Continuum Robots for Surgical Systems (CROSS)

• Applicant: Professorin Dr.-Ing. Jessica Burgner-Kahrs
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2013 to 2019
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 230187450

The Emmy Noether research group CROSS investigates continuum robots for surgical applications. In particular, CROSS research is devoted to a sub category of continuum robots so called Concentric Tube Continuum Robots (CTCR). The manipulators are composed of multiple concentric, pre-bend, and flexible tubes.The state of the art in continuum and medical robotics research will be advanced by CROSS with the following objectives: Explore the diverse design space for patient specific design of the manipulator tubes; Path and deployment planning; Sensing methods; Assistive functions and a dedicated human machine interface for the surgeon. In addition CROSS will integrate these objectives into a surgical system.An important benefit of this new robot type is the inherent patient safety provided by the flexible manipulator tubes. In addition, they enable the surgeon to work around corners and obstacles while maintaining a free inner lumen for instrumentation. At the time of this writing CTCR research focusses mainly on the development of accurate kinematic models and actuation mechanisms. In contrast and complementary CROSS addresses research for continuum robotics with emphasis on medical technology and computer science. CROSS establishes concentric tube continuum robotics research in Germany and Europe.

• DFG Programme: Independent Junior Research Groups