle = {Current Directions in Biomedical Engineering}, publisher = {De Gruyter}, title = {Twisted string actuation with position feedback for robotic endoscopy}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2087/html}, year = 2021 }
Link
https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2087/html
M. B. Schäfer, G. R. Friedrich, and P. P. Pott, “Universal Mechanical Interface for Surgical Telemanipulation using Conventional Instruments,” New Trends in Medical and Service Robotics: MESROB 2021, Basel, 2021, doi: https://doi.org/10.1007/978-3-030-76147-9_12.
Zusammenfassung
Minimally invasive surgery has been indispensable in the healthcare sector for many years due to crucial advantages compared to open surgery. Subse-quently, there has been a strong emergence of robot-assisted surgery to overcome remaining difficulties of conventional minimally invasive surgery, such as poor ergonomics and limited dexterity. However, the financial hurdle impedes a wide-spread use of systems for robot-assisted interventions and shows an apparent need for cost efficient solutions. The use of standard components for robot-assisted sur-gery, such as conventional minimally invasive instruments, can help to address this issue. In this paper, a modular interface is presented which enables the usage of conventional minimally invasive instruments in a robotic telemanipulation set-up. The interface allows to mount and actuate conventional instruments and thus enables the access to existing clinical processes, such as reprocessing and steriliza-tion. The evaluation of the interface demonstrates the feasibility of the concept, however, further effort is required to enable the use of instruments with extended dexterity due to wrist articulation.
BibTeX
@article{schafer2021universal, abstract = {Minimally invasive surgery has been indispensable in the healthcare sector for many years due to crucial advantages compared to open surgery. Subse-quently, there has been a strong emergence of robot-assisted surgery to overcome remaining difficulties of conventional minimally invasive surgery, such as poor ergonomics and limited dexterity. However, the financial hurdle impedes a wide-spread use of systems for robot-assisted interventions and shows an apparent need for cost efficient solutions. The use of standard components for robot-assisted sur-gery, such as conventional minimally invasive instruments, can help to address this issue. In this paper, a modular interface is presented which enables the usage of conventional minimally invasive instruments in a robotic telemanipulation set-up. The interface allows to mount and actuate conventional instruments and thus enables the access to existing clinical processes, such as reprocessing and steriliza-tion. The evaluation of the interface demonstrates the feasibility of the concept, however, further effort is required to enable the use of instruments with extended dexterity due to wrist articulation.}, author = {Schäfer, Max B. and Friedrich, Gerrit R. and Pott, Peter P.}, doi = {https://doi.org/10.1007/978-3-030-76147-9_12}, journal = {New Trends in Medical and Service Robotics: MESROB 2021, Basel}, title = {Universal Mechanical Interface for Surgical Telemanipulation using Conventional Instruments}, url = {https://doi.org/10.1007/978-3-030-76147-9_12}, year = 2021 }
Link
https://doi.org/10.1007/978-3-030-76147-9_12
M. B. Schäfer, B. A. Al-Abboodi, and P. P. Pott, “Haptic User Interface of a Cable-Driven Input Device to Control the End Effector of a Surgical Telemanipulation System,” Current Directions in Biomedical Engineering, 2021, [Online]. Available: https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2054/html
Zusammenfassung
In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s two-finger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz.
BibTeX
@article{schafer2021haptic, abstract = {In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s two-finger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz.}, author = {Schäfer, Max B. and Al-Abboodi, Bha Aldan and Pott, Peter P.}, journal = {Current Directions in Biomedical Engineering}, publisher = {De Gruyter}, title = {Haptic User Interface of a Cable-Driven Input Device to Control the End Effector of a Surgical Telemanipulation System}, url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2054/html}, year = 2021 }
Link
