Prof. Dr.-Ing. Dr. h.c. Heinz Wörn

ehem. Leiter des IAR-IPR (1997-2016)
Fax: +49 721 608-47141
woern ∂does-not-exist.kit edu

Zur Person

Professor Wörn studierte Elektrotechnik an der Universität Stuttgart und promovierte dort am Institut für Werkzeugmaschinen mit seiner Arbeit zu dem Thema "Mehrprozessorsteuerungssystem für Werkzeugmaschinen mit standartisierten Schnittstellen". Im Anschluss arbeitete er bei KUKA Schweißanlagen und Roboter GmbH, wo er eine leitende Stellung in Forschung und Entwicklung inne hatte. Professor Wörn ist ein international anerkannter Experte für Roboter und Automation. Seine Erfahrung umfasst Roboteranwendungen, Robotersteuerungen und Sensoren für Roboter, sowie deren Programmmierung und Simulation. Seit 1997 leitet er das Institut für Prozessrechentechnik, Automation und Robotik der Universität Karlsruhe als Professor für "Komplexe Systeme in Automation und Robotik".

Forschungsgebiete

Planung, Programmierung, Steuerung, Diagnose und Sensorsysteme für Industrieroboter
Autonome, mobile Roboter, Mikroroboter, Serviceroboter, Teleroboter, Autonome Fahrzeuge
Planung und Simulation von Anlagen und Fabriken
Roboter- und sensorgestützte Chirurgie
Mikromontage
Modellierung komplexer Systeme in Produktion und Medizin

Publikationsliste Prof. Wörn

Autonomous Planning and Intraoperative Augmented Reality Navigation for Neurosurgery
Kunz, C.; Hlavac, M.; Schneider, M.; Pala, A.; Henrich, P.; Jickeli, B.; Worn, H.; Hein, B.; Wirtz, R.; Mathis-Ullrich, F.
2021. IEEE Transactions on Medical Robotics and Bionics, 3 (3), 738–749. doi:10.1109/TMRB.2021.3091184

A learning robot for cognitive camera control in minimally invasive surgery
Wagner, M.; Bihlmaier, A.; Kenngott, H. G.; Mietkowski, P.; Scheikl, P. M.; Bodenstedt, S.; Schiepe-Tiska, A.; Vetter, J.; Nickel, F.; Speidel, S.; Wörn, H.; Mathis-Ullrich, F.; Müller-Stich, B. P.
2021. Surgical endoscopy and other interventional techniques, 35, 5365–5374. doi:10.1007/s00464-021-08509-8

Inspection Planning for Optimized Coverage of Geometrically Complex Surfaces
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2018. 2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018; Brescia; Italy; 16 April 2018 through 18 April 2018, 52–57, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/METROI4.2018.8428313

A versatile hardware and software toolset for computer aided inspection planning of machine vision applications
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326–335, Springer. doi:10.1007/978-3-319-67220-5_30

Image formation simulation for computer-aided inspection planning of machine vision systems
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2269166

CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems]
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426–439. doi:10.1515/auto-2017-0044

Probabilistic surface inference for industrial inspection planning
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008–1016, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WACV.2017.117

Deep Net Localization - Eavesdropping in mobile acoustic underwater sensor networks
Neumann, S.; Oertel, D.; Wörn, H.
2017. Techno-Ocean 2016: Return to the Oceans. 16th Techno-Ocean, Techno-Ocean 2016; Kobe Convention CenterKobe; Japan; 6 October 2016 through 8 October 2016., 205–210, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/Techno-Ocean.2016.7890647

Messtechnische Evaluation der Realisierbarkeit einer innovativen Umsetzung der Faser-Bragg-Gitter basierten Formsensorik
Pauer, H.; Fischer, A.; Tuschmann, W.; Wörn, H.
2017. 5. Tagung Innovation Messtechnik -Innovative Metrology: Neuheiten in der Sensorwelt und in der Messelektronik sowie deren Anwendungsgebiete (Messtechnik und Sensorik). Hrsg.: B. Zagar, 18–23, Shaker Verlag

Polymer planar waveguide Bragg gratings: fabrication, characterization, and sensing applications
Rosenberger, M.; Hessler, S.; Pauer, H.; Girschikofsky, M.; Roth, G. L.; Adelmann, B.; Woern, H.; Schmauss, B.; Hellmann, R.
2017. Integrated Optics: Devices, Materials, and Technologies XXI, San Francisco, CA, January 30 - February 1, 2017. Ed.: S.M. Garcia-Blanco, Article no 101061N, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2249830

Self-localization by eavesdropping in acoustic underwater sensor networks
Neumann, S.; Oertel, D.; Woern, H.
2017. 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, September 19-21, 2016, 328–334, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2016.7849509

Konzeptionierung und Implementierung eines Interpretationssystem zur Situationserkennung in OP:Sense
Schreiter, L.; Wörtwein, T.; Jöchner, M.; Hussain, J.; Wörn, H.; Raczkowsky, J.
2016. Tagungsband der 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) Bern, Switzerland, September 29 - October 1, 2016, 268–271, Der Andere Verlag

Situation Detection for an Interactive Assistance in Surgical Interventions Based on Random Forests
Schreiter, L.; Philipp, P.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Beyerer, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 115–116

Situation Detection for an Interactive Assistance in Surgical Interventions Based on Dynamic Bayesian Networks
Philipp, P.; Schreiter, L.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Wörn, H.; Beyerer, J.
2016. Proceedings of the 6th Joint Workshop On New Technologies for Computer/Robot Assisted Surgery, CRAS 2016, Pisa, Italy, 12th - 14th September 2016

Intuitive workflow editor for OWL based semantic networks in medical environment
Dürr, S.; Huck, A.; Schreiter, L.; Beyl, T.; Giehl, J.; Schwarz, M.; Raczkowsky, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 114–115

Semantic object-oriented programming (SOOP)
Weber, F.; Bihlmaier, A.; Wörn, H.
2016. 46. Jahrestagung der Gesellschaft fur Informatik - 46th Annual Meeting of the German Informatics Society, INFORMATIK 2016; Klagenfurt; Austria; 26 September 2016 through 30 September 2016. Ed.: H. C. Mayr, 313–326, Gesellschaft für Informatik (GI)

Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141–150, Oldenbourg Verlag. doi:10.1515/9783110494297-019

A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179–186, Eurographics Association. doi:10.2312/vmv.20161357

Endosnake—a single-arm-multi-port MIRS system with flexible instruments
Mintenbeck, J.; Ledermann, C.; Estaña, R.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1107–1117, Springer International Publishing. doi:10.1007/978-3-319-08338-4_80

Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Ed.: J. Filipe, 247–266, Springer International Publishing. doi:10.1007/978-3-319-31898-1_14

Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1095–1105, Springer International Publishing. doi:10.1007/978-3-319-08338-4_79

Knowledge-based workspace optimization of a redundant robot for minimally invasive robotic surgery (MIRS)
Hutzl, J.; Bihlmaier, A.; Wagner, M.; Kenngott, H. G.; Muller, B. P.; Worn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 1403–1408, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBIO.2015.7418967

A three-armed slave-manipulator with snake-like instruments for laparoscopic surgery
Mintenbeck, J.; Estana, R.; Worn, H.
2016. 12th IEEE International Conference on Control and Automation, ICCA 2016, Kathmandu, Nepal, 1 - 3 June 2016, 599–604, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCA.2016.7505343

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room
Beyl, T.; Nicolai, P.; Comparetti, M. D.; Raczkowsky, J.; De Momi, E.; Woern, H.
2016. International journal of computer assisted radiology and surgery, 11 (7), 1329–1345. doi:10.1007/s11548-015-1318-7

Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots
Bihlmaier, A.; Stein, F.; Worn, H.
2016. IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech), Mauritius, 3–6 August 2016, 410–416, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/EmergiTech.2016.7737376

Towards 1-component Bragg-grating based shape sensing
Pauer, H.; Rosenberger, M.; Girschikofsky, M.; Hellmann, R.; Tuschmann, W.; Woern, H.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1909–1915, Institute of Electrical and Electronics Engineers (IEEE)

Reducing elevation angle errors of long-range deep-sea acoustic localization by ray tracing and depth measurements
Oertel, D.; Neumann, S.; Worn, H.; Golz, M.; Waniek, J. J.
2016. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 12-15 July 2016, 178–183, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AIM.2016.7576763

A framework for uncertainty propagation in 3D shape measurement using laser triangulation
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2016. 2016 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2016, Taipei; Taiwan, 23 May 2016 through 26 May 2016, Art.Nr.: 7520324, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC.2016.7520324

Robot activity adaptation for safe human-robot collaboration based on probabilistic risk modeling
Dittrich, F.; Woern, H.
2016. 18th Mediterranean Electrotechnical Conference, MELECON 2016, Limassol, Cyprus, 18 April 2016 through 20 April 2016, Art. Nr.: 7495378. doi:10.1109/MELCON.2016.7495378

Flexible Polymer Shape Sensor Based on Planar Waveguide Bragg Gratings
Rosenberger, M.; Pauer, H.; Girschikofsky, M.; Woern, H.; Schmauss, B.; Hellmann, R.
2016. IEEE photonics technology letters, 28 (17), 1898–1901. doi:10.1109/LPT.2016.2574889

3D perception technologies for surgical operating theatres
Beyl, T.; Schreiter, L.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Studies in health technology and informatics, 220, 45–50. doi:10.3233/978-1-61499-625-5-45

Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245–250. doi:10.3233/978-1-61499-625-5-245

A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291–296, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBIO.2015.7418782

Advanced ROS Network Introspection (ARNI)
Bihlmaier, A.; Hadlich, M.; Wörn, H.
2016. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 651–670, Springer. doi:10.1007/978-3-319-26054-9_25

A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2015. Journal of automation and control engineering, 3 (5), 410–417. doi:10.12720/joace.3.5.410-417

Failure recovery for modular robot movements without reassembling modules
Vonásek, V.; Oertel, D.; Neumann, S.; Wörn, H.
2015. 10th International Workshop on Robot Motion and Control, RoMoCo 2015, Poznan, P, 136–141, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/RoMoCo.2015.7219725

Control software with supporting features to enhance the quality of tactile feedback
Hergenhan, J.; Mehrwald, M.; Woern, H.
2015. Mechatronics, 29, 119–128. doi:10.1016/j.mechatronics.2014.09.010

Wissensbasierter Ansatz zur Platzierung der Roboterbasisposition f¨ur die roboteruntert¨utzte minimal-invasive Chirurgie
Hutzl, J.; Wagner, M.; Mietkowski, P.; Müller, B.; Kenngott, H. G.; Wörn, H.
2015. CURAC 2015 : Tagungsband; 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 17. - 19. September 2015, Bremen. Ed. H.K. Hahn, 111–116, Fraunhofer MEVIS

Towards deep-sea monitoring with SMIS - Experimental trials of deep-sea acoustic localization
Neumann, S.; Oertel, D.; Wörn, H.
2015. ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015 : 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 6 – 9 September 2015, HangZhou, China. Ed.: H. Su, 715–725, World Scientific Publishing

Shape Sensing Based on FBG-Technology - Extension of the Application Possibilities Due to Innovative Sensor-Configurations
Pauer, H.; Ledermann, C.; Raczkowsky, J.; Tuschmann, W.; Wörn, H.
2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems; Proceedings - Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA), Workshop IROS2015, September 28 - October 02, 2015, Hamburg, Germany. Ed.: W. Burgard, 14–15, Institute of Electrical and Electronics Engineers (IEEE)

Online motion planning for failure recovery of modular robotic systems
Vonasek, V.; Neumann, S.; Oertel, D.; Wörn, H.
2015. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015; 26 May 2015 through 30 May 2015, Seattle, United States, 1905–1910, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2015.7139447

Low-level Robot Activity Adaptation in HRC Systems based on User-related Evidence
Dittrich, F.; Wörn, H.
2015. IEEE Conference on Evolving and Adaptive Intelligent Systems (EAIS 2015), December 01, 2015 - December 03, 2015, Douai, France, 7 S

Fiber Optical Sensor System for Shape and Haptics for flexible Instruments in Minimally Invasive Surgery - Status Quo
Ledermann, C.; Pauer, H.; Wörn, H.
2015. Proceedings - Tagungsband der 4. Tagung Innovation Messtechnik : 28. Mai 2015, Wien, Austria. Hrsg.: B. Zagar, 16–21, Shaker Verlag

A Concept for Multi-Phase Incremental Formal Verification in Robotic Guided Surgery
Ulbrich, M.; Schreiter, L.; Grebing, S.; Raczkowsky, J.; Wörn, H.; Beckert, B.
2015. FTSCS 2015 Fourth International Workshop on Formal Techniques for Safety-Critical Systems, November 6 and 7, 2015 Paris, France

Wissensbasierte Assistenzrobotik: Autonome Endoskopführung basierend auf Lernen von r{ä}umlichem Know-How
Bihlmaier, A.; Wagner, M.; Mietkowski, P.; Müller-Stich, B.; Kenngott, H.; Bodenstedt, S.; Speidel, S.; Wörn, H.
2015. CURAC 2015 : Tagungsband; 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 17. - 19. September 2015, Bremen. Ed. H.K. Hahn, 89–94, Fraunhofer MEVIS

Wahrscheinlichkeitsbasierte Situationserkennung für den Einsatz robotergestützter Assistenz im Operationssaal
Schreiter, L.; Berghöfer, E.; Raczkowsky, J.; Wörn, H.
2015. 4. Interdisziplinärer Workshop Kognitive Systeme, 23.-25. März 2015, Bielefeld, Germany

Validation of a Pseudo-Data-Generation-Software for FBG-Optical Fiber Based Shape Sensing
Pauer, H.; Vojkovic, L.; Ledermann, C.; Tuschmann, W.; Wörn, H.
2015. Proceedings - Tagungsband der 4. Tagung Innovation Messtechnik : 28. Mai 2015, Wien, Austria. Hrsg.: B. Zagar, 64–69, Shaker Verlag

Spatial Probability Distribution for Port Planning in Minimal Invasive Robotic Surgery (MIRS)
Hutzl, J.; Wörn, H.
2015. Proceedings of the 6th International Conference on Automation, Robotics and Applications, 17-19 Feb. 2015, Queenstown, New Zealand, 204–210, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICARA.2015.7081148

ROS-based Cognitive Surgical Robotics
Bihlmaier, A.; Beyl, T.; Nicolai, P.; Kunze, M.; Mintenbeck, J.; Schreiter, L.; Brennecke, T.; Hutzl, J.; Raczkowsky, J.; Wörn, H.
2015. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 317–342, Springer. doi:10.1007/978-3-319-26054-9_12

Pseudo-Data Generation Software for FBG-Optical Fiber Based Shape Sensing
Pauer, H.; Ledermann, C.; Tuschmann, W.; Wörn, H.
2015. Proceedings - SENSOR 2015 the 17th International Conference on Sensors and Measurement Technology and IRS² (AMA Conferences), 19-21 May 2015 in Nuremberg, Germany, 525–530, AMA Service

Processing Tracking Quality Estimations in a Mixed Local-Global Risk Model for Safe Human Robot Collaboration
Dittrich, F.; Wörn, H.
2015. Proceedings of the Austrian Robotics Workshop 2015, ARW 2015, May 7-8, Klagenfurt, Austria, 55–56, Universität

