title: DLR MiroSurge: a versatile system for research in endoscopic telesurgery.
abstract: OBJECTIVE
  Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans.
  
  
  METHODS
  To achieve a high degree of versatility the Miro robotic surgery platform (MRSP) consists of versatile components, dedicated front-ends towards surgery and configurable interfaces for the surgeon.
  
  
  RESULTS
  This paper presents MiroSurge, a configuration of the MRSP that allows for bimanual endoscopic telesurgery with force feedback.
  
  
  CONCLUSIONS
  While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.
authors.affiliation: Institute of Robotics and Mechatronics, DLR, German Aerospace Center, Oberpfaffenhofen, Germany. Ulrich.Hagn@dlr.de
authors.forename: Ulrich
authors.initials: U
authors.lastname: Hagn
authors.forename: R
authors.initials: R
authors.lastname: Konietschke
authors.forename: A
authors.initials: A
authors.lastname: Tobergte
authors.forename: M
authors.initials: M
authors.lastname: Nickl
authors.forename: S
authors.initials: S
authors.lastname: Jörg
authors.forename: B
authors.initials: B
authors.lastname: Kübler
authors.forename: G
authors.initials: G
authors.lastname: Passig
authors.forename: M
authors.initials: M
authors.lastname: Gröger
authors.forename: F
authors.initials: F
authors.lastname: Fröhlich
authors.forename: U
authors.initials: U
authors.lastname: Seibold
authors.forename: L
authors.initials: L
authors.lastname: Le-Tien
authors.forename: A
authors.initials: A
authors.lastname: Albu-Schäffer
authors.forename: A
authors.initials: A
authors.lastname: Nothhelfer
authors.forename: F
authors.initials: F
authors.lastname: Hacker
authors.forename: M
authors.initials: M
authors.lastname: Grebenstein
authors.forename: G
authors.initials: G
authors.lastname: Hirzinger
mesh_terms: D004724:Endoscopy / Q000379:methods; D004867:Equipment Design; D006801:Humans; D012371:Robotics / Q000379:methods; D017216:Telemedicine; D014584:User-Computer Interface