https://www.degruyter.com/document/doi/10.1515/cdbme-2021-2054/html
M. B. Schäfer, K. W. Stewart, N. Lösch, and P. P. Pott, “Assessment of a Commercial Virtual Reality Controller for Telemanipulation of an Articulated Robotic Arm,” in 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), New York City, NY, USA, USA, Nov. 2020, pp. 860–865. doi: 10.1109/BioRob49111.2020.9224394.
Zusammenfassung
Recently, there has been a strong emergence of teleoperated minimally invasive surgery due to the potential benefits for both, the surgeon's performance and outcomes for the patient. However, due to high acquisition costs, no widespread use has been achieved so far. The use of low-cost components can help to address this issue. In this paper, a commercial handheld virtual reality controller as an unconventional and versatile approach for the input device, is presented and investigated. Assessment of the input device is done by performing an experimental study with 24 participants on two different fine motoric tasks. Additionally, motion scaling is investigated by using different transmission ratios for the user's movements. The large and unrestricted range of motion of the presented input device showed to be a promising alternative to conventional input devices. However, the tasks showed room for improvement regarding the controller's ergonomics and usability. For further comparative investigations, conventional input devices and mimetic input devices need to be considered.
BibTeX
@inproceedings{9224394, abstract = {Recently, there has been a strong emergence of teleoperated minimally invasive surgery due to the potential benefits for both, the surgeon's performance and outcomes for the patient. However, due to high acquisition costs, no widespread use has been achieved so far. The use of low-cost components can help to address this issue. In this paper, a commercial handheld virtual reality controller as an unconventional and versatile approach for the input device, is presented and investigated. Assessment of the input device is done by performing an experimental study with 24 participants on two different fine motoric tasks. Additionally, motion scaling is investigated by using different transmission ratios for the user's movements. The large and unrestricted range of motion of the presented input device showed to be a promising alternative to conventional input devices. However, the tasks showed room for improvement regarding the controller's ergonomics and usability. For further comparative investigations, conventional input devices and mimetic input devices need to be considered.}, author = {{Schäfer}, M. B. and {Stewart}, K. W. and {Lösch}, N. and {Pott}, P. P.}, booktitle = {2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, doi = {10.1109/BioRob49111.2020.9224394}, eventdate = {29 Nov.-1 Dec. 2020}, eventtitle = {International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, issn = {2155-1782}, month = {11}, pages = {860-865}, publisher = {IEEE}, title = {Assessment of a Commercial Virtual Reality Controller for Telemanipulation of an Articulated Robotic Arm}, url = {https://ieeexplore.ieee.org/document/9224394/}, venue = {New York City, NY, USA, USA}, year = 2020 }
Link
https://ieeexplore.ieee.org/document/9224394/
M. B. Schäfer, S. Weiland, K. W. Stewart, and P. P. Pott, “Compact Microscope Module for High-Throughput Microscopy,” Current Directions in Biomedical Engineering, vol. 6, Art. no. 3, 2020, doi: https://doi.org/10.1515/cdbme-2020-3136.
Zusammenfassung
Microscopy is an essential tool in research and science. However, it is relatively resource consuming regarding cost, time of usage, and consumable supplies. Current low-cost approaches provide good imaging quality but struggle in terms of versatility or applicability to varying setups. In this paper, a Compact Microscope Module for versatile application in custom-made setups or research projects is presented. As a first application and proof of concept, the use of the module in a High-Throughput Microscope for screening of samples in microtiter plates is shown. The Compact Microscope Module allows for simple and resource-efficient microscopy in various applications while still enabling relatively good imaging qualities.
BibTeX
