Robotik

The laboratory has a publicly funded master-slave 6-axis robot manipulator unit from DENSO with high positioning accuracy, as used in production automation for permanently programmed processes, e.g. in the automotive industry. One focus of the planned research activities is the intelligent control of the robot unit with the aid of a multi-sensor platform in order to control the movements of the grippers for complex manipulation tasks.

In synergy with existing projects and expertise at the University of Applied Sciences, a wide range of automation technology scenarios can be realized with the setup. With more than one manipulator, however, intelligent systems with complex sensor and control systems are playing an increasingly important role. The trend also highlights the need for production facilities that are not only able to handle pre-programmed processes, but also unknown, changing conditions and requirements. Such robot vision systems are already being used in the industrial environment, although the potential here does not yet appear to have been exhausted.

In addition to automation technology, the main field of application for the manipulator unit will be in medical technology, or more precisely medical robotics. Based on the 3D endoscope as an optical sensor, challenging topics such as automatic navigation / path guidance or the position control of medical instruments are anchored in current research activities. The 3D endoscope is being developed into a measuring instrument using image analysis algorithms. On this basis, it will be possible to measure the spatial position of object points. Once this information is available, instruments or the endoscope itself can be stabilized in position autonomously or semi-autonomously using control technology methods, guided along complex trajectories or even used for medical interventions. The following are examples of two application scenarios.

Surgical interventions through the smallest openings in the body place very high demands on the surgeon's dexterity when handling the instruments. The focus here is on intracorporeal position and attitude control, which requires real-time control of the manipulator unit and instruments.
The autonomous operation in the surgical field and the execution of subtasks by the robot should support the physician and, for example, relieve them of routine tasks by positioning medical instruments. However, the greatest challenge for a technical system and at the same time the most safety-critical application would certainly be active surgery, i.e. cutting and sclerosing tissue structures and vessels or performing a suturing procedure. Laparoscopic operations are particularly difficult for the surgeon, as the lack of tactile feedback requires very good hand-eye coordination, so that an active assistance system offers advantages.