We study methods to control and navigate robot motion, particularly for medical applications. Examples include robotic radiosurgery, robotic transcranial stimulation and robotic needle placement. We are interested in approaches to detect and compensate motion and deformation, e.g., due to respiration, pulsation, or soft tissue deformation. Moreoever, we are also interested in human-robot interaction and mobile robotics. At our lab, we have a number of navigation systems (e.g., optical and electro-magnetic) and various robots (starting from 0.01 mm repeatability) to realize experimental Setups.
Selected publications
M. Schlüter, C. Otte, T. Saathoff, N. Gessert, A. Schlaefer (2019). Feasibility of a markerless tracking system based on optical coherence tomography. SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling. Accepted.
S.-T.Antoni, J. Rinast, X. Ma, S. Schupp, A. Schlaefer (2016). Online model checking for Monitoring surrogate-based respiratory motion tracking in radiation therapy. International Journal of Computer Assisted Radiology and Surgery. 11 2085-2096.
R. Dürichen, T. Wissel, F. Ernst, A. Schlaefer, A. Schweikard (2014). Multivariate respiratory motion prediction. Phys Med Biol. 59 (20), 6043-6060.
L. Richter, P. Trillenberg, A. Schweikard, A. Schlaefer (2013). Stimulus intensity for hand held and robotic transcranial magnetic stimulation. Brain Stimul. 6 (3), 315-321.
M. Heinig, U. G. Hofmann, A. Schlaefer (2012). Calibration of the motor-assisted robotic stereotaxy system: MARS. Int J Comput Assist Radiol Surg. 7 (6), 911-920.