@article{CompactMicroscopeModuleforHighThroughputMicroscopy, abstract = {Microscopy is an essential tool in research and science. However, it is relatively resource consuming regarding cost, time of usage, and consumable supplies. Current low-cost approaches provide good imaging quality but struggle in terms of versatility or applicability to varying setups. In this paper, a Compact Microscope Module for versatile application in custom-made setups or research projects is presented. As a first application and proof of concept, the use of the module in a High-Throughput Microscope for screening of samples in microtiter plates is shown. The Compact Microscope Module allows for simple and resource-efficient microscopy in various applications while still enabling relatively good imaging qualities.}, address = {Berlin, Boston}, author = {Schäfer, Max B. and Weiland, Sophie and Stewart, Kent W. and Pott, Peter P.}, doi = {https://doi.org/10.1515/cdbme-2020-3136}, journal = {Current Directions in Biomedical Engineering}, number = 3, pages = {530 - 533}, publisher = {De Gruyter}, title = {Compact Microscope Module for High-Throughput Microscopy}, url = {https://www.degruyter.com/view/journals/cdbme/6/3/article-p530.xml}, volume = 6, year = 2020 }
Link
https://www.degruyter.com/view/journals/cdbme/6/3/article-p530.xml
M. B. Schäfer, K. W. Stewart, N. Lösch, and P. P. Pott, “Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller,” Current Directions in Biomedical Engineering, vol. 6, Art. no. 3, 2020, doi: https://doi.org/10.1515/cdbme-2020-3033.
Zusammenfassung
Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few application-oriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.
BibTeX
@article{TelemanipulationofanArticulatedRoboticArmusingaCommercialVirtualRealityController, abstract = {Access to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few application-oriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.}, address = {Berlin, Boston}, author = {Schäfer, Max B. and Stewart, Kent W. and Lösch, Nico and Pott, Peter P.}, doi = {https://doi.org/10.1515/cdbme-2020-3033}, journal = {Current Directions in Biomedical Engineering}, number = 3, pages = {127 - 130}, publisher = {De Gruyter}, title = {Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller}, url = {https://www.degruyter.com/view/journals/cdbme/6/3/article-p127.xml}, volume = 6, year = 2020 }
Link
https://www.degruyter.com/view/journals/cdbme/6/3/article-p127.xml
D. Hasselbeck, M. B. Schäfer, K. W. Stewart, and P. P. Pott, “Diagnostic Capabilities of a Smartphone-Based Low-Cost Microscope,” Current Directions in Biomedical Engineering, vol. 6, Art. no. 3, 2020, doi: https://doi.org/10.1515/cdbme-2020-3134.
Zusammenfassung
Microscopy enables fast and effective diagnostics. However, in resource-limited regions microscopy is not accessible to everyone. Smartphone-based low-cost microscopes could be a powerful tool for diagnostic and educational purposes. In this paper, the imaging quality of a smartphone-based microscope with four different optical parameters is presented and a systematic overview of the resulting diagnostic applications is given. With the chosen configuration, aiming for a reasonable trade-off, an average resolution of 1.23 μm and a field of view of 1.12 mm2 was achieved. This enables a wide range of diagnostic applications such as the diagnosis of Malaria and other parasitic diseases.
BibTeX
@article{DiagnosticCapabilitiesofaSmartphoneBasedLowCostMicroscope, abstract = {Microscopy enables fast and effective diagnostics. However, in resource-limited regions microscopy is not accessible to everyone. Smartphone-based low-cost microscopes could be a powerful tool for diagnostic and educational purposes. In this paper, the imaging quality of a smartphone-based microscope with four different optical parameters is presented and a systematic overview of the resulting diagnostic applications is given. With the chosen configuration, aiming for a reasonable trade-off, an average resolution of 1.23 μm and a field of view of 1.12 mm2 was achieved. This enables a wide range of diagnostic applications such as the diagnosis of Malaria and other parasitic diseases.}, address = {Berlin, Boston}, author = {Hasselbeck, Dorina and Schäfer, Max B. and Stewart, Kent W. and Pott, Peter P.}, doi = {https://doi.org/10.1515/cdbme-2020-3134}, journal = {Current Directions in Biomedical Engineering}, number = 3, pages = {522 - 525}, publisher = {De Gruyter}, title = {Diagnostic Capabilities of a Smartphone-Based Low-Cost Microscope}, url = {https://www.degruyter.com/view/journals/cdbme/6/3/article-p522.xml}, volume = 6, year = 2020 }