Probabilistic Situation Detection for Human-Robot Interaction in an OP Lab Environment
Schreiter, L.; Berghoefer, E.; Beyl, T.; Senger, L.; Raczkowsky, J.; Kirchner, F.; Wörn, H.
2015. CURAC 2015 Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V, 17.-19. September 2015, Bremen, Germany. Hrsg.: H. K. Hahn, 99–104, Fraunhofer MEVIS

Probabilistic Modeling of Real-World Scenes in a Virtual Environment
Dittrich, F.; Irgenfried, S.; Wörn, H.
2015. Proceedings of GRAPP 2015 - 10th International Conference on Computer Graphics Theory and Applications; VISIGRAPP, 11 March 2015 through 14 March 2015, Berlin; Germany. Ed.: P. Richard, 165–173, SciTePress

MAFRO: Ein semi-autonomes Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. Tagungsband, Proceedings KONTEC 2015 : 12th International Symposium "Conditioning of Radioactive Operational & Decommissioning Wastes" = 12. Internationales Symposium "Konditionierung Radioaktiver Betriebs- und Stilllegungsabfälle", Dresden, Germany, 25 - 27 März 2015 ; einschließlich 12. Statusbericht des BMBF "Stilllegung und Rückbau kerntechnischer Anlagen" 25.-27.03.2015, Dresden, CD-ROM

Learning Surgical Know-How: Dexterity for a Cognitive Endoscope Robot
Bihlmaier, A.; Wörn, H.
2015. 7th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 7th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 15-17 July 2015, Angkor Wat, Siem Reap, Cambodia, 137–142, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICCIS.2015.7274610

Hands-on Learning of ROS using Common Hardware
Bihlmaier, A.; Wörn, H.
2015. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 29–50, Springer. doi:10.1007/978-3-319-26054-9_2

First Surgical Experience with a Learning Robot for Camera-Guidance in Cognition-Guided Laparoscopic Surgery: a Phantom Study
Wagner, M.; Bihlmaier, A.; Mietkowski, P.; Bodenstedt, S.; Speidel, S.; Wörn, H.; Müller-Stich, B.; Kenngott, H.
2015. CURAC 2015 Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V, 17. - 19. September, Bremen, Germany. Hrsg.: H. K. Hahn, 97–98, Fraunhofer MEVIS

CVVisual: Interactive Visual Debugging of Computer Vision Programs
Bihlmaier, A.; Wörn, H.
2015. IEEE 20th Conference on Emerging Technology and Factory Automation (ETFA) 2015, 8-11 Sept. 2015, Luxembourg, Luxembourg, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2015.7301408

Continuous pre-calculation of human tracking with time-delayed ground-truth: A hybrid approach to minimizing tracking latency by combination of different 3D cameras
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2015. Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - (Volume 2), 21-23 July 2015, Colmar, Alsace, France, 121–130, SciTePress. doi:10.5220/0005548901210130

Cognitive Camera Robot for Cognition-Guided Laparoscopic Surgery
Wagner, M.; Bihlmaier, A.; Mietkowski, P.; Bodenstedt, S.; Speidel, S.; Wörn, H.; Müller-Stich, B.; Kenngott, H. G.
2015. Proceedings of the Hamlyn Symposium on Medical Robotics 2015, London, UK, June 20-23, 2015. Ed.: G.Z. Yang, 23–24

Closed-loop control of a Flexible Instrument using an integrated FBG-based Shape Sensor
Ledermann, C.; Mintenbeck, J.; Ding, Y.; Pauer, H.; Wörn, H.
2015. Proceedings of the 2th International Conference on Advanced Technology & Sciences, Antalya, Turkey, August 04-07, 2015. Ed.: O.F. Bay, 67–72, Aybil

Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction
Escaida Navarro, S.; Hein, B.; Wörn, H.
2015. Soft robotics : transferring theory to application. Part II. Ed.: A. Verl, 54–65, Springer Verlag

A multimodal human machine interface for a robotic mobility aid
Schneider, J.; Irgenfried, S.; Stork, W.; Wörn, H.
2015. Proceedings of The 6th International Conference on Automation, Robotics and Applications (ICARA 2015), 17-19 Feb. 2015, Queenstown, New Zealand. Ed.: D. Bailey, 289–294, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICARA.2015.7081162

MAFRO: Ein semi-autonomens Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium ’Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle’, Dresden, 25.-27.März 2015

Forschungsprojekt - Manipulatorgesteuertes Freimessen von Oberflächen (MAFRO)
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium ’Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle’, Dresden, 25.-27.März 2015

Using the mutual exclusion protocol for safety in the area of robotic surgery
Schreiter, L.; Mohammed, A.; Raczkowsky, J.; Woern, H.
2014. ICT Innovations 2014, Web Proceedings. Ed.: D. Gjorgjevikj, 123–132, ICT ACT

Prototype of a Haptic Display for the Evaluation of Sensible Haptic Feedback in Remote Palpation
Hergenhan, J.; Uhl, M.; Alagi, H.; Schirren, R.; Reiser, R.; Wörn, H.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA), Article no 68600135, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MeMeA.2014.6860135

Knowledge-based direction prediction to optimize the null-space parameter of a redundant robot in a telemanipulation scenario
Hutzl, J.; Oertel, D.; Wörn, H.
2014. 12th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2014, Timisoara, RUM, October 16-18, 2014, 25–30, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROSE.2014.6952978

A semi-autonomous manipulator system for decontamination and release measurement
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Wörn, H.; Kern, P.; Gentes, S.
2014. 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014, 125–132, World Scientific Publishing. doi:10.1142/9789814623353_0015

An introduction into robot organisms based on CoSMO modules
Liedke, J.; Wörn, H.
2014. 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014, 233–240, World Scientific Publishing. doi:10.1142/9789814623353_0028

Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions
Weede, O.; Mohrle, F.; Worn, H.; Falkinger, M.; Feussner, H.
2014. 2nd IEEE International Conference on Artificial Intelligence, Modelling, and Simulation (AIMS); Madrid; Spain; 18 - 20 November 2014. Ed.: D. Al-Dabass, 97–102, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AIMS.2014.69

Realization and evaluation of image processing tasks based on synthetic sensor data: 2 use cases
Irgenfried, S.; Dittrich, F.; Wörn, H.
2014. Forum Bildverarbeitung 2014. Hrsg.: F. Puente León, 35–46, KIT Scientific Publishing

Using ORMOCERs as casting material for a 3D shape sensor based on Fiber Bragg gratings
Ledermann, C.; Pauer, H.; Woern, H.; Seyfried, M.; Domann, G.; Wolter, H.
2014. IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP’14), Singapore, Singapore, April 21-24, 2014, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ISSNIP.2014.6827628

The Herd of Educational Robotic Devices (HERD): Promoting Cooperation in Robotics Education
Bihlmaier, A.; Vollert, M.; Wörn, H.
2014. 4th International Workshop ’Teaching Robotics & Teaching with Robotics’ (TRTWR’14) and International Conference ’Robotics in Education’ (RiE’14), Padova, Italy, July 18, 2014

ROS-based Cognitive Surgical Robotics
Bihlmaier, A.; Wörn, H.
2014. 13th International Conference on Intelligent Autonomous Systems (IAS’14), Padova, Italy, July 15-19, 2014

Robot Unit Testing
Bihlmaier, A.; Wörn, H.
2014. Simulation, Modeling, and Programming for Autonomous Robots - 4th International Conference (SIMPAR’14), Bergamo, Italy, October 20-23, 2014. Ed.: D. Brugali, 255–266, Springer Verlag. doi:10.1007/978-3-319-11900-7_22

Probabilistische Echtzeit-Situationserkennung im Operationssaal am Beispiel von OP:Sense
Schreiter, L.; Senger, L.; Beyl, T.; Berghöfer, E.; Raczkowsky, J.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC’14), München, 11.-13. September 2014

Plausibility verification for situation awareness in safe human-robot cooperation
Puls, S.; Worn, H.
2014. IEEE 23rd International Symposium on Robot and Human Interactive Communication (RO-MAN’14), Edinburgh, United Kingdom, August 25-29, 2014, 601–606, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROMAN.2014.6926318

Non-linear compensation of production inaccuracies and material drift by adjusting the sensor data fusion algorithms for shape sensing based on FBG-optical fibers
Pauer, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI’14), Beijing, China, September 28-29, 2014, 1–5, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2014.6997688

Motivation of a new approach for shape reconstruction based on FBG-optical fibers: Considering of the Bragg-gratings composition as a sensornetwork
Pauer, H.; Ledermann, C.; Woern, H.
2014. IEEE Ninth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP’14), Singapore, Singapore, April 21-24, 2014, 1–5, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ISSNIP.2014.6827645

Increasing ROS Reliability and Safety through Advanced Introspection Capabilities
Bihlmaier, A.; Wörn, H.
2014. INFORMATIK 2014 - 44. Jahrestagung der Gesellschaft für Informatik, Stuttgart, 22-26. September 2014

Hierarchical Task Networks as Domain Specific Language for Planning Surgical Interventions
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2014. 13th International Conference on Intelligent Autonomous Systems (IAS’14), Padova, Italy, July 15-19, 2014

Fiber optical sensor system for shape and haptics for flexible instruments in minimally invasive surgery: overview and status quo
Ledermann, C.; Pauer, H.; Wörn, H.
2014. 23rd International Conference on Optical Fibre Sensors, Santander, Spain, June 2-6, 2014. Ed.: J. M. Lopez-Higuera, 1–4, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2059319

FBG-Greifkraftsensor für minimal invasive chirurgische Instrumente
Ledermann, C.; Farhat, M.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC’14), München, 11.-13. September 2014

Einfluss und Messung von Vibrationen für die automatisierte Endoskopführung
Bihlmaier, A.; Wörn, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC’14), München, 11.-13. September 2014

Context-Sensitive Natural Language Generation for Human Readable Event Logs based on Situation Awareness in Human-Robot Cooperation
Puls, S.; Lemcke, D.; Wörn, H.
2014. 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI’14), Kuala Lumpur, Malaysia, November 12-15, 2014

Consistent Quality Evaluation Method for Shape Sensors based on FBG - Optical Fibers Used in Minimally Invasive Surgery
Pauer, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. 17th ITG/GMA Symposium - Sensors and Measuring Systems, Nürnberg, June 3-4, 2014, 1–6, VDE Verlag

Biomimetic tactile sensor based on Fiber Bragg Gratings for tumor detection - Prototype and results
Ledermann, C.; Alagi, H.; Woern, H.; Schirren, R.; Reiser, S.
2014. IEEE International Symposium on Medical Measurements and Applications (MeMeA’14), Lisbon, Portugal, June 11-12, 2014, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MeMeA.2014.6860086

Automatisierte Endoskopführung - ein wissensbasiertes Robotiksystem
Bihlmaier, A.; Wörn, H.
2014. 44. Kongress der Deutschen Gesellschaft für Endoskopie und Bildgebende Verfahren e.V., Hamburg, 3.-5. April 2014

Automated Endoscopic Camera Guidance: A Knowledge-Based System towards Robot Assisted Surgery
Bihlmaier, A.; Wörn, H.
2014. 41st International Symposium on Robotics (ISR/Robotik’14), München, June 2-3, 2014, 1–6, VDE Verlag

Application of contract-based verification techniques for hybrid automata to surgical robotic systems
Schreiter, L.; Bresolin, D.; Capiluppi, M.; Raczkowsky, J.; Fiorini, P.; Woern, H.
2014. European Control Conference (ECC’14), Strasbourg, France, June 24-27, 2014, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ECC.2014.6862231

Analyse der Anforderungen an Formsensoren zur Verwendung in der minimal-invasiven Chirurgie
Pauer, H.; Kenngott, H.; Ledermann, C.; Tuschmann, W.; Woern, H.
2014. 13. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC’14), München, 11.-13. September 2014, 109–112

An ultrasound-based navigation system for minimally invasive neck surgery
Brennecke, T.; Jansen, N.; Raczkowsky, J.; Schipper, J.; Woern, H.
2014. Medicine Meets Virtual Reality - 21st NextMed/MMVR Conference, Manhattan Beach, California/USA, February 19-22, 2014. Ed.: J. D. Westwood, 36–42, IOS-Press. doi:10.3233/978-1-61499-375-9-36

A Flexible Design for System Control and Communications in a Robotic Mobility Assistand for Handicapped Persons
Irgenfried, S.; Schneider, J.; Wörn, H.; Stork, W.; Guhl, T.; Schellhase, M.
2014. 19th International Conference on Transformative Science & Engineering (SDPS’14), Kuching, Malaysia, June 15-19, 2014

A Technical system for physical activation of persons with mild cognitive impairment
Stogl, D.; Hein, B.; Meyer, P.; Armbruster, O.; Irgenfried, S.; Wörn, H.
2014. Technische Unterstützung für Menschen mit Demenz : Symposium 30.09. - 01.10.2013. Hrsg.: T. Schultz, 123–143, KIT Scientific Publishing

Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements
Notheis, S.; Hein, B.; Worn, H.
2014. IEEE International Conference on Robotics and Automation (ICRA’14), Hong Kong, China, May 31 - June 7, 2014, 5965–5970, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2014.6907738

Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Worn, H.; Kern, P.; Gentes, S.
2014. World Automation Congress (WAC’14), Waikoloa, Hawaii/USA, August 3-7, 2014, 54–59, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WAC.2014.6935654

6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors
Escaida Navarro, S.; Schonert, M.; Hein, B.; Worn, H.
2014. IEEE/RSJ Intelligent Robots and Systems (IROS’14), Chicago, Illionois/USA, September 14-18, 2014, 7–14, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2014.6942533

Optical coherence tomography guided laser cochleostomy: towards the accuracy on tens of micrometer scale
Zhang, Y.; Pfeiffer, T.; Weller, M.; Huber, R.; Raczkowsky, J.; Schipper, J.; Wörn, H.; Klenzner, T.
2014. BioMed Research International, 2014, 251814. doi:10.1155/2014/251814

Motion Control and Fall Prevention for an Active Walker Mobility Aid
Irgenfried, S.; Wörn, H.
2014. New Advances in Mechanisms, Transmissions and Applications - Proceedings of the Second Conference (MeTrApp’13), Bilbao, Spain, October 2-4, 2013. Ed.: V. Petuya, 157–164, Springer Netherlands. doi:10.1007/978-94-007-7485-8_20

Mit Knochensäge und Skalpell - Roboter in der Medizin - Beitrag bei Radio KIT am 19.09.2013
Schakeri, S.; Wörn, H.
2013. doi:10.5445/DIVA/2013-689

Roboter mit Skalpell - Wie sicher sind Operationen mit Medizinrobotern? - Campusreport am 30.07.2013
Fuchs, S.; Wörn, H.
2013. doi:10.5445/DIVA/2013-622

Ein prozessbasiertes Controllerkonzept zur Steuerung eines digitalen OP-Saals am Beispiel von OP:Sense = A process-based controller concept for the control of a digital operating room using the example of OP:Sense
Beyl, T.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2013. Proceedings of the CURAC (Computer- und Roboterassistierte Chirurgie) Annual Meeting (CURAC), Innsbruck, Austria, November 28-30, 2013. Ed.: B. Preim, 58–61, RWTH Aachen

