DLR MiroSurge -- towards versatility in surgical robotics

Abstract

Surgery is a rapidly evolving field of applications for robotic systems.Different surgical applications, techniques and workflows as well as varying operating room setups and control methods can be realised by separate specialised robotic systems.In contrast, the DLR MiroSurge robotic system focuses on the aspects of versatility and modularity for a broad range of surgical applications.It combines three DLR MIRO robot arms with specialised endoscopic instruments, endoscopic stereo vision and a bi-manual control interface with force feedback for the surgeon.The integration into different operating room setups is simplified and the safety of the system is enhanced by its lightweight and compact design.Additionally, pre-operative planning software supports optimised setup of the robotic system in the operating room regarding singularity avoidance, maximum workspace and best dexterity.