Link
https://www.degruyter.com/view/journals/cdbme/6/3/article-p522.xml
J. Heinz, M. B. Schäfer, K. W. Stewart, and P. P. Pott, “Low-turbulence displacement-flow for an operating environment,” Current Directions in Biomedical Engineering, vol. 5, Art. no. 1, 2019, doi: 10.1515/cdbme-2019-0128.
Zusammenfassung
In developing countries airborne micro-organisms are one of the most common causes of surgical wound infection. In the operating room low-turbulence displacement-flow has been shown to reduce the influence of airborne bacteria. However, due to complexity and cost, current systems are not accessible to all potential users. In this paper a low-cost ventilation system is presented that provides low-turbulence displacement-flow over a surgical operating environment. A stand-alone, simple to assemble, mobile airflow system was developed using the principle of speed compensation for laminar airflow. From visual inspection and measurements, the system was seen to generate a continuous downwards displacement of air over the protected area around the situs. The entire system can be assembled quickly with minimal standard tools, making it very suitable for mobile use, such as in disaster areas. Future work is required to achieve the vertical dimension of a laminar flow field required by the DIN 1946-4. Overall, the low-cost and simple system could provide many potential users access to the technology and thus improving hygiene conditions in their operating environment.
BibTeX
@article{noauthororeditor, abstract = {In developing countries airborne micro-organisms are one of the most common causes of surgical wound infection. In the operating room low-turbulence displacement-flow has been shown to reduce the influence of airborne bacteria. However, due to complexity and cost, current systems are not accessible to all potential users. In this paper a low-cost ventilation system is presented that provides low-turbulence displacement-flow over a surgical operating environment. A stand-alone, simple to assemble, mobile airflow system was developed using the principle of speed compensation for laminar airflow. From visual inspection and measurements, the system was seen to generate a continuous downwards displacement of air over the protected area around the situs. The entire system can be assembled quickly with minimal standard tools, making it very suitable for mobile use, such as in disaster areas. Future work is required to achieve the vertical dimension of a laminar flow field required by the DIN 1946-4. Overall, the low-cost and simple system could provide many potential users access to the technology and thus improving hygiene conditions in their operating environment.}, author = {Heinz, Julia and Schäfer, Max B. and Stewart, Kent W. and Pott, Peter P.}, doi = {10.1515/cdbme-2019-0128}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {509-512}, title = {Low-turbulence displacement-flow for an operating environment}, url = {https://www.degruyter.com/view/j/cdbme.2019.5.issue-1/cdbme-2019-0128/cdbme-2019-0128.xml?lang=de}, volume = 5, year = 2019 }
Link
https://www.degruyter.com/view/j/cdbme.2019.5.issue-1/cdbme-2019-0128/cdbme-2019-0128.xml?lang=de
M. B. Schäfer, K. W. Stewart, and P. P. Pott, “Industrial robots for teleoperated surgery – a systematic review of existing approaches,” Current Directions in Biomedical Engineering, vol. 5, Art. no. 1, 2019, doi: 10.1515/cdbme-2019-0039.
Zusammenfassung
Robotic assistance in surgical interventions has been shown to improve both the surgical outcome and the surgeon’s performance. However, cost-efficient implementation of such systems in an operating room workflow is not yet resolved. Most of the current approaches use highly specialized and purpose-built robotic components, resulting in large costs. This paper presents an investigation into the usage of off-the-shelf robots as cost-efficient basis for teleoperated surgery. In addition, the modifications required of the robot and/or operating environment to make it suitable for the medical setting are assessed. The considered systems are found via a literature search and the MERODA-database, specifically focusing on systems designed for teleoperated surgery which use industrial robots. Among the 126 telemanipulated systems found, only 10 use industrial robots for surgical procedures. Overall, due to the better availability, reduced costs, and increased performance, current industrial robots should be further considered for new and versatile low cost approaches to teleoperated surgery.