The OP : Sense Surgical Robotics Platform : First Feasibility Studies and Current Research
Nicolai, P.; Brennecke, T.; Kunze, M.; Schreiter, L.; Beyl, T.; Zhang, Y.; Mintenbeck, J.; Raczkowsky, J.; Wörn, H.
2013. International journal of computer assisted radiology and surgery, 8 (1), 136–137

Modeling and verification of a robotic surgical system using Hybrid Input/Output Automata
Capiluppi, M.; Schreiter, L.; Fiorini, P.; Raczkowsky, J.; Wörn, H.
2013. European Control Conference 2013 : Proceedings of the 12th International Conference, ECC 2013, Zurich, Switzerland, 17th - 19th July 2013, 4238–4243, Institute of Electrical and Electronics Engineers (IEEE)

Feasibility Studies for Robot Assisted Total Knee Arthroplasty Using a Light-weight-robot
Böhme, A.; Beyl, T.; Raczkowsky, J.; Müller, C.; Wörn, H.
2013. 25th Conference of the International Society for Medical Innovation and Technology, SMIT 2013, Baden-Baden, Germany, September 5 - 7, 2013

System Concept for Collision : Free Robot Assisted Surgery Using Real-Time Sensing
Raczkowsky, J.; Nicolai, P.; Hein, B.; Wörn, H.
2013. Frontiers of Intelligent Autonomous Systems. Ed.: S. Lee, 391–399, Springer Verlag. doi:10.1007/978-3-642-35485-4_34

Development of a shape measurement method for the quality control of the navigation of medical endoscopes at the surgical site. Entwicklung einer Formerfassungsmethode zur Qualitätskontrolle der Navigation medizinischer Endoskope im OP-Situs
Pauer, H.; Ledermann, C.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie. Annual Meeting of CURAC (Computer-und Roboterassistierte Chirurgie), CURAC 2013, Innsbruck, A, 28.-30. November 2013, 135–138

Arbeitsraumanaylse als Grundlage der Zugangsplanung
Hutzl, J.; Kunze, M.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) - Innsbruck, 28.-30. November 2013. Hrsg.: W. Freysinger, 51–54, CURAC

Vermessung eines haptischen Phantoms als Basis für die Entwicklung eines taktilen Sensors = Measurement of a haptic phantom as basis for the development of a tactile sensor
Hergenhan, J.; Schirren, R.; Alagi, H.; Feussner, H.; Reiser, S.; Wörn, H.
2013. Tagungsband der 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie - CURAC 2013; Innsbruck; Austria; 28 - 30 November 2013. Ed.: B. Preim, 17–20, RWTH Aachen

Tactile proximity sensors for robotic applications
Geoger, D.; Alagi, H.; Wörn, H.
2013. IEEE International Conference on Industrial Technology (ICIT), Cape Town, South Africa, 25-28 Feb. 2013, 978–983, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICIT.2013.6505804

View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation
Notheis, S.; Hein, B.; Wörn, H.
2013. 1st Workshop on Industrial Mobile Assistance Robots (IMAR’13), Karlsruhe, June 6, 2013

Towards Cognitive Medical Robotics in Minimal Invasive Surgery
Weede, O.; Bihlmaier, A.; Hutzl, J.; Müller-Stich, B. P.; Wörn, H.
2013. Conference on Advances in Robotics (AIR’13), Pune, India, July 4-6, 2013, 1–8, Association for Computing Machinery (ACM). doi:10.1145/2506095.2506137

Towards building a miniaturized shape sensor: Building process of a shape sensor for use in single port surgery
Pauer, H.; Ledermann, C.; Weede, O.; Woern, H.
2013. 7th International Conference on Sensing Technology (ICST’13), Wellington, New Zealand, December 3-5, 2013, 549–554, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICSensT.2013.6727713

Surgical robotics and instrumentation
Nicolai, P.; Brennecke, T.; Kunze, M.; Schreiter, L.; Beyl, T.; Zhang, Y.; Mintenbeck, J.; Raczkowsky, J.; Wörn, H.
2013. International journal of computer assisted radiology and surgery, 8 (1), 127–139. doi:10.1007/s11548-013-0861-3

The Collective Self-reconfigurable Modular Organism (CoSMO)
Liedke, J.; Matthias, R.; Winkler, L.; Worn, H.
2013. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’13), Wollongong, Australia, July 9-12, 2013, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AIM.2013.6584059

Tactile sensor on a magnetic basis using novel 3D Hall sensor - First prototypes and results
Ledermann, C.; Wirges, S.; Oertel, D.; Mende, M.; Woern, H.
2013. IEEE 17th International Conference on Intelligent Engineering Systems (INES’13), San Jose, California/USA, June 19-21, 2013, 55–60, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/INES.2013.6632782

Situation Dependent Risk Estimation for Workspace-Sharing Human-Robot Cooperation
Puls, S.; Wörn, H.
2013. IADIS International Conference Intelligent Systems and Agents, Prague Czech Republic, July 22-24, 2013

Simulation Tool for 3D Shape Sensors Based on Fiber Bragg Gratings and Optimization of Measurement Points
Ledermann, C.; Pauer, H.; Weede, O.; Wörn, H.
2013. 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM’13), Manila, Philippines, November 12-15, 2013

Seamless Interfacing: Situation Awareness through Action Recognition and Spatio-Temporal Reasoning
Puls, S.; Wörn, H.
2013. Emerging Research and Trends in Interactivity and the Human-Computer Interface. Ed.: K. Blashki, 144–159, IGI Global. doi:10.4018/978-1-4666-4623-0.ch007

Rotatable flexible neck-model for the evaluation of minimally invasive operation procedures with the help of an ultrasound-based navigation system
Jansen, N.; Brennecke, T.; Hirschfeld, J.; Colter, L.; Raczkowsky, J.; Woern, H.; Schipper, J.
2013. 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’13), Osaka, Japan, July 3-7, 2013, 1140–1143, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/EMBC.2013.6609707

Partial View Geometric Reconstruction of Objects with Rotational and Planar Symmetries for Grasping Tasks
Escaida Navarro, S.; Gräter, J.; Pauer, H.; Hein, B.; Wörn, H.
2013. 16th International Conference on Advanced Robotics (ICAR’13), Montevideo, Uruguay, November 25-29, 2013

Multi Kinect People Detection for Intuitive and Safe Human Robot Cooperation in the Operating Room
Beyl, T.; Nicolai, P.; Comparetti, M. D.; De Momi, E.; Raczkowsky, J.; Wörn, H.
2013. 16th International Conference on Advanced Robotics (ICAR’13), Montevideo, Uruguay, November 25-29, 2013

Knowledge-Based Planning of Port Positions for Minimally Invasive Surgery
Weede, O.; Wünscher, J.; Kenngott, H.; Müller-Stich, B.-P.; Wörn, H.
2013. 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM’13), Manila, Philippines, November 12-15, 2013

Incorporating Online Process Mining Based on Context Awareness into Human-Robot-Cooperation Framework
Puls, S.; Lotspeich, B.; Wörn, H.
2013. INTELLI 2013 - Second International Conference on Intelligent Systems and Applications, Venice, Italy, April 21-26, 2013. Ed.: M. Negnevitsky, 89–94, Curran

Identifying Objectives and Execution Planning for Safe Human-Robot Cooperation
Puls, S.; Giffhorn, C.; Wörn, H.
2013. 16th Portuguese Conference on Artificial Intelligence (EPIA’13), Azores, Portugal, September 9-12, 2013. Ed.: L. M. Reis, 252–263, Springer Verlag

History compounding: a novel speckle reduction technique for OCT guided cochleostomy
Zhang, Y.; Pfeiffer, T.; Wieser, W.; Weller, M.; Huber, R.; Klenzner, T.; Raczkowsky, J.; Wörn, H.
2013. Optical Coherence Tomography and Coherence Domain Optical Methods in Biomedicine XVII. Ed.: J. G. Fujimoto, 1–6, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2006979

Automated planning as a new approach for the self-reconfiguration of mobile modular robots
Bihlmaier, A.; Winkler, L.; Worn, H.
2013. 9th Workshop on Robot Motion and Control (RoMoCo’13), Kuslin, Poland, July 3-5, 2013, 60–65, Institute of Electrical and Electronics Engineers (IEEE)

An Automated Instrument as Component of a Cognitive Medical Robotic System for Minimal Invasive Surgery
Hutzl, J.; Bihlmaier, A.; Weede, O.; Wörn, H.
2013. Conference of the International Society for Medical Innovation and Technology (iSMIT’13), Baden-Baden, September 5-7, 2013

An alternative locomotion unit for mobile modular self-reconfigurable robots based on archimedes screws
Liedke, J.; Winkler, L.; Worn, H.
2013. 9th International Symposium on Mechatronics and its Applications (ISMA’13), Amman, Jordania, April 9-11, 2013, 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ISMA.2013.6547397

A Knowledge-based Robotic System as Automated Endoscopic Camera Guidance
Bihlmaier, A.; Wörn, H.
2013. DGR-Tage, München, 7.-8. Oktober 2013 [Konferenz]

A Framework for the Automatic Generation of Self-Reconfigurable Robot Organisms and the Optimization of the Gait for these Organisms
Winkler, L.; Neumann, S.; Wörn, H.
2013. 2013 IEEE Conference on Control, Systems & Industrial Informatics (ICCSII), Bandung, Indonesia, June 23-26, 2013

View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation
Notheis, S.; Hein, B.; Wörn, H.
2013. IEEE International Conference on Robotics and Automation (ICRA’13), Karlsruhe, May 6-10, 2013

Methods for safe human-robot-interaction using capacitive tactile proximity sensors
Navarro, S. E.; Marufo, M.; Ding, Y.; Puls, S.; Goger, D.; Hein, B.; Worn, H.
2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’13), Tokyo, Japan, November 3-7, 2013, 1149–1154, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2013.6696495

Combining shape sensor and haptic sensors for highly flexible single port system using Fiber Bragg sensor technology
Ledermann, C.; Hergenhan, J.; Weede, O.; Woern, H.
2012. Proceedings of 2012 IEEE/ASME 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 196–201, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MESA.2012.6275561

Taktiler Sensor auf Magnetbasis zur Telepalpation in der medizinischen Diagnostik = Tactile sensor on a magnetic basis for telepalpation in medical diagnosis
Ledermann, C.; Forreiter, T.; Kane, G.; Wörn, H.
2012. 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) : 15.-16. November 2012, Düsseldorf : CURAC 2012 - Tagungsband, 186–189, Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC)

EuRoSurge - Koordinierung des Forschungsfelds der kognitiven Roboter Chirurgie
Schreiter, L.; Jörg Raczkowsky; Wörn, H.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. (CURAC), Düsseldorf, Germany, November 15, 2012. Ed.: B. Preim, 211–213, RWTH Aachen

Reproduzierbar rotationsfähiges Halsphantom zur Evaluation minimalinvasiver operativer Techniken mittels eines Ultraschall-gestützten Navigationssystems
Jansen, N.; Hirschfeld, J.; Brennecke, T.; Colter, L.; Raczkowsky, J.; Wörn, H.; Schipper, J.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, RWTH Aachen

Optical Coherence Tomography as a Tracking Device for OCT Guided Laser Cochleostomy : Algorithm and First Results
Zhang, Y.; Pfeiffer, T.; Ding, J.; Wieser, W.; Weller, M.; Huber, R.; Raczkowsky, J.; Wörn, H.; Klenzner, T.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, 136–140, RWTH Aachen

Ein Kinect basiertes Überwachungssystem für Workflowerkennung und Gestensteuerung im Operationssaal
Beyl, T.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2012. Tagungsband der 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2012, Düsseldorf, Deutschland, 15. - 16. November 2012. Ed.: B. Preim, RWTH Aachen

A Concept for Safe Human Robot Cooperation in Surgical Applications Based on 3D Sensing
Beyl, T.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2012. IROS 2012 - Workshops and Tutorials : Celebrating 25 Years of IROS, Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 7th - 12th October 2012. Ed.: J. Lobo, Institute of Electrical and Electronics Engineers (IEEE)

Knowledge-based system for port placement and robot setup optimization in minimally invasive surgery
Weede, O.; Mehrwald, M.; Wörn, H.
2012. 10th IFAC Symposium on Robot Control, SYROCO 2012; Dubrovnik; Croatia; 5 September 2012 - 7 September 2012, 722–728. doi:10.3182/20120905-3-HR-2030.00038

Robustness, Scalability and Flexibility: Key-Features in Modular Self-Reconfigurable Mobile Robotics
Matthias, R.; Bihlmaier, A.; Wörn, H.
2012. 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 457–463, IEEE Computer Society

Object Recognition Based on Depth Information and Associative Memory
Puls, S.; Schnorr, N.; Wörn, H.
2012. 2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE), 186–191, IEEE Computer Society

Haptic feedback in OP:Sense - augmented reality in Telemanipulated robotic surgery
Beyl, T.; Nicolai, P.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2012. Studies in health technology and informatics, 173, 58–63. doi:10.3233/978-1-61499-022-2-58

Cognitive Robotics in Industrial Environments
Puls, S.; Graf, J.; Wörn, H.
2012. Human Machine Interaction - Getting Closer. Ed.: I. Maurtua, 213–234, InTech. doi:10.5772/28130

Multi-Fingered Reactive Grasping with Active Guided Camera Systems
Wörn, H.; Irgenfried, S.; Haase, T.
2012. Proceedings of the 27th Annual ACM Symposium on Applied Computing, March 26-30, 2012, 268–273, Association for Computing Machinery (ACM)

Haptic Object Recognition for Multi-Fingered Robot Hands
Escaida Navarro, S.; Gorges, N.; Schill, J.; Asfour, T.; Wörn, H.; Dillmann, R.
2012. 2012 IEEE Haptics Symposium (HAPTICS), 4-7 March 2012, 497–502, IEEE Computer Society. doi:10.1109/HAPTIC.2012.6183837

Extraction of Solids of Revolution from Point Cloud Scenes for Grasp Planning Tasks
Escaida Navarro, S.; Klock, T.; Braun, D.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1–6, VDE Verlag

Towards an Autonomous Manipulator System for Decontamination and Release Measurement
Notheis, S.; Kern, P.; Mende, M.; Hein, B.; Wörn, H.; Gentes, S.
2012. 2012 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (MESA), 8-10 July 2012, 263–268, IEEE Computer Society

Efficient Monitoring of Process Plants by Telepresence and Attention Guidance
Connette, C.; Arbeiter, G.; Meßmer, F.; Hägele, M.; Verl, A.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1–4, VDE Verlag

AR-based Approach for Evaluation of new Model-based Control Algorithms
Notheis, S.; August, W.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1–5, VDE Verlag

Dr. Roboter am Krankenbett : KIT Projekte zu den Einsatzmöglichkeiten von Robotik in der Medizin
Wörn, H.; Radio Regenbogen
2011. (S. Fuchs, Hrsg.). doi:10.5445/DIVA/2011-425

Robodoc - Robotik in der Medizin : Beitrag bei Radio KIT am 22.09.2011
Fuchs, S.; Wörn, H.; Radio KIT
2011. doi:10.5445/DIVA/2011-415

