Ivo Kuhlemann
Papers
9
Total Citations
142
H-Index
7
About
Ivo Kuhlemann’s research lies at the intersection of medical robotics, ultrasound imaging, and radiation therapy, with a focus on enhancing precision and autonomy in image-guided interventions. His major contributions center on developing robotic systems for automated ultrasound probe positioning, enabling long-term motion monitoring of tumors during treatments like stereotactic body radiation therapy (SBRT). Kuhlemann pioneered force- and image-adaptive strategies for robotized 4D ultrasound placement, addressing the critical challenge of user dependence in manual imaging. His work on robust inverse kinematics for seven-degree-of-freedom (DoF) manipulators, such as the KUKA LBR iiwa, provided closed-form solutions for full elbow self-motion control, advancing dexterity in redundant robots. Notably, his 2021 paper on robotic ultrasound acquisition in liver and prostate has garnered 38 citations, while his 2016 study on the value of an additional DoF in robotics has been cited 18 times, sparking debate on kinematic design trade-offs. Kuhlemann’s research has demonstrated the feasibility of integrating robotic ultrasound with platforms like CyberKnife, improving plan quality in prostate SBRT. His work, supported by deep neural networks for contact wrench estimation, underscores a commitment to safer, more reliable human-robot interaction in clinical settings.
Research Focus
Key Achievements
Top Papers
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- 4Robots with seven degrees of freedom: Is the additional DoF worth it?18 citations · 2016
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- 77DoF Hand and Arm Tracking for Teleoperation of Anthropomorphic Robots8 citations · 2016
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