BibTeX
@article{noauthororeditor, abstract = {Robotic assistance in surgical interventions has been shown to improve both the surgical outcome and the surgeon’s performance. However, cost-efficient implementation of such systems in an operating room workflow is not yet resolved. Most of the current approaches use highly specialized and purpose-built robotic components, resulting in large costs. This paper presents an investigation into the usage of off-the-shelf robots as cost-efficient basis for teleoperated surgery. In addition, the modifications required of the robot and/or operating environment to make it suitable for the medical setting are assessed. The considered systems are found via a literature search and the MERODA-database, specifically focusing on systems designed for teleoperated surgery which use industrial robots. Among the 126 telemanipulated systems found, only 10 use industrial robots for surgical procedures. Overall, due to the better availability, reduced costs, and increased performance, current industrial robots should be further considered for new and versatile low cost approaches to teleoperated surgery.}, author = {Schäfer, Max B. and Stewart, Kent W. and Pott, Peter P.}, doi = {10.1515/cdbme-2019-0039}, journal = {Current Directions in Biomedical Engineering}, number = 1, pages = {153–156}, title = {Industrial robots for teleoperated surgery – a systematic review of existing approaches}, url = {https://www.degruyter.com/view/j/cdbme.2019.5.issue-1/cdbme-2019-0039/cdbme-2019-0039.xml}, volume = 5, year = 2019 }
Link
https://www.degruyter.com/view/j/cdbme.2019.5.issue-1/cdbme-2019-0039/cdbme-2019-0039.xml
M. B. Schäfer, D. Reichert, K. W. Stewart, A. M. Herkommer, C. Reichert, and P. P. Pott, “Smartphone-based low-cost microscope with monolithic focusing mechanism,” in Current Directions in Biomedical Engineering, Aachen, Sep. 2018, vol. 4, pp. 267–270. doi: 10.1515/cdbme-2018-0065.
Zusammenfassung
Microscopy enables fast and effective diagnostics. However, its functionality is not accessible to everyone. Smartphone-based low-cost microscopes could be a powerful tool for diagnostics and educational purposes. Current smartphone-based microscopy approaches struggle with high cost, poor image quality and/or insufficient smartphone compatibility. In this paper, a very feasible and effective lowcost microscope is presented which addresses these issues. To minimize cost, a monolithic foldable structure is designed for production by injection molding. The design has a high order of functional integration, minimizing the number of components, while still enabling a micrometer focusing accuracy.
BibTeX
@conference{schafer2018smartphonebased, abstract = {Microscopy enables fast and effective diagnostics. However, its functionality is not accessible to everyone. Smartphone-based low-cost microscopes could be a powerful tool for diagnostics and educational purposes. Current smartphone-based microscopy approaches struggle with high cost, poor image quality and/or insufficient smartphone compatibility. In this paper, a very feasible and effective lowcost microscope is presented which addresses these issues. To minimize cost, a monolithic foldable structure is designed for production by injection molding. The design has a high order of functional integration, minimizing the number of components, while still enabling a micrometer focusing accuracy.}, author = {Schäfer, Max B. and Reichert, David and Stewart, Kent W. and Herkommer, Alois M. and Reichert, Carsten and Pott, Peter P.}, booktitle = {Current Directions in Biomedical Engineering}, doi = {10.1515/cdbme-2018-0065}, eventdate = {26-28.09.2018}, eventtitle = {52nd DGBMT Annual Conference}, language = {english}, month = {09}, number = 1, organization = {DGBMT}, pages = {267-270}, publisher = {De Gruyter}, title = {Smartphone-based low-cost microscope with monolithic focusing mechanism}, url = {https://www.degruyter.com/downloadpdf/j/cdbme.2018.4.issue-1/cdbme-2018-0065/cdbme-2018-0065.pdf}, venue = {Aachen}, volume = 4, year = 2018 }
Link
https://www.degruyter.com/downloadpdf/j/cdbme.2018.4.issue-1/cdbme-2018-0065/cdbme-2018-0065.pdf