Ultrasound Tomography Using a Light Weight Robot
Beyl, T.; Brennecke, T.; Raczkowsky, J.; Wörn, H.
2011. International journal of computer assisted radiology and surgery, 6 (1)

OP:Sense : Eine Rapid Development Umgebung für die Entwicklung in der robotergestützten Chirurgie
Mönnich, H.; Nicolai, P.; Beyl, T.; Raczkowsky, J.; Wörn, H.
2011. CURAC 2011 : Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Magdeburg, Deutschland, 15. - 16. September 2011. Hrsg.: O. Burgert, 41–44, RWTH Aachen

A Semi-Autonomous Robotic Teleoperation Surgery Setup with Multi 3D Camera Supervision
Mönnich, H.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2011. International journal of computer assisted radiology and surgery, 6 (1), 132–133

3D-Überwachung des OP-Saals : Stören sich PMD-Kameras, Trackingsysteme und Spielkonsolenzubehör?
Nicolai, P.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2011. CURAC 2011 : Tagungsband der 10. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Magdeburg, Deutschland, 15. - 16. September 2011. Hrsg.: O. Burgert, 165–169, RWTH Aachen

Design and Evaluation of Description Logics based Recognition and Understanding of Situations and Activities for Safe Human-Robot Cooperation
Puls, S.; Wörn, H.
2011. International journal on advances in intelligent systems, 4 (3-4), 218–227

The Robot Formation Language - A formal description of formations for collective robots
Winkler, L.; Kettler, A.; Szymanski, M.; Wörn, H.
2011. 2011 IEEE Symposium on Swarm Intelligence (SIS), 11-15 April 2011, 102–109, IEEE Computer Society. doi:10.1109/SIS.2011.5952577

OP:Sense - An Integrated Rapid Development Environment in the Context of Robot Assisted Surgery and Operation Room Sensing
Nicolai, P.; Beyl, T.; Moennich, H.; Raczkowsky, J.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2421–2422, IEEE Computer Society

The Wanda Robot and Its Development System for Swarm Algorithms
Kettler, A.; Szymanski, M.; Wörn, H.
2011. Advances in Autonomous Mini Robots - Proceedings of the 6-th AMiRE Symposium. Ed.: U. Rückert, 133–146, Springer Verlag

Techniques for Robotic Force Sensor Calibration
Braun, D.; Wörn, H.
2011. Vestnik UGATU, 15 (4 (44), 218–223

Sorting Boxes with a Robotic Swarm: An Analysis by Means of Experiment, Simulation and Model
Kettler, A.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 7-11 Dec. 2011, 865–870, IEEE Computer Society

Haptic object recognition using statistical point cloud features
Gorges, N.; Escaida Navarro, S.; Wörn, H.
2011. 2011 15th International Conference on Advanced Robotics (ICAR), 20-23 June 2011, 15–20, IEEE Computer Society

CADaVISION: A Simulation Framework for Machine Vision Prototyping
Irgenfried, S.; Tchouchenkov, I.; Wörn, H.
2011. Brno University of Technology, Faculty of Information Technology: CSSim 2011, 2nd International Conference on Computer Modelling and Simulation. CD-ROM : Brno, Czech Republic, 5 - 7 September 2011 Brno: Brno University of Technology, Faculty of Information Technology, 2011, 59–67, University of Technology

A supervision system for the intuitive usage of a telemanipulated surgical robotic setup
Mönnich, H.; Nicolai, P.; Beyl, T.; Raczkowsky, J.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 7-11 Dec. 2011, 449–454, IEEE Computer Society

A framework for Boltzmann-type models of robotic swarms
Kettler, A.; Wörn, H.
2011. 2011 IEEE Symposium on Swarm Intelligence (SIS), 11-15 April 2011, 1–8, IEEE Computer Society

A Distance and Diversity Measure for Improving the Evolutionary Process of Modular Robot Organisms
Winkler, L.; Wörn, H.
2011. 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2102–2107, IEEE Computer Society

3D Pendulum Swinging Control by an Industrial Robot Manipulator
August, W.; Ren, J.; Notheis, S.; Haase, T.; Hein, B.; Wörn, H.
2011. Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, 1–7, VDE Verlag

Robotic Guidance for Microsurgical Laser Bone Processing in ENT Surgery
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Schipper, J.; Klenzner, T.; Wörn, H.
2010. Robotics Science and Systems 2010: Workshop on Enabling Technologies for Image-Guided Robotic Interventional Procedures, Zaragoza, Spain, 28th June 2010. Ed.: G. Fischer, 18–21

Results of CO₂ robotic laser oseotomy in surgery with motion compensation
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. Proceedings of SPIE BiOS : Photonic Therapeutics and Diagnostics VI, San Francisco, California, USA, 23rd - 28th January 2010. Ed.: A. Mahadevan-Jansen, Art.Nr. 75484A, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.840645

Including high-distortion radial effects into low-distortion perturbative solutions in an intuitive camera calibration model
Ciucci, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International journal of computer assisted radiology and surgery, 5 (1)

Calibration Method for a Robot Mounted Droplet Dispensing System
Mehrwald, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International journal of computer assisted radiology and surgery, 5 (1), 314–315

Überwachung eines Operationssaals für die kooperative robotergestützte Chirurgie mittels neuartiger Tiefenbildkameras
Nicolai, P.; Mönnich, H.; Raczkowsky, J.; Wörn, H.; Bernshausen, J.
2010. CURAC 2010 : Chirurgische Interventionen - Vom Neanderthaler zur Roboterassistenz, Tagungsband der 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Düsseldorf, Germany, 18th - 19th November 2010. Hrsg.: O. Burgert, 45–49, Der Andere Verlag

Analysis of the short-pulsed CO₂ laser ablation process for optimizing the processing performance for cutting bony tissue
Mehrwald, M.; Burgner, J.; Platzek, C.; Feldmann, C.; Raczkowsky, J.; Wörn, H.
2010. Proceedings of SPIE BiOS : Optical Interactions with Tissues and Cells XXI, San Francisco, California, United States, 23rd - 28th January 2010, Art.Nr. 75620P, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.841981

Accurate Object Throwing by an Industrial Robot Manipulator
August, W.; Wäldele, S.; Hein, B.; Wörn, H.
2010. Proceedings of the Australasian Conference on Robotics and Automation 2010, ACRA 10, Brisbane, Australia, 1st - 3rd December 2010. Ed.: G. Wyeth, 74–81, Curran

3D Measurement of Moving Objects using Quotient Image Stereo
Bakirov, T.; Irgenfried, S.; Safronov, K.; Tchouchenkov, I.; Wörn, H.
2010. Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010 (ISR/ROBOTIK), Munich, Germany, 7-9 June 2010. Vol.: 1, 130–135, Curran

Visual Grasping Using Passive Joints and Clustered SIFT-Features
Gorges, N.; Haase, A.; Woern, H.
2010. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 1–8, IEEE Computer Society

Security Concepts for Underwater Production Control Systems
Wörn, H.; Tchouchenkov, I.; Reimann, G.; Braun, D.
2010. 2010 International Conference on Emerging Security Technologies (EST), 6-7 Sept. 2010, 113–118, IEEE Computer Society

Model Checking for Robotic Guided Surgery
Mönnich, H.; Raczkowsky, J.; Wörn, H.
2010. Electronic Healthcare : Second International ICST Conference, eHealth 2009, Istanbul, Turkey, September 23-25, 2009, Revised Selected Papers. Ed.: P. Kostkova, 1–4, Springer Verlag

Introducing Wanda - A new robot for research, education, and Arts
Kettler, A.; Szymanski, M.; Liedke, J.; Wörn, H.
2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 18-22 Oct. 2010, 4181–4186, IEEE Computer Society

Low-distortion perturbative solutions in a camera calibration model including high-distortion radial effects
Ciucci, M.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. International Journal of Computer Assisted Radiology and Surgery, 5 (4), 327–333. doi:10.1007/s11548-010-0483-y

Haptic object recognition using passive joints and haptic key features
Gorges, N.; Escaida Navarro, S.; Goeger, D.; Woern, H.
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010, 2349–2355, IEEE Computer Society

Haptic object exploration using attention cubes
Gorges, N.; Fritz, P.; Wörn, H.
2010. Proceeding KI’10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence, 349–357, Springer Verlag

Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich - Visionen und Konzepte
Brennecke, T.; Burgner, J.; Wörn, H.; Schipper, J.; Klenzner, T.; Tretbar, S.; Raczkowsky, J.; Beyl, T.; Günther, C.; Kahrs, L.
2010. Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie -CURAC-:Chirurgische Interventionen. Vom Neanderthaler zur Roboterassistenz : 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), 18. bis 19. November 2010; proceedings, 203–206, Der Andere Verlag

An automatic and complete self-calibration method for robotic guided laser ablation
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), 3-7 May 2010, 1086–1087, IEEE Computer Society

A tactile proximity sensor
Goeger, D.; Blankertz, M.; Woern, H.
2010. 2010 IEEE sensors : Waikoloa, Hawaii, USA, 1 - 4 November 2010 ; the Ninth IEEE Sensors Conference 2010, 589–594, Institute of Electrical and Electronics Engineers (IEEE)

A simulation framework for complex automation systems
Braun, D.; Reimann, G.; Tchouchenkov, I.; Wörn, H.
2010. 2010 International Conference on Mechatronics and Automation (ICMA), 4-7 Aug. 2010, 605–610, IEEE Computer Society

A Cognitive Path-Guidance-System for Minimally Invasive Surgery
Weede, O.; Stein, D.; Gorges, N.; Müller, B.; Wörn, H.
2010. 2010 8th International Symposium on Intelligent Systems and Informatics (SISY), 10-11 Sept. 2010, 139–144, IEEE Computer Society

Skill-based telemanipulation by means of intelligent robots
Notheis, S.; Milighetti, G.; Hein, B.; Wörn, H.; Beyerer, J.
2010. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on; 18-22 Oct. 2010, 5258–5263, IEEE Computer Society

A Real-Time Wearable Projector-Wiimote-System for Augmented Reality Interaction Scenarios on Plane Objects
Steiger, A.; Hein, B.; Wörn, H.
2010. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 1–6, IEEE Computer Society

Automatisierte Bestimmung von Merkmalen zur Bewertung minimal invasiver Eingriffe an einem Pelvitrainer basierend auf Positionsdaten und einer Segmentierung
Boll, M. T.; Weede, O.; Kühnapfel, U.; Bretthauer, G.; Wörn, H.
2010. Riener, R. [Hrsg.] Automatisierungstechnische Verfahren für die Medizin : 9.Workshop, Zürich, CH, 29.-30.Oktober 2010 Düsseldorf : VDI-Verl., 2010 (Fortschritt-Berichte VDI : Reihe 17: Biotechnik/Medizintechnik ; 279)

Using Blender for Visualization of Robot Guided Medical Interventions
Mehrwald, M.; Mönnich, H.; Stein, D.; Kane, G.; Christian, T.; Raczkowsky, J.; Wörn, H.
2009. Proceedings of the Blender Conference 2009, Amsterdam, Netherlands, 28th - 30th October 2009

System Architecture for Workflow Controlled Robotic Surgery
Mönnich, H.; Botturi, D.; Raczkowsky, J.; Wörn, H.
2009. Proceedings of the 7th International Conference on Information Communication Technologies in Health, ICICTH 2009, Samos Island, Greece, 16th - 18th July 2009, 345–352, National and Kapodistrian University

Setup and Experimental Trial for Robot-assisted Laser Cochleostomy
Burgner, J.; Knapp, F. B.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.; Schipper, J.; Klenzner, T.
2009. International journal of computer assisted radiology and surgery, 4 (1), 1864–1865

Motion Compensation for Laser Osteotomy with a Lightweight Robot and a Fixed Visual Servoing Configuration
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. IASTED International Conference on Robotics, Telematics and Applications, RTA 2009, Beijing, China, 12th - 14th October 2009. Ed.: H. Ma

A Hand Guided Robotic Planning System for Laser Osteotomy in Surgery
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. World Congress on Medical Physics and Biomedical Engineering : Surgery, Nimimal Invasive Interventions, Endoscopy and Image Guided Therapy, Munich, Germany, 7th - 12th September 2009. Ed.: O. Dössel, 59–62, Springer Verlag. doi:10.1007/978-3-642-03906-5_17

Analysis of the available work space for keyhole surgery at the lateral skull base
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2009. International journal of computer assisted radiology and surgery, 4 (1)

Ein Prozess- und Architekturmodell für die Computer-Assistierte Chirurgie
Schorr, O.; Pernozzoli, A.; Haag, C.; Brief, J.; Raczkowsky, J.; Haßfeld, S.; Wörn, H.
2009. Biomedizinische Technik/Biomedical Engineering, 47 (1), 86–89

Visual Servoing with an optical tracking system and a lightweight robot for laser osteotomy
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2009. IEEE International Conference on Control and Automation, 2009, 9-11 Dec. 2009, 1896–1900, IEEE Computer Society

Tactile sensor and algorithm to detect slip in robot grasping processes
Goeger, D.; Ecker, N.; Woern, H.
2009. IEEE International Conference on Robotics and Biomimetics, 2008. ROBIO 2008, 22-25 Feb. 2009, 1480–1485, IEEE Computer Society

Tactile sensing for an anthropomorphic robotic hand: hardware and signal processing
Göger, D.; Gorges, N.; Wörn, H.
2009. Proceeding ICRA’09 Proceedings of the 2009 IEEE international conference on Robotics and Automation, 2972–2978, Institute of Electrical and Electronics Engineers (IEEE)

System for Laser Osteotomy in Surgery with the Kuka Lightweight Robot - First Experimental Results
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany, Springer Verlag

Symbricator3D - A Distributed Simulation Environment for Modular Robots
Winkler, L.; Wörn, H.
2009. Intelligent Robotics and Applications, 1266–1277, Springer Verlag

Static compensation for wrist mounted force torque sensor
Tauro, R. A.; Kaiser, B.; Wörn, H.
2009. Proceeding INES’09 Proceedings of the IEEE 13th international conference on Intelligent Engineering Systems, 105–109, Institute of Electrical and Electronics Engineers (IEEE)

Planning and simulation of microsurgical laser bone ablation
Kahrs, L. A.; Burgner, J.; Klenzner, T.; Raczkowsky, J.; Schipper, J.; Wörn, H.
2009. International Journal of Computer Assisted Radiology and Surgery, 5 (2), 155–162

Investigating the effect of pruning on the diversity and fitness of robot controllers based on MDL2e during genetic programming
Szymanski, M.; Fischer, J.; Wörn, H.
2009. Proceeding CEC’09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation, 2780–2787, Institute of Electrical and Electronics Engineers (IEEE)

Modellbasierte interindividuelle Registrierung an der lateralen Schädelbasis
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2009. Bildverarbeitung für die Medizin 2009 : Algorithmen - Systeme - Anwendungen; Proceedings des Workshops vom 22. bis 25. März 2009 in Heidelberg. Ed.: H.-P. Meinzer, 390–394, Springer Verlag

Increasing the accuracy with a rich sensor system for robotic laser osteotomy
Mönnich, H.; Stein, D.; Raczkowsky, J.; Wörn, H.
2009. IEEE sensors, 2009 : 25 - 28 Oct. 2009, Christchurch, New Zealand ; the Eighth IEEE Sensors Conference 2009, 1684–1688, Institute of Electrical and Electronics Engineers (IEEE)

Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2009. Studies in health technology and informatics, 142, 43–48

End-effector calibration and registration procedure for robot assisted laser material processing: Tailored to the particular needs of short pulsed CO2 laser bone ablation
Burgner, J.; Raczkowsky, J.; Wörn, H.
2009. Proceeding ICRA’09 Proceedings of the 2009 IEEE international conference on Robotics and Automation, 2136–2141, Institute of Electrical and Electronics Engineers (IEEE)

Automatic and hand guided self-registration between a robot and an optical tracking system
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2009. International Conference on Advanced Robotics, 2009. ICAR 2009, 22-26 June 2009, 1–5, IEEE Computer Society

3D-Umwelterfassung in der Produktion mit neuer 3D-Kamera
Wörn, H.; Graf, J.; Safronov, K.; Mamaev, I.
2009. avn - Allgemeine Vermessungs-Nachrichten, 5, 1–7

Workflow basierte Ansteuerung eines medizinischen Roboter Systems
Mönnich, H.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS

Visual Servoing of a Laser Ablation Based Cochleostomy
Kahrs, L. A.; Raczkowsky, J.; Werner, M.; Knapp, F. B.; Mehrwald, M.; Hering, P.; Schipper, J.; Klenzner, T.; Wörn, H.
2008. Medical Imaging : Visualization, Image-guided Procedures, and Modeling, San Diego, California, United States, 2008, Art.Nr. 69182C, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.770863

Untersuchung der ortsaufgelösten Erreichbarkeit anatomischer Strukturen
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schippe, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 237–240, ICCAS

Simulation des Schädelwachstums mit Hilfe nicht-rigider Registrierung
Mehrwald, M.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS

Sensorbeschreibung für die chirurgische OP Planung
Mönnich, H.; Marini, F.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, ICCAS

Port Visualization for Laparoscopic Surgery : Setup and First Intraoperative Evaluation
Schönfelder, C.; Stark, T.; Kahrs, L.; Raczkowsky, J.; Wörn, H.; Belherazem, N.; Müller, B.; Gutt, C.
2008. International journal of computer assisted radiology and surgery, 3 (Supplement 1), 141–142

Planung und Simulation mikrochirurgischer Laserknochenablation
Kahrs, L. A.; Klenzner, T.; Raczkowsky, J.; Schipper, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 229–232, ICCAS

Identifying Access Paths for Endoscopic Interventions at the Lateral Skull Base
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2008. International journal of computer assisted radiology and surgery, 3 (Supplement 1), 249–250

Establishment of an Experimental Setup for Robot Assisted Laser Osteotomy with Corresponding Simulation Environment for Optimization of all Relevant Parameters
Burgner, J.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Curac 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 147–148, ICCAS

Automatische Kalibrierung zur redundanten Kombination zweier Tracking Systeme
Stein, D.; Mönnich, H.; Raczkowsky, J.; Wörn, H.
2008. Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2008, Leipzig, Deutschland, 24. - 26. September 2008. Hrsg.: D. Bartz, 17–18, ICCAS

A novel camera calibration model for augmented reality applications in neurosurgery
Ciucci, M.; Kahrs, L.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2008. International journal of computer assisted radiology and surgery, 3 (1)

Energy Efficient HW/SW Integration in an Autonomous Microrobot
Sanuy, A.; Szymanski, M.; Casanova, R.; Dieguez, A.; Samitier, J.; Wörn, H.
2008. Proceeding CIMMACS’07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics, 225–230, World Scientific and Engineering Academy and Society (WSEAS)

Asset Management über das Internet bis in die Tiefsee
Hoog, S.; Kupke, H.; Reimann, G.; Tchouchenkov, I.; Wörn, H.
2008. Schiff & Hafen, 10, 88–90

Intuitive Robotersteuerung mit Inertialsensorik - Einsatzmöglichkeiten neuartiger integrierter inertialer MEMS-Sensoren für Eingabegeräte in der Service- und Industrierobotik
Steiger, A.; Mende, M.; Hein, B.; Wörn, H.
2008. Robotik 2008, 287–290

A Framework of Space-Time Continuous Models for Algorithm Design in Swarm Robotics
Hamann, H.; Wörn, H.
2008. Swarm Intelligence, 2 (2-4), 209–239

Using Stereo Vision and Tactile Sensor Features - For Grasp Planning Control
Boudaba, M.; Gorges, N.; Wörn, H.; Casals, A.
2008. ICINCO 2008, Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, Funchal, Madeira, Portugal, May 11-15, 2008, 214–221, INSTICC Press

Spatial macroscopic models of a bio-inspired robotic swarm algorithm
Hamann, H.; Wörn, H.; Crailsheim, K.; Schmickl, T.
2008. IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008, 1415–1420, IEEE Computer Society

Opening a door with a humanoid robot using multi-sensory tactile feedback
Schmid, A.; Gorges, N.; Göger, D.; Wörn, H.
2008. IEEE International Conference on Robotics and Automation, 19-23 May 2008, 285–291, IEEE Computer Society

Object Exploration with a Humanoid Robot - Using Tactile and Kinesthetic Feedback
Gorges, N.; Gaa, S.; Wörn, H.
2008. ICINCO 2008, Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, Funchal, Madeira, Portugal, May 11-15, 2008 Hrsg.: Joaquim Filipe; Juan Andrade-Cetto; Jean-Louis Ferrier, 274–281, INSTICC Press

Grasping and guiding a human with a humanoid robot
Gorges, N.; Schmid, A.; Göger, D.; Wörn, H.
2008. 8th IEEE-RAS International Conference on Humanoid Robots, 2008 Humanoids, 1-3 Dec. 2008, 623–628, IEEE Computer Society

Development of a Microscope Embedded Training System for Neurosurgery
Mauro, A. D.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2008. Biomedical Simulation : 4th International Symposium, ISBMS 2008, London, UK, July 7-8, 2008 Proceedings, 209–214, Springer Verlag

Aggregating Robots Compute: An Adaptive Heuristic for the Euclidean Steiner Tree Problem
Hamann, H.; Wörn, H.
2008. From Animals to Animats 10, 447–456, Springer Verlag

Virtuelle Planungsmatrix für atraumatische schädelbasischirurgische Zugangswege
Lohnstein, P.; Riechmann, M.; Klenzner, T.; Raczkowsky, J. ..; Wörn, H.; Schipper, J.
2007. Tagungsband der 78. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V., München, Deutschland, 16. - 20. Mai 2007

Virtual and Augmented Reality Techniques based on a Operating Microscope : Training and Aid for Neurosurgeons
Mauro, A. de; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2007. MIMOS 2007 : Proceedings of the National Conference on Modeling and Simulation, Turin, Italy, 6th - 8th November 2007

The introduction of augmented reality in neuroendoscopy : from surgeons’ support to possible source of 3D intraoperative models
Ciucci, M.; Kahrs, L.; Raczkowsky, J.; Wirtz, R.; Wörn, H.
2007. MIMOS 2007 : Proceedings of the National Conference on Modeling and Simulation, Turin, Italy, 6th - 8th November 2007

System for Robot Assisted Orthognathic Surgery
Burgner, J.; Toma, M.; Vieira, V.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Marmulla, R.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 419–421

Setup and Calibration of a Navigated Endoscope for Virtual and Augmented Neurosurgery
Ciucci, M.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.; Wirtz, R.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 299–302, Pro Business

Semiautomatisches Ankopplungsverfahren für einen Assistenzroboter zur Repositionierung osteotomierter Knochenstücke bei orthognath-chirurgischen Eingriffen
Burgner, J.; Zhang, Y.; Eggers, G.; Raczkowsky, J.; Mühling, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 275–278, Pro Business

Minimal Traumatic Surgery on the Lateral Skull Base
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 485–486

First Results of the Detection of the Boundary Between Soft Tissue and Bone with a Video Controlled Laser Ablation System
Lu, S. F.; Kahrs, L. A.; Werner, M.; Knapp, F. B.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Wörn, H.; Hering, P.; Klenzner, T.
2007. Computer Aided Surgery Around the Head : Proceedings of the 4th international Conference, Innsbruck, Austria, 21st - 24th February 2007. Ed.: Wolfgang Freysinger, 103–105, Pro Business

Experimenteller Ansatz zur navigiert lasergestützten Knochenablation für eine Cochleostomie
Klenzner, T.; Werner, M.; Kahrs, L.; Knapp, F.; Lu, S.; Ivanenko, M.; Raczkowsky, J.; Wörn, H.; Hering, P.; Schipper, J.
2007. Tagungsband der 78. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V., München, Deutschland, 16. - 20. Mai 2007

Eine konfokale Messsonde zur hochpräzisen navigierten Felsenbeinchirurgie
Riechmann, M.; Papastathopoulos, E.; Körner, K.; Ngan, C. C.; Raczkowsky, J.; Knapp, F.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 15–18, Pro Business

Ein probabilistisches dreidimensionales Computermodell des Felsenbeins
Riechmann, M.; Lohnstein, P. U.; Raczkowsky, J.; Klenzner, T.; Schipper, J.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 223–226, Pro Business

Calculation and Visualization of Trocar Positions for Abdominal Minimally Invasive Surgery
Schönfelder, C.; Kahrs, L. A.; Stark, T.; Raszkowsky, J.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 506

Bildverarbeitungssystem für die Erkennung von Grenzflächen bei einer Cochleostomie
Kahrs, L. A.; Mehrwald, M.; Knapp, F. B.; Werner, M.; Raczkowsky, J.; Hering, P.; Schipper, J.; Klenzner, T.; Wörn, H.
2007. Tagungsband der 6. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC 2007, Karlsruhe, Deutschland, 11. - 13. Oktober 2007, 69–71, Pro Business

A Planning System for Robot Based Abdominal Minimally Invasive Surgery
Schönfelder, C.; Raczkowsky, J.; Müller, B.; Gutt, C.; Wörn, H.
2007. International journal of computer assisted radiology and surgery, 2 (1), 202–203

Modellbasierte Erweiterte Realität in der Industrierobotik mittels kostengünstiger Hardwarekomponenten
Notheis, S.; Hein, B.; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 169–180

Miniaturized Laser Projector for Mixed Reality : Augmentation Scenarios for Medical and Industrial Robot Programming
Kahrs, L. A.; Steiger, A.; Notheis, S.; Hein, B.; Jörg Raczkowsky; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 93–100

Berücksichtigung der Pose von Markerschrauben bei der intraoperativen Registrierung in der roboterassistierten Chirurgie
Kahrs, L. A.; Schönfelder, C.; Raczkowsky, J.; Wörn, H.
2007. 7. Workshop Automatisierungstechnische Verfahren für die Medizin vom 19. - 21. Oktober 2007 in München, 45–46, VDI Verlag

Proactive Robot Task Selection Given a Human Intention Estimate
Schmid, A.; Weede, O.; Wörn, H.
2007. Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on, 726–731, IEEE Computer Society

Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics
Hamann, H.; Szymanski, M.; Wörn, H.
2007. Swarm Intelligence Symposium, 2007. SIS 2007. IEEE, 310–315, IEEE Computer Society

Oriented Median Filtering Preserving Significant Image Structures
Graf, J.; Wörn, H.
2007. Malaysian Journal of Computer Science, 20 (2), 99–114

First Study on Laser Bone Ablation System at the Skull Base for Micro Surgery Based on Vision Navigation
Shaofang, L.; Kahrs, L. A.; Werner, M.; Knapp, F. B.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Worn, H.; Hering, P.; Klenzner, T.
2007. Chinese Control Conference, 26-31 July 2007, 602–604, IEEE Computer Society

A Tactile Language for Intuitive Human-Robot Communication
Schmid, A.; Hoffmann, M.; Wörn, H.
2007. 7th IEEE-RAS International Conference on Humanoid Robots, Nov. 29 2007-Dec. 1 2007, 569–576, IEEE Computer Society

A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support
Hamann, H.; Worn, H.
2007. Proceedings of the First International Conference on Self-Adaptive and Self-Organizing Systems, 1–23, IEEE Computer Society

A highly versatile and robust tactile sensing system
Goeger, D.; Woern, H.
2007. Sensors, 28-31 Oct. 2007, 1056–1059, IEEE Computer Society

A framework for creating, coordinating, and executing skills on a humanoid robot
Gorges, N.; Schmid, A. J.; Osswald, D.; Wörn, H.
2007. 7th IEEE-RAS International Conference on Humanoid Robots, Nov. 29 2007-Dec. 1 2007, 385–391, IEEE Computer Society

Energy aware HW/SW integration in an autonomous microrobot
Sanuy, A.; Szymanski, M.; Casanova, R.; Dieguez, A.; Samitier, J.; Wörn, H.
2007. Proceeding CIMMACS’07 Proceedings of the 6th WSEAS international conference on Computational intelligence, man-machine systems and cybernetics, 225–230, World Scientific and Engineering Academy and Society (WSEAS)

Video Camera Based Navigation of a Laser Beam for Micro Surgery Bone Ablation at the Skull Base - Setup and Initial Experiments
Kahrs, L. A.; Werner, M.; Knapp, F. B.; Lu, S. F.; Raczkowsky, J.; Schipper, J.; Ivanenko, M.; Wörn, H.; Hering, P.; Klenzner, T.
2007. Advances in Medical Engineering, 219–223, Springer Verlag

Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer
Jen Chen, S.; Hein, B.; Wörn, H.
2007. 2007 IEEE International Conference on Robotics and Automation, 10-14 April 2007, 2951–2956, IEEE Computer Society

Swing Attenuation of Suspended Objects Transported by Robot Manipulator Using Acceleration Compensation
Jen Chen, S.; Hein, B.; Wörn, H.
2007. Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, Oct. 29 2007-Nov. 2 2007, 2919–2924, IEEE Computer Society

An analytical and spatial model of foraging in a swarm of robots
Hamann, H.; Wörn, H.
2007. Swarm robotics. Ed.: E. Sahin, 43–55, Springer Verlag

Solving the Inverse Kinematics Problem Symbolically by Means of Knowledge--Based and Linear Algebra--Based Methods
Wenz, M.; Wörn, H.
2007. Proceedings of the 12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), 1346–1353, Institute of Electrical and Electronics Engineers (IEEE)

Computing Symbolic-Algebraic Models of Industrial Manipulator Arms in a Fully Automatic Way
Wenz, M.; Wörn, H.
2007. Proceedings of the 13th IASTED International Conference on Robotics and Applications (RA 2007). Hrsg.: K. Schilling, 334–339, ACTA Press

Automatische Konfiguration der Bewegungssteuerung von seriellen Kinematiken
Wenz, M.; Wörn, H.
2007. Entwurf mechatronischer Systeme. 5. Paderborner Workshop Entwurf Mechatronischer Systeme, 22. und 23. März 2007. Hrsg.: J. Gausemeier, 57–68, HNI

On-Demand Computing Organism for Real-Time Systems
Becker, J.; Brändle, K.; Brinkschulte, U.; Henkel, J.; Karl, W.; Köster, T.; Wenz, M.; Wörn, H.
2006. ARCS 2006 - 19th International Conference on Architecture of Computing Systems, Workshops Proceedings, , Frankfurt am Main, Germany. March 16, 2006. Ed.: W. Karl, 230–245, Ges. für Informatik