Lebenslauf

2011 – Abitur, Max-Planck-Gymnasium Nürtingen

2015 – B.Sc. Medizintechnik, Eberhard Karls Universität Tübingen & Universität Stuttgart
Development of a low-cost multispectral imaging system

2017 – M.Sc. Medizintechnik, Universität Stuttgart
Development of a goniometer for characterization of endoscopic light sources
Theoretical analysis of the supporting force concerning the human-machine-interface between human and arm support

2017 – Wissenschaftlicher Mitarbeiter am Institut für Medizingerätetechnik, Universität Stuttgart

Betreute Abschlussarbeiten

Ada Bachmann (MA0316): Robotic Scrub Nurse als Assistenzsystem zur Handhabung chirurgischer Instrumente: Entwicklung von Handover-Strategien mit berührungslosem taktilem Feedback. Betreuende: Peter Schmid, Instiut für Konstruktionstechnik und Technisches Design; Max Schäfer, Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Lisa Niklaus (MA0315): Monolithisch fertigbare und faltbare Kinematik für die Roboter-assistierte Ophthalmochirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Michael da Silva (MA0309): Aktuierung einer auf Festkörpergelenken basierenden Roboterkinematik für die Ophthalmochirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Cao Tu Vu (MA0300): Robotergestützte Handhabung chirurgischer Instrumente: Objektverfolgung und Mensch-Roboter-Kollaboration. Betreuende: Flakë Bajraktari, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Jan Kugel (BA0298): Aktuierung der translatorischen Bewegung eines Instruments für die Roboter-assistierte Ophthalmochirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Stephan Frank (BA0295): Greifeinheit mit steriler Schnittstelle und Tiefenkamera für die Roboter-gestützte Handhabung chirurgischer Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Judith Samlow (FA0284): Entwicklung eines Kraftsensors mit geringem Einfluss auf die Seildynamik zur Regelung seilgetriebener haptischer Eingabegeräte. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Julia Nawratil (FA0284): EtherCAT-basierte Steuerung eines SCARA-Roboters. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Franziska Ohlau (MA0276): Entwicklung einer auf Festkörpergelenken basierenden disposablen Roboterkinematik für die Ophthalmochirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Richard Sandig (FA0266): Entwicklung eines handgehaltenen Sensorsystems zur Aufzeichnung von Interaktionskräften in der Ophthalmochirurgie. Betreuende: Juliane Mayer, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Nina Stadel (BA0263): Untersuchungen zur Handhabung von Instrumenten durch operationstechnische Assistentinnen und Assistenten während offen-chirurgischen Eingriffen. Betreuende: Peter Schmid, Instiut für Konstruktionstechnik und Technisches Design; Max Schäfer, Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Celine Bartschinski (BA0262): Soft Growing Robot als alternativer Ansatz für die Koloskopie: Weiterentwicklung eines modularen Prüfstands und Evaluierung am Darm-Phantom. Betreuende: Johanna Dinkel, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Tim Reif (MA0261): Soft Growing Robot als alternativer Ansatz für die Koloskopie: Entwicklung und Evaluation von Konzepten zur Beeinflussung der Fortbewegungsrichtung. Betreuende: Johanna Dinkel, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Daniel Stürmer (MA0244): Systemintegration eines robotischen Assistenzsystems zur Handhabung chirurgischer Instrumente mit Deep Learning basierter Objektdetektion. Betreuende: Flakë Bajraktari, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2025.

Alessa Latendorf (BA0240): Charakterisierung und Weiterentwicklung des Greifprozesses eines Granular Jamming Grippers zur automatisierten Handhabung von chirurgischen Instrumenten. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Ellen Klein (BA0231): Seilgetriebene Parallelkinematiken als haptische Eingabegeräte - Aktueller Stand der Technik und Charakterisierung der Vorwärtskinematik an einem Prüfstand. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Fabian Baumer (MA0225): Implementierung eines seilgetriebenen haptischen Eingabegerätes in ein Telemanipulationssystem für die Roboter-assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Daniel Daum (MA0224): Aufgaben- und nutzerzentrierte Evaluierung eines planaren haptischen Eingabegerätes durch Interaktion mit Objekten in einer virtuellen Umgebung. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Christoph Stärk (MA0223): Regelung der Kräfte im Gelenkraum eines seilgetriebenen haptischen Eingabegerätes mit paralleler Kinematik zur Verbesserung der Qualität des Feedbacks. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Celina Seelinger (BA0216): Robotic Scrub Nurse: Integration einer Greifeinheit in die Steuerung eines robotischen Assistenzsystems zur Handhabung chirurgischer Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2024.

Denise Weinmann (BA0218): Soft Growing Robot als alternativer Ansatz für die Koloskopie: Entwicklung eines Demonstrators. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Mareike Spieß (FA0217): Erfassung von statischen und dynamischen Interaktionskräften in einem Telemanipulationssystem für die Roboter-assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Christian Bauer (BA0215): Modellbasierte Reglerparametrierung und Evaluierung einer haptischen Bedieneinheit für die roboterassistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Konstantin Frenzel (BA0205): Aufbau und Regelung eines seilgetriebenen haptischen Eingabegeräts für die Roboter-Assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Daniel Tobias Stürmer (FA0199): Regelung und Evaluierung eines planaren seilgetriebenen haptischen Eingabegerätes für die Roboter-Assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Matthias Parenzan (SA0194): Systemingetration und Evaluierung der haptischen Nutzerschnittstelle eines Telemanipulationssystems für die roboterassistierte minimalinvasive Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Leonie Payer (MA0188): Weiterentwicklung und Evaluierung eines disposablen und flexiblen Laparoskops zur Erleichterung der Kamerführung in minimalinvasiven Eingriffen. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2023.