Visualisierungskonzept für die projektorbasierte Erweiterte Realität in der Leberchirurgie
Riechmann, M.; Kahrs, L. A.; Ulmer, C.; Raczkowsky, J.; Lamadé, W.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Switzerland, 6. - 9. September 2006, Art.Nr. V209

Preclinical experiments for locating surgical structures below organ surfaces using projection-based augmented reality
Kahrs, L. A.; Hoppe, H.; Riechmann, M.; Raczkowsky, J.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1)

Optische Vermessung mittels kodieten Lichts von variabel reflektierenden Oberflächen zur Registrierung oder Dokumentation
Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Bildverarbeitung für die Medizin 2006 : Algorithmen Systeme Anwendungen, Hamburg, Deutschland, Proceedings des Workshops vom 19. - 21. März 2006. Ed.: H. Handels, 340–344, Springer Verlag

Optimization of the tissue deformation process to support osteotomies considering a virtual reference bone
Straulino, A.; Raczkowsky, J.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1), 425–426

Kraftbasierte Deformationsmodellierung von Knochenfragmenten zur automatischen Adaption der Form an ein Referenzobjekt innerhalb der Operationsplanung
Straulino, A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband des 6. AUTOMED Workshops, Rostock-Warnemünde, Deutschland, 24. - 25. März 2006, 39–40

Innovative End Effectors for Surgery
Peters, H.; Raczkowsky, J.; Eggers, G.; Wörn, H.
2006. International journal of computer assisted radiology and surgery, 1 (1)

Evaluierung einer ultraschallbasierten Registrierung am Multimodal-Abdomen-Phantom
Burgner, J.; Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Switzerland, 6. - 9. September 2006, Art.Nr. V210

Aufbau eines miniaturisierten Laserprojektors für die Erweitere Realität in der Chirurgie
Kahrs, L. A.; Raczkowsky, J.; Wörn, H.
2006. Tagungsband der Gemeinsamen Jahrestagung der Deutschen, Österreichischen und Schweizerischen Gesellschaften für Biomedizinische Technik, Zürich, Schweiz, 6. - 9. September 2006, Art.Nr. V207

Industrial Robots
Hein, B.; Wörn, H.
2006. Guidance and Control of Autonomous Systems : Readings of the DAAD-German Summer Academy, Duisburg, Germany, 18th July - 6th August 2005. Ed.: D. Söffker, 62–128, Logos Verlag Berlin

Fast hierarchical A(asterisk) path planning for industrial robots based on efficient use of distance computations
Hein, B.; Wörn, H.
2006. Proceedings of the Joint Conference on Robotics / ISR 2006, 37th International Symposium on Robotics (ISR 2006) and 4th German Conference on Robotics (ROBOTIK 2006), Munich, Germany, 15th - 18th May 2006, 17, VDI Verlag

Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Chen, S. J.; Hein, B.; Wörn, H.
2006. Proceedings of the Australasian Conference on Robotics & Automation, ACRA 2006, Auckland, New Zealand, 6th - 8th December 2006. Ed.: B. MacDonald

Combined Medical Image Registration Method using both Mutual and Gradient Information
Safronov, K.; Tchouchenkov, I.; Wörn, H.
2006. 2012 International Conference on Communication Systems and Network Technologies, 250–253, IEEE Computer Society

Distributed Shortest-Path Finding by a Micro-robot Swarm
Szymanski, M.; Breitling, T.; Seyfried, J.; Wörn, H.
2006. 5th International Workshop, ANTS 2006, Brussels, Belgium, September 4-7, 2006. Proceedings, 404–411, Springer Verlag

Benchmarking of Multiagent Systems in a Production Planning and Control Environment
Frey, D.; Nimis, J.; Wörn, H.; Lockemann, P.
2006. Theory and Applications in Enterprises, 115–133, Springer Verlag

Towards Intuitive Human-Robot Cooperation
Schmid, A. J.; Schrempf, O. C.; Wörn, H.; Hanebeck, U. D.
2006. Proceedings / 2nd International Workshop on Human-Centered Robotic Systems 2006, October 6 - 7, 2006, Munich, Germany. Ed.: K. Diepold, 7–12, München

Entwicklung einer selbstkonfigurierenden und selbstorganisierenden Bewegungssteuerung für Industrieroboter
Wenz, M.; Wörn, H.
2006. SPS IPC DRIVES 2006. Elektrische Automatisierung, Systeme und Komponenten; Fachmesse & Kongress 28. - 30. Nov. 2006, Nürnberg. Hrsg.: G. Brandenburg, 619–627, VDE Verlag

Automatic Configuration of the Dynamic Model for Common Industrial Robots
Wenz, M.; Wörn, H.
2006. Informatik 2006. Informatik für Menschen; Beiträge der 36. Jahrestagung der Gesellschaft für Informatik e.V. (GI); 2. bis 6. Oktober 2006 in Dresden. Bd. 2. Hrsg.: Ch. Hochberger, 137–144, Gesellschaft für Informatik (GI)

Rule based Generation of Motion Control Software for General Serial-Link Robot Manipulators
Wenz, M.; Wörn, H.
2006. Proceedings of the 8th International Workshop on Computer Science and Information Technologies (CSIT), 16–21

Event-based Production Rules for Data Aggregation in Wireless Sensor Networks
Wenz, M.; Wörn, H.
2006. Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. MFI 06; Heidelberg, Germany, 3 - 6 September 2006, 59–64, Institute of Electrical and Electronics Engineers (IEEE)

Visualization of Surgical 3D Information with Projector-based Augmented Reality
Kahrs, L. A.; Hoppe, H.; Eggers, G.; Raczkowsky, J.; Marmulla, R.; Wörn, H.
2005. Studies in health technology and informatics, 111, 243–246

Modeling the Growth of a Human Cranium
Straulino, A.; Aschke, M.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 50 (1), 1414–1415

Intraoperative Augmented Reality : The Surgeons View
Eggers, G.; Salb, T.; Hoppe, H.; Kahrs, L.; Ghanai, S.; Sudra, G.; Raczkowsky, J.; Dillmann, R.; Wörn, H.; Hassfeld, S.; Marmulla, R.
2005. 13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005; Long Beach, CA; United States; 26 January 2005 through 29 January 2005. Ed.: J. D. Westwood, 123–125, IOS Press

Interactive Deformation Modelling of Cranial Bone Fragments for Operation Planning
Straulino, A.; Aschke, M.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 649–650

Integration of a surgical robot and intraoperative imaging
Knoop, H.; Peters, H.; Raczkowsky, J.; Eggers, G.; Rotermund, F.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, 595–599, Elsevier

Bringing Laser for Osteotomy into the Operation Theatre
Peters, H.; Knoop, H.; Korb, W.; Ghanai, S.; Raczkowsky, J.; Werner, M.; Klasing, M.; Ivanenko, M.; Hassfeld, S.; Hering, P.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, Art.Nr. 1364, Elsevier

Approach to an Architecture for a Generic Computer Integrated Surgery System
Peters, H.; Raczkowsky, J.; Wörn, H.
2005. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, Canada, 2nd - 6th August 2005, 3751–3756, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2005.1545553

An Automatic Surgical End Effector for a Distributed Surgical Robot System
Peters, H.; Raczkowsky, J.; Wörn, H.
2005. Proceedings, 50 (1), 1266–1267

Advanced Surgical Planning for Intraoperative CAS
Aschke, M.; Knoop, H.; Schorr, O.; Eggers, G.; Raczkowsky, J.; Wörn, H.
2005. CARS 2005 - Computer Assisted Radiology and Surgery : Proceedings of the 19th International Congress and Exhibition, Berlin, Germany, 22nd - 25th June 2005. Ed.: H. U. Lemke, Art.Nr. 1332, Elsevier

A Comparision of Intraoperative Augmented Reality Systems
Eggers, G.; Sudra, G.; Kahrs, L.; Ghanai, S.; Raczkowsky, J.; Dillmann, R.; Wörn, H.; Mühling, J.; Marmulla, R.
2005. Proceedings, 50 (1), 907–908

Roboterprogrammierung in der Fertigung : Einfache Roboterprogrammierung für die Produktion von morgen (Ergebnisse des IRoProg Projekts)
Denkena, B.; Wörn, H.; Apitz, R.; Bischoff, R.; Hein, B.; Kowalski, P.; Mages, D.; Schuler, H.
2005. wt Werkstattstechnik online, 95 (9), 656–660

Combining manual haptic path planning of industrial robots with automatic path smoothing
Wörn, H.; Hein, B.; Mages, D.; Denkena, B.; Apitz, R.; Kowalski, P.; Reimer, N.
2005. Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics, ICINCO 2005, Volume IV, Barcelona, Spain, 14th - 17th September 2005, INSTICC Press

A Novel Approach to Proactive Human-Robot Cooperation
Schrempf, O. C.; Hanebeck, U. D.; Schmid, A. J.; Wörn, H.
2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005. ROMAN 2005, Aug. 13 - 15 2005, 555–560, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROMAN.2005.1513838

The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-Manipulation
Seyfried, J.; Szymanski, M.; Bender, N.; Estana, R.; Thiel, M.; Wörn, H.
2005. Swarm Robotics. SAB 2004 International Workshop, Santa Monica, CA, USA, July 17, 2004. Hrsg.: E. Sahin, 70–83, Springer Verlag

Supporting Operation Planning by Workflows
Schorr, O.; Raczkowsky, J.; Wörn, H.
2004. CARS 2004 - Computer Assisted Radiology and Surgery : Proceedings of the 18th International Congress and Exhibition, Chicago, USA, 23rd - 26th June 2004. Ed.: H. U. Lemke, Art.Nr. 1345, Elsevier

Safety of Surgical Robots in Clinical Trials
Korb, W.; Boesecke, R.; Eggers, G.; Kotrikova, B.; Marmulla, R.; O´Sullivan, N.; Mühling, J.; Hassfeld, S.; Engel, D.; Knoop, H.; Raczkowsky, J.; Wörn, H.
2004. Perspective in Image-Guided Surgery : Proceedings of the Scientific Workshop on Medical Robotics, Navigation and Visualization, Remagen, Germany, 11th - 12th March 2004. Ed.: T. M. Buzug, 391–396, World Scientific Publishing

Generating Normative Data of the Cranium Using Spherical Harmonics
Straulino, A.; Däuber, S.; Eggers, G.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2004. CARS 2004 - Computer Assisted Radiology and Surgery : Proceedings of the 18th International Congress and Exhibition, Chicago, USA, 23rd - 26th June 2004. Ed.: H. U. Lemke, Art.Nr. 1306, Elsevier

Erstellung von normativen Formdaten zur Unterstützung der Planung chirurgischer Eingriffe am Schädelknochen
Däuber, S.; Straulino, A.; Raczkowsky, J.; Wörn, H.; Eggers, G.; Hassfeld, S.
2004. Bildverarbeitung für die Medizin 2004 : Algorithmen - Systeme - Anwendungen, Proceedings des Workshops, Berlin, Deutschland, 29. - 30. März 2004. Hrsg.: T. Tolxdorff, 259–263, Springer Verlag. doi:10.1007/978-3-642-18536-6_53

A two step process for generating normative data of the cranium
Straulino, A.; Raczkowsky, J.; Krempien, R.; Eggers, G.; Wörn, H.; Hassfeld, S.
2004. Tagungsband der 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, München, Deutschland, 8. - 9. Oktober 2004

Introduction of additional information to heuristic path planning algorithms
Mages, D.; Hein, B.; Wörn, H.
2004. Proceedings of the IEEE Conference on Mechtronics and Robotics 2004, Aachen, Germany, 26th - 31st August 2004, 1023–1028, Institute of Electrical and Electronics Engineers (IEEE)

Angenäherte Abstandstransformation vom Arbeitsraum in den Konfigurationsraum von Robotern mit serieller Kinematik
Mages, D.; Hein, B.; Wörn, H.
2004. Tagungsband der VDI / VDE-Fachtagung Robotik 2004 : Leistungsstand - Anwendungen - Visionen - Trends, München, Deutschland, 17. - 18. Juni 2004, VDI Verlag

Using the AWIGS System for Preparation of Computer Aided Surgery
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Perspective in Image-Guided Surgery, MRNV, 11.03.-12.03, Remagen, 37–42, Remagen

Ein automatisches Registrierungsverfahren für intraoperative CT-Bilddaten
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Bildverarbeitung für die Medizin. Hrsg.: T. Tolxdorff, 453–457, Springer Verlag

Robot-assisted milling of complex trajectories
Knoop, H.; Raczkowsky, J.; Peters, H.; Korb, W.; Wehmöller, M.; Weihe, S.; Engel, D.; Hassfeld, S.; Wörn, H.
2004. Computer Assisted Radiology and Surgery, Chicago, Ill., 22.06-25.06, 1337, Chicago

Evaluating intraoperative rigid-body registration with the AWIGS system
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Fiegele, T.; Wörn, H.
2004. Computer Assisted Radiology and Surgery, Chicago, Ill. (USA), 22.06-25.06, 1310, Chicago

Moiré-basiertes Positionserfassungssystem für Mikroroboter
Estana, R.; Wörn, H.
2004. Technisches Messen, (10), 545–549

Moiré-based Positioning Systemfor Small Micromanipulation Units
Estana, R.; Wörn, H.
2004. O.M.P Opto Micro Products, International Trade Fair for Optical and Micro, Nürnberg, 25. - 27. May 2004, 75–80, Nürnberg

Distributed autonomous micro robots: from small clusters to a real swarm
Wörn, H.; Seyfried, J.
2004. Proc. of the 7th Int. Symposium on Distributed Autonomous Robotic Systems, DARS 2004, Toulouse, Frankreich, 23.-25.6.2004, 341–350, Toulouse

Design and scenarios for a real nano-manipulation robot swarm
Seyfried, J.; Bender, N.; Estana, R.; Szymanski, M.; Thiel, M.; Wörn, H.
2004. Mechatronics & Robotics 2004. Bd. 4. Hrsg.: P. Drews, 1368–1373, Sascha Eysoldt

Exploring the micro- and nanoworld with cubic centimetre-sized autonomous microrobots
Estana, R.; Seyfried, J.; Schmoeckel, F.; Thiel, M.; Wörn, H.
2004. Industrial robot, 31 (2), 159–178

The I-SWARM project: Intelligent Small World Autonomous Robots for Micro-manipulation
Seyfried, J.; Szymanski, M.; Bender, N.; Estana, R.; Thiel, M.; Wörn, H.
2004. Proc. of Workshop on Swarm Robotics at the 8th Int. Conference on Simulation of Adaptive behavior (from animals to animats 8, SAB 2004), Los Angeles, CA, USA, 13.-17.7.2004, 119–132, Los Angeles

Simulation System for Manipulation Tasks with a Fluidic Robot Hand
Osswald, D.; Keppler, R.; Lehmann, A.; Burghart, C.; Mikut, R.; Woern, H.; Seemann, W.
2004. Intelligent Manipulation and Grasping, 449–454, Grafica KC s.n.c

Encapsulated Diagnostic Agent Features
Koy, M.; Längle, T.; Wörn, H.
2004. Colleque Annuel IAR Jahrestagung, ACD Workshop 2004, Karlsruhe, Nov. 18, 2004, 269–274, Universität Karlsruhe (TH)

Real-Time Requirements in Diagnostic Systems
Albert, M.; Längle, T.; Wörn, H.
2004. 11th IFAC Symposium on Automation in Mining, Mineral and Metal Processing MMM 2004, Nancy, Sept. 8-10, 2004, ?, Nancy

DIAMOND - Distributed multi-agent architecture for monitoring and diagnosis
Wörn, H.; Längle, T.; Albert, M.; Kazi, A.; Brighenti, A.; Senior, C.; Revuelta Seijo; Sanz Bobi, M. A.; Villar, J.
2004. Production planning and control, 15 (2), 189–200

Standardisierte Ansteuerung von Industrie-Robotern und Bildverarbeitungssystemen
Gauß, M.; Bürkle, A.; Wörn, H.
2004. Robotik 2004 : Leistungsstand - Anwendungen - Visionen - Trends ; Tagung München, 17. und 18. Juni 2004, 839–846, VDI Verlag

Robot System "RobaCKa" for Osteotomies in Craniofacial Surgery - Clinical Evaluation
Wörn, H.; Peters, H.; Raczkowsky, J.; Marmulla, R.
2004. Mechatronics & Robotics 2004. Aachen, Germany, September 13 - 15, 2004. Bd. 4. Hrsg.: P. Drews, 1386–1390, Sascha Eysoldt

Erweiterung des Chirurgierobotersystems "RobaCKa"
Peters, H.; Kahrs, L.; Knoop, H.; Wörn, H.
2004. Automed 2004, Saarbrücken, Saarbrücken

Erweiterung eines Robotersystems für die Kraniofaziale Chirurgie
Peters, H.; Knoop, H.; Raczkowsky, J.; Wörn, H.
2004. CURAC 2004, München, 08.-09.10.04, ?

Aktiver Endeffektor für ein MKG-Chirurgierobotersystem
Peters, H.; Kübler, C.; Knoop, H.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2004. Beiträge zur 38. Jahrestagung der Deutschen Gesellschaft für Biomedizinische Technik im VDE - BMT 2004. Teil 1, 92–93, Schiele & Schön GmbH

Neuste Ergebnisse und neue Ansätze für die erweiterte Realität in der Chirurgie
Kahrs, L. A.; Sudra, G.; Raczkowsky, J.; Dillmann, R.; Wörn, H.
2004. curac 2004, 3. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), München, 8.-9.10.2004, 1–4, München

Erste Ergebnisse einer berührungslosen Oberflächenerfassung zur markerlosen Registrierung eines Kopfchirurgie-Robotersystem
Kahrs, L. A.; Knoop, H.; Peters, H.; Raczkowsky, J.; Wörn, H.
2004. 38. Jahrestagung der Deutschen Gesellschaft für Biomedizinsische Technik im VDE (BMT), Ilmenau, 22.-24.9.2004, 66–67, Schiele & Schön GmbH

Kalibration eines Operationsmikroskops für die Erweiterte Realität - erste Resultate
Aschke, M.; Eisenmann, U.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Unterberg Andreas
2004. CURAC - 3. Jahrestagung der Gesellschaft für Computer- und Roboterassistierte Chirurgie, München, 08.-09.10.2004, 1–2, München

Ergebnisse eines neuen Kalibrier-Algorithmus für Augmented-Reality-Systeme mit hohen Genauigkeits-Anforderungen
Kahrs, L. A.; Hoppe, H.; Rackowsky, J.; Wörn, H.
2004. Bildverarbeitung für die Medizin. Hrsg.: T. Tolxdorff, 376–380, Springer Verlag

Integrating a flexible anthropomorphic robot hand into the control system of a humanoid robot
Osswald, D.; Martin, J.; Burghart, C.; Mikut, R.; Wörn, H.; Bretthauer, G.
2004. Humanoids 2003 : Internat.Conf.on Humanoid Robots, München, October 1-3, 2003 Conference Documentation S.37 (Abstract) Proc.on CD-ROM Robotics and Autonomous Systems, 48(2004) S.213-21 DOI:10.1016/j.robot.2004.07.005

Integrating a flexible anthropomorphic robot hand into the control system of a humanoid robot
Osswald, D.; Martin, J.; Burghart, C.; Mikut, R.; Wörn, H.; Bretthauer, G.
2004. Robotics and Autonomous Systems, Humanoids 2003 : Internat.Conf.on Humanoid Robots, München, October 1-3, 2003 Conference Documentation S.37 (Abstract) Proc.on CD-ROM, S.213-21, 48. doi:10.1016/j.robot.2004.07.005

Location decision for a robot milling complex trajectories in craniofacial surgery
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2003. International congress series, 1256, 760–765. doi:10.1016/S0531-5131(03)00300-5

Spatial Augmented Reality for Head Surgery : First Clinical Results
Hoppe, H.; Marmulla, R.; Raczkowsky, J.; Heurich, T.; Wörn, H.; Haßfeld, S.
2003. Proceedings of the CAS-H International Symposium on Computer Aided Surgery around the Head, Interlaken, Switzerland, 27th February - 1st March 2003, S. 96

Projector Based Visualization for Intraoperative Navigation : First Clinical Results
Hoppe, H.; Eggers, G.; Heurich, T.; Raczkowsky, J.; Marmulla, R.; Wörn, H.; Hassfeld, S.; Moctezuma, J. L.
2003. CARS 2003 - Computer Assisted Radiology and Surgery : Proceedings of the 17th International Congress and Exhibition, London, UK, 25th - 28th June 2003. Ed.: H. U. Lemke, 771, Elsevier

Location Decision of a Robot System in Craniofacial Surgery
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. Proceedings of the CAS-H International Symposium on Computer Aided Surgery around the Head, Interlaken, Switzerland, 27th February - 1st March 2003

Karlsruhe Surgical Robotics Research
Raczkowsky, J.; Däuber, S.; Engel, D.; Hoppe, H.; Korb, W.; Schorr, O.; Hassfeld, S.; Wörn, H.
2003. Australasian Conference on Robotics & Automation, ACRA 2003, Brisbane, Australia, 1st - 3rd December 2003. Ed.: J. Roberts, CD-ROM, ARAA

Intraoperative Registrierung mit dem AWIGS-System
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Wörn, H.
2003. Biomedizinische Technik, 48 (S1), 110–111

Intraoperative Registration of Computed Tomography Images using the AWIGS system
Knoop, H.; Raczkowsky, J.; Wyslucha, U.; Wörn, H.
2003. CARS 2003 - Computer Assisted Radiology and Surgery : Proceedings of the 17th International Congress and Exhibition, London, UK, 25th - 28th June 2003. Ed. H. U. Lemke, Art.Nr. 1314, Elsevier

Elastic deformation for automated planning of surgical interventions
Schorr, O.; Roessler, F.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. International congress series, 1256, 752–759

Clinical Evaluation of a Surgical Robot for Craniotomies
Korb, W.; Engel, D.; Boesecke, R.; Kotrikova, B.; Eggers, G.; Marmulla, R.; Raczkowsky, J.; Woern, H.; Haßfeld, S.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch, CD-ROM

Augmented reality in operating microscopes for neurosurgical interventions
Aschke, M.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Kunze, S.
2003. Proceedings of the 1st International IEEE EMBS Conference on Neural Engineering 2003, Capri Island, Italy, 20th - 22nd March 2003, 652–655, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CNE.2003.1196913

ARNO : Augmented Reality for Navigated Operating-Microscopes
Wirtz, C. R.; Aschke, M.; Eisenmann, U.; Raczkowsky, J.; Ahmadi, R.; Wörn, H.; Unterberg, A.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch

A Robot System for Precise Craniotomies in Craniofacial Surgery
Engel, D.; Korb, W.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2003. CURAC 2003 : Tagungsband der 2. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Nürnberg, Deutschland, 4. - 7. November 2003. Hrsg.: R. Fahlbusch, CD-ROM

Simulation for preoperative planning and intraoperative application of titanium implants
Schorr, O.; Raczkowsky, J.; Woern, H.
2003. Proceeding IS4TM’03 Proceedings of the 2003 international conference on Surgery simulation and soft tissue modeling, 67–73, Springer Verlag

Stereoscopic Augmented Reality for Operating Microscopes
Aschke, M.; Wirtz, C. R.; Raczkowsky, J.; Wörn, H.; Kunze, S.
2003. International Congress Series, 1256, 408–413

Mechatronische Konzepte zur Verbesserung der Mensch-Maschine-Interaktion
Martin, J.; Keppler, R.; Osswald, D.; Burger, W.; Regenstein, K.; Bretthauer, G.; Wittenburg, J.; Woern, H.; Albers, A.; Berns, K.
2003. HCRS 2002. 1. SFB-Aussprachetag Human Centered Robotic Systems, 5. - 6. Dezember 2002, Universität Karlsruhe (TH) - Tagungsbeiträge, 65–72, Universität Karlsruhe (TH)

Security architecture for a co-operative engineering process in a digital factory environment
Woerner, J.; Woern, H.
2003. In: Human aspects in production management. Ed.: G. Zülch. Aachen 2003. S. 143-149. (European series in industrial management. 5.)

Mechatronische Konzepte zur Verbesserung der Mensch-Maschine-Interaktion
Martin, J.; Keppler, R.; Osswald, D.; Burger, W.; Regenstein, K.; Bretthauer, G.; Wittenburg, J.; Wörn, H.; Albers, A.; Berns, K.
2003. Human Centered Robotic Systems : 1. SFB-Aussprachetag, Universität Karlsruhe, 5.-6.Dezember 2002 Tagungsbeiträge

Generic System Architecture for Telemedical Applications
Schorr, O.; Raczkowsky, J.; Wörn, H.
2002. European journal of medical research, 7 (1), 73–74

A unified process for computer assisted surgery
Schorr, O.; Pernozzoli, A.; Raczkowsky, J.; Wörn, H.
2002. Springer Verlag

Erweiterte Realität in der Kopfchirurgie
Hoppe, H.; Salb, T.; Raczkowsky, J.; Hassfeld, S.; Moctezuma, J. L.; Woern, H.; Dillmann, R.
2002. Biomedizinische Technik, 47 (1), 946–949

Roboterunterstützter Operationsarbeitsplatz
Engel, D.; Heurich, T.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 942–945

Operationsplanung in der Kopfchirurgie
Schorr, O.; Brief, J.; Haag, C.; Raczkowsky, J.; Hassfeld, S.; Muehling, J.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 939–941

Aufbereitung medizinischer Bilddaten für die Kopfchirurgie
Daeuber, S.; Welzel, T.; Krempien, R.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 936–938

Sonderforschungsbereich 414 "Rechner- und sensorgestützte Chirurgie" - Ziele und Konzepte
Woern, H.; Vahl, C.; Muehling, J.
2002. Biomedizinische Technik, 47 (1), 909–911

Analysing the variations of shapes based on surface-models
Daeuber, S.; Heinze, P.; Kuebler, C.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 267–269

Ein Prozess- und Architekturmodell für die computerassistierte Chirurgie
Schorr, O.; Pernozzoli, A.; Haag, C.; Brief, J.; Raczkowsky, J.; Hassfeld, S.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 86–89

Ein Prototyp zur Realisierung projektorbasierter erweiterter Realitäten in der Chirurgie
Hoppe, H.; Raczkowsky, J.; Woern, H.; Hassfeld, S.; Moctezuma, J. L.
2002. Biomedizinische Technik, 47 (1), 72–74

Roboterassistierte Osteotomien in der Mund-, Kiefer- und Gesichtschirurgie
Engel, D.; Raczkowsky, J.; Woern, H.
2002. Biomedizinische Technik, 47 (1), 22–24

Sensorgestütztes Fräsen in der Chirurgierobotik
Engel, D.; Raczkowsky, J.; Woern, H.
2002. In: Robotik 2002: Leistungsstand - Anwendungen - Visionen - Trends. Düsseldorf 2002. S. 485-490. (VDI-Berichte. 1679.)

Sensor-aided milling with a surgical robot system
Engel, D.; Raczkowsky, J.; Woern, H.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 212-217

PROSERV: an integrated environment for diagnosis and service in industry
Guilleaume, M.; Laengle, T.; Woern, H.
2002. In: Proceedings of the IAR Conference and Associated IAR/ICD Workshop at the 17th IAR Annual Meeting 2002, Grenoble, France 2002. Grenoble : INP 2002. S. 135-140

Postoperative Evaluierung robotergefräster Osteotomielinien bei kranio-fazialen Eingriffen
Heinze, P.; Daeuber, S.; Engel, D.; Woern, H.
2002. In: CURAC.science 2002, 1. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Leipzig 2002

Online software reconfiguration in embedded real time control systems
Zimmermann, U.; Laengle, T.; Woern, H.
2002. In: Proceedings of the SCI 2002, The 6th World Multiconference on Systemics, Cybernetics and Informatics, Orlando, FL 2002. Vol. 6. Orlando : IIIS 2002. S. 375-379

Multi-agent architecture for monitoring and diagnosing complex systems
Woern, H.; Laengle, T.; Albert, M.
2002. In: Proceedings of the 4th International Workshop on Computer Science and Information Technologies, CSIT 2002, Patras, Greece 2002. Patras 2002

Intraoperative guidance of pre-planned bone deformations with a surface scanning system
Daeuber, S.; Hoppe, H.; Krempien, R.; Hassfeld, S.; Brief, J.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 110-115. (Studies in health technology and informatics. 85.)

Integration of intraoperative radiotherapy (IORT) dose distribution into the postoperative CT-based external beam radiotherapy (EBRT) treatment planning
Treiber, M.; Daeuber, S.; Krempien, R.; Hoppe, H.; Hensley, F.; Brief, J.; Woern, H.; Lehnert, T.; Buechler, M.; Wannenmacher, M.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 529-531. (Studies in health technology and informatics. 85.)

Formvariables Oberflächenmodell zur Segmentierung pathologischer Kniegelenke aus medizinischen Bilddaten
Heinze, P.; Daeuber, S.; Meister, D.; Sungu, M.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 201. (Informatik aktuell.)

Evaluation of a computer aided planning and surgical robot system for craniofacial surgery
Engel, D.; Pernozzoli, A.; Schorr, O.; Brief, J.; Heurich, T.; Raczkowsky, J.; Hassfeld, S.; Woern, H.; Muehling, J.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 1080

Erstellung eines statistischen Atlas des Craniums
Daeuber, S.; Heinze, P.; Krempien, R.; Welzel, T.; Brief, J.; Hassfeld, S.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 21. (Informatik aktuell.)

Ein neues und leicht zu implementierendes Modell zur präzisen Kalibration von Kameras und Videoprojektoren
Hoppe, H.; Kuebler, C.; Raczkowsky, J.; Woern, H.
2002. In: Bildverarbeitung für die Medizin 2002. Hrsg.: M. Meiler. Berlin 2002. S. 229-232. (Informatik aktuell.)