Ing Tien Khaw (MA0187): Model-Based Design and Evaluation of a Cable-Driven Haptic Input Device for Robot-Assisted Surgery. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Jonas Hotz (BA0183): ROS-Systemarchitektur eines Telemanipulationssystems für die Roboter-Assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Jolanda Friedrich (BA174): Robotic Scrub Nurse - Entwicklung eines universellen Greifers für die robotergestützte Handhabung von Instrumenten bei chirurgischen Eingriffen. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Lukas Worbs (BA168): Aufbau und Regelung eines Eingabegerätes mit seilbasierter Parallelkinematik zur Steuerung eines Scara-Roboters. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Sarah Riepe (MA157): Entwicklung und Regelung der haptischen Bedieneinheit eines Telemanipulationssystems zur Steuerung des Endeffektors eines Instruments für die minimalinvasive Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Sophie Weiland (MA152): Modellierung und Regelung eines planaren haptischen Eingabegerätes mit seilbasierter Parallelkinematik für die Roboter-Assistierte Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Florian Kübler (BA151): Untersuchung und Entwicklung von Konzepten für die multispektrale Bildgebung in der Laparoskopie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Johannes Meiringer (MA150): Regelung und Systemintegration einer Schnittstelle zur Aktuierung abwinkelbarer robotisch geführter laparoskopischer Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2022.

Moritz Hemmer (BA140): Steuerung eines Knickarmroboters mit einem haptischen Eingabegerät zur Telemanipulation in der minimalinvasiven Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Selina Eggstein (MA137): Weiterentwicklung und Evaluation eines Virtual Reality Systems für die Laparoskopie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Madeleine Waltner (SA129): Entwicklung eines neuartigen disposablen Laparoskops zur Erleichterung der Kameraführung in minimalinvasiven Eingriffen. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Anja Glöckner (MA125): Integration einer Kraft-/Momentensensorik in einen Adapter für robotisch geführte laparoskopische Instrumente der minimalinvasiven Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Johannes Meiringer (SA120): Entwicklung einer Schnittstelle zur Aktuierung abwinkelbarer robotisch geführter laparoskopischer Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Luisa Wünsch (BA117): Entwicklung von Tests zur Evaluation eines chirurgischen Telemanipulationssystems. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Julia Nawratil (BA108): Regelung eines linearen Seilroboters für die haptische Interaktion. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Artur Schmidt (MA104): Auslegung und Simulation einer haptischen Eingabeschnittstelle auf Basis einer parallelen Seilkinematik zum Einsatz in einem Telemanipulationssystem für die minimalinvasive Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Bha Aldan Al-Abboodi (MA103): Entwicklung der haptischen Nutzerschnittstelle eines seilbasierten Eingabegerätes zum Einsatz in einem Telemanipulationssystem für die minimalinvasive Chirurgie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart 2021.

Yufei Han (MA0093): Development of a Multi-Camera Panoramic Endoscope. Betreuer: Kent Stewart, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2020.

Gerrit Friedrich (BA0073): Entwicklung einer modularen Schnittstelle zur Aktuierung robotisch geführter laparoskopischer Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2020.

Sophie Weiland (BA0070): Entwicklung eines Low-Cost Miniaturmikroskops für die Hochdurchsatz-Mikroskopie. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2019.

Nico Lösch (SA0065): Realtime Control of an Articulated Robotic Arm using a VR System. Betreuer: Kent Stewart, Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2019.

Dorina Hasselbeck (SA0049): Untersuchung der Anwendungsmöglichkeiten eines Low-Cost Smartphone-Mikroskops. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2019.

Julia Heinz (BA0019): Konzeption und Aufbau einer mobilen Operationsumgebung mit turbulenzarmer Verdrängungsströmung. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2018.

Talib Sankal (BA0017): Einbindung eines Knickarmroboters in ein EtherCAT Feldbus-System. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2018.

Theresa Kruip (BA0016): Machbarkeitsstudie zum automatisierten Nähen in minimalinvasiven chirurgischen Prozeduren. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2018.

Maximilian Baumann (BA0015): Entwicklung und Konstruktion eines universell einsetzbaren Adapters für robotisch geführte laparoskopische Instrumente. Betreuer: Max Schäfer. Institut für Medizingerätetechnik, Universität Stuttgart, 2018.

Max Schäfer

Kontakt

Publikationen

BibTeX

Link

BibTeX

Link

BibTeX

Link

Zusammenfassung

BibTeX

BibTeX

Link

BibTeX

Link

BibTeX

Link

BibTeX

Link

Zusammenfassung

BibTeX

Zusammenfassung

BibTeX

Link

BibTeX

Link

BibTeX

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Zusammenfassung

BibTeX

Link

BibTeX

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Zusammenfassung

BibTeX

Link

Lehre

Lebenslauf

Betreute Abschlussarbeiten

So erreichen Sie uns

Zielgruppe

Formalia