Development tool for distributed monitoring and diagnosis systems
Laengle, T.; Woern, H.; Albert, M.
2002. In: Proceedings of 13th International Workshop on Principles of Diagnosis, DX 02, Semmering, Austria 2002. Semmering 2002. S. 158-164

Describing components and configurations for embedded control systems
Zimmermann, U.; Wenz, M.; Laengle, T.; Woern, H.
2002. In: Proceedings of the 4th International Workshop on Computer Science and Information Technologies, CSIT 2002, Patras, Greece 2002. Patras 2002

Daily patient set-up control in radiation therapy by coded light projection
Krempien, R.; Daeuber, S.; Hoppe, H.; Treiber, M.; Harms, W.; Raczkowsky, J.; Brief, J.; Debus, J.; Woern, H.; Wannenmacher, M.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 237-239. (Studies in health technology and informatics. 85.)

Creating a statistical atlas of the cranium
Daeuber, S.; Krempien, R.; Kraetz, M.; Welzel, T.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 116-120. (Studies in health technology and informatics. 85.)

Corporate planning and simulation of plant production facilities in the virtual world
Woerner, J.; Laengle, T.; Woern, H.
2002. In: Proceedings of CARS&FOF 02, The 18th International Conference on CAD/CAM, Robotics and Factories of the Future, Porto, Portugal 2002. Porto : Joao Jose Pinto Ferreira 2002. S. 109-116

A new, accurate and easy to implement camera and video projector model
Hoppe, H.; Daeuber, S.; Kuebler, C.; Raczkowsky, J.; Woern, H.
2002. In: Medicine meets virtual reality. MMVR 2002. Ed.: J. Westwood. Amsterdam 2002. S. 204-206. (Studies in health technology and informatics. 85.)

A clinical prototype system for projector-based augmented reality: calibration and projection methods
Hoppe, H.; Kuebler, C.; Raczkowsky, J.; Woern, H.; Hassfeld, S.
2002. In: CARS 2002 - computer assisted radiology and surgery. Ed.: H.U. Lemke. Berlin 2002. S. 1079

Elektromagnetische Verträglichkeit von Roboterzellen für produktionstechnische Anwendungen - Sicherheit
Nagelmueller, P.; Woern, H.; Laengle, T.
2002. In: Elektromagnetische Verträglichkeit. EMV 2002. Hrsg.: A. Schwab. Berlin 2002. S. 837-845

Dienstbarer Geist aus Stahl und Silizium - Karlsruher Forscher entwickeln lernende Computer
Wörn, H.; Müller, M.; Institut für Anthropomatik und Robotik; Radio Regenbogen
2001. (S. Fuchs & Presse, Kommunikation und Marketing (PKM), Hrsg.). doi:10.5445/DIVA/2001-107

Virtual simulation system for collision avoidance for medical robot
Gonchar, L. E.; Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Studies in health technology and informatics, 81, 168–170. doi:10.3233/978-1-60750-925-7-168

RobaCKa : Ein Robotersystem für den Einsatz in der Chirurgie
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Rechner- und sensorgestützte Chirurgie, Proceedings zum Workshop, Heidelberg, Deutschland, 19. - 20. Juli 2001. Hrsg. H. Wörn, 279–286, Gesellschaft für Informatik (GI)

Projektorbasierte Erweiterte Realität in der Chirurgie
Hoppe, H.; Däuber, S.; Raczkowsky, J.; Wörn, H.; Moctezuma, J.-L.
2001. Proceedings des Workshops Bildverarbeitung für die Medizin 2001 : Algorithmen - Systeme - Anwendungen, Lübeck, Deutschland, 4. - 6. März 2001. Hrsg.: H. Handels, 39–43, Springer Verlag

Projector-based Augmented Reality in Cranio-Maxillo-Facial Surgery
Hoppe, H.; Brief, J.; Däuber, S.; Hassfeld, S.; Raczkowsky, J.; Wörn, H.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, Art.Nr. 1153, Elsevier

Projector Based Intraoperative Visualization of Surgical Planning Data
Hoppe, H.; Brief, J.; Däuber, S.; Raczkowsky, J.; Hassfeld, S.; Wörn, H.
2001. Computer aided surgery, 6 (4), S. 232

Operationsplanung in der kranio-fazialen Chirurgie : Einsatz eines Oberflächenscanners zur Optimierung der intraoperativen Umsetzung
Däuber, S.; Bräumer, T.; Hoppe, H.; Krempien, R.; Raczkowsky, J.; Brief, J.; Haßfeld, S.; Wörn, H.
2001. Proceedings des Workshops Bildverarbeitung für die Medizin 2001 : Algorithmen - Systeme - Anwendungen, Lübeck, Deutschland, 4. - 6. März 2001. Hrsg.: H. Handels, 99–103, Springer Verlag

KasOp : A Generic System for Pre- and Intraoperative Surgical Assistance and Guidance
Schorr, O.; Münchenberg, J.; Raczkowsky, J.; Wörn, H.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, Art.Nr. 1161, Elsevier

Intraoperative Visualization of Surgical Planning Data Using Video Projectors
Hoppe, H.; Däuber, S.; Raczkowsky, J.; Wörn, H.; Moctezuma, J. L.
2001. Studies in health technology and informatics, 81, 206–208

Daily patient set-up in radiation therapy by structural light projection
Krempien, R.; Däuber, S.; Hoppe, H.; Treiber, M.; Debus, J.; Harms, W.; Brief, J.; Raczkowsky, J.; Wörn, H.; Wannenmacher, W.
2001. CARS 2001 - Computer Assisted Radiology and Surgery : Proceedings of the 15th International Congress and Exhibition, Berlin, Germany, 27th - 30th June 2001. Ed.: H. Lemke, 1094, Elsevier

An Intuitive Man-Machine Interface for Robot Control in Craniofacial Surgery
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. IFAC-PapersOnLine, 34 (16), 159–163. doi:10.1016/S1474-6670(17)41518-7 Get

A Supervising System for Robot Application in Surgery
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. MICCAI 2001 : Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, Utrecht, Netherlands, 14th - 17th October 2001. Ed.: W. J. Niessen, 1308–1309, Springer Verlag. doi:10.1007/3-540-45468-3_207

A new concept for intraoperative matching of 3D ultrasound and CT
Schorr, O.; Wörn, H.
2001. Studies in health technology and informatics, 81, 446–452

A Safe Robot System for Craniofacial Surgery
Engel, D.; Raczkowsky, J.; Wörn, H.
2001. Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 2020–2024, IEEE Computer Society

Augmented Reality in the Operating Theatre of the Future
Hoppe, H.; Woern, H.
2001. 4th International Conference Utrecht, The Netherlands, October 14–17, 2001 Proceedings, 1195–1196, Springer Verlag

Automated generated collision-free time optimized robot movements in industrial environments based on rounding
Hein, B.; Salonia, M.; Wörn, H.
2001. Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on, 110–115, IEEE Computer Society

Robuster Betrieb und simulationsgestützte Optimierung von Multi-Agenten-Systemen in Produktion und Logistik
Frey, D.; Woern, H.; Nimis, J.; Lockemann, P. C.
2001. In: Tagungsband zum 4. SPP-Kolloquium des DFG 1083 "Intelligente Softwareagenten und betriebswirtschaftliche Anwendungsszenarien", Arbeitsgruppe "Anwendungsszenario Fertigung", Bonn 2001. S. 1-10

On distributed diagnosis of automated production cells
Laengle, T.; Woern, H.; Albert, M.
2001. In: Proceedings of the IAR Conference and Associated IAR/ICD Workshop at 16th IAR Annual Meeting, Strasbourg, France 2001. S. 149-155

Mechanical system and control system of a dexterous robot hand
Osswald, D.; Woern, H.
2001. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Humanoids 2001, Tokyo, Japan 2001. Tokyo 2001. S. 407-414

Human-robot-cooperation using multi-agent-systems
Laengle, T.; Woern, H.
2001. Journal of intelligent and robotic systems, 32 (2), 143–159

Electromagnetic compatibility of robot cells for industrial applications
Nagelmueller, P.; Woern, H.; Laengle, T.
2001. In: Proceedings of the International Association of Science and Technology for Development, Pittsburgh, PA 2001. Anaheim : IASTED/ACTA Press 2001. S. 74-79

Electromagnetic compatibility of robot cells for industrial applications
Woern, H.; Nagelmueller, P.; Laengle, T.
2001. In: Proceedings of the 17th International Conference on CAD/CAM, Robotics and Factories of the Future, CARS & FOF ’01, Durban, South Africa 2001. Durban : Xerox, University of Natal 2001. S. 454-461

Distributed diagnosis for automated production cells
Woern, H.; Laengle, T.; Albert, M.
2001. In: Proceedings of the 3rd International Workshop on Computer Science and Information Technologies, CSIT 2001, Yangantau, Russia 2001. Ed.: H. Schweppe. Ufa : USATU Publishers 2001. S. 49-54

Aufbereitung medizinischer Bilddaten
Daeuber, S.; Haimerl, M.; Hoppe, H.; Krempien, R.; Mende, U.; Moldenhauer, J.; Woern, H.
2001. In: Rechner- und sensorgestützte Chirurgie. Proceedings zum Workshop, Heidelberg 2001. Hrsg.: H. Wörn. Bonn 2001. S. 189-202. (Lecture notes in informatics. Proceedings. 4.)

Simulation for Path Planning and Motion Control for Medical Robot
Gonchar, L. E.; Engel, D.; Raczkowsky, J.; Wörn, H.
2000. Proceedings of the Workshop on Computer Science and Information Technologies, CSIT 2000, Ufa, Russia, 18th - 23rd September 2000, USATU Publishing

Chirurgieroboter : Eine Herausforderung an die Robotik
Wörn, H.; Raczkowsky, J.; Engel, D.
2000. Robotik 2000 : Leistungsstand - Anwendungen - Visionen - Trends, Berlin, Deutschland, 29. - 30. Juni 2000, VDI Verlag

Manipulating deformable linear objects - Force based detection of contact state transitions
Remde, A.; Henrich, D.; Wörn, H.
2000. Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, 1480–1486, IEEE Computer Society

Zeitoptimierte kollisionsfreie Bahnplanung für Industrieroboter
Hein, B.; Wurll, C.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 23-27. (VDI-Berichte. 1552.)

Verteilte Architektur zur Überwachung und Diagnose von automatisierten Produktionsanlagen
Albert, M.; Laengle, T.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 337-344. (VDI-Berichte. 1552.)

Secure picking of disarranged objects using probabilistic reasoning
Mueller, M.; Laengle, T.; Woern, H.
2000. In: Proceedings of the International Conference on Artificial Intelligence, IC-AI 2000, Las Vegas, NV 2000. Vol. 2. S. 995-1001

Robots for medical application
Kuebler, C.; Raczkowsky, J.; Woern, H.; Doessel, O.
2000. In: Proceedings of 16th IMACS International Congress on Scientific Computation, Applied Mathematics and Simulation, Lausanne, Switzerland 2000. Ed.: IMACS, Dep. of Comput. Sci. Vol. 1. [CD-ROM]

Robot manipulation of deformable objects
Henrich, D.; Woern, H.
2000. Berlin 2000

Planning of rapid grasp operations in unstructured scenes
Mueller, M.; Woern, H.
2000. In: Proceedings of the International Conference on Intelligent Robots and Systems, IROS 2000, Takamatsu, Japan 2000. S. 1975-1980

On distributed diagnosis for automated production cells
Laengle, T.; Woern, H.; Albert, M.
2000. In: Proceedings of the IAR Workshop, IAR / ICD 2000, Nancy, France 2000. Ed.: Institut Franco-Allemand pour les Applications de la Recherche, Intelligent Control and Diagnosis. S. 7-14

Occubot VI: Industrieroboter als intelligentes Sitztestsystem
Beeh, F.; Laengle, T.; Woern, H.; O’Bannon, T.; Lentz, J.; Schnoor, B.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 23-27. (VDI-Berichte. 1552.)

Object handling with a robot system using various grippers
Woern, H.; Fischer, T.; Mueller, M.; Rembold, D.
2000. In: Intelligent autonomous systems 6. Ed.: E. Pagello. Amsterdam 2000

Neue Werkzeuge für die Medizin - Medizintechnik und Biomedizin
Beth, T.; Bolz, A.; Dillmann, R.; Giannis, A.; Herrlich, P.; Kiencke, U.; Lenz, J.; Mueller, T.; Mueller-Glaser, K. D.; Paulsen, R.; Riedlinger, R.; Schweizerhof, K.; Wiesbeck, W.; Woern, H.
2000. O. Doessel (Hrsg.) , In: Die Technische Universität an der Schwelle zum 21. Jahrhundert. Hrsg.: H. Kunle. Berlin 2000. S. 285-304

Localization of flexible objects packed in transparent foils
Mueller, M.; Woern, H.
2000. In: Tagungsband der Jahrestagung der Deutschen Arbeitsgemeinschaft für Mustererkennung e.V., DAGM 2000, Kiel 2000

Kraftsensorik in der mikroroboterbasierten Mikromontage
Fahlbusch, S.; Woern, H.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 397-402. (VDI-Berichte. 1552.)

Komponenten für Roboter in innovativen Anwendungen
Woern, H.; Laengle, T.; Graf, R.
2000. it+ti, Informationstech. u. tech. Informatik 42 (2000) H. 1 S. 50-52

Intuitive operation planning based on force feedback
Muenchenberg, J.; Woern, H.; Brief, J.; Kuebler, C.; Hassfeld, S.; Raczkowsky, J.
2000. In: Medicine meets virtual reality. MMVR 2000. Ed.: J.D. Westwood. Amsterdam 2000. S. 220-226. (Studies in health technology and informatics. 70.)

Intelligent microrobotic system for microassembly tasks
Fatikow, S.; Seyfried, J.; Fahlbusch, S.; Buerkle, A.; Schmoeckel, F.; Woern, H.
2000. In: Proceedings of the 1st International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. S. 38-48

Intelligent control system for microrobots in a micromanipulation station
Woern, H.; Buerkle, A.
2000. In: Proceedings of the 1st International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. S. 134-140

Human-robot-cooperation using multi-agent-systems
Laengle, T.; Woern, H.
2000. In: Proceedings of the IMACS International Symposium on Mathematical Modelling, Wien, Austria 2000. S. 55-58

Flexible microrobots for micro assembly tasks
Woern, H.; Seyfried, J.; Fahlbusch, S.; Buerkle, A.; Schmoeckel, F.
2000. In: Proceedings of the International Symposium on Micromechatronics and Human Science, MHS 2000, Nagoya, Japan 2000. S. 135-143

Entwicklung einer Roboterzelle für die Automation im Versandhandel
Woern, H.; Rembold, D.; Mueller, M.; Laengle, T.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 259-264. (VDI-Berichte. 1552.)

Endoscopic robots
Kuebler, C.; Raczkowsky, J.; Woern, H.
2000. In: Proceedings of 3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000, Pittsburgh, PA 2000. Berlin 2000. S. 949-955. (Lecture notes in computer science. 1935.)

Ein allgemeiner Ansatz zur Montage deformierbarer linearer Werkstücke mit Industrierobotern
Remde, A.; Abegg, F.; Woern, H.; Henrich, D.
2000. In: Robotik 2000. Leistungsstand - Anwendungen - Visionen - Trends. Tagung, Berlin 2000. Düsseldorf 2000. S. 371-376. (VDI-Berichte. 1552.)

Distributed diagnosis of technical systems
Laengle, T.; Woern, H.; Albert, M.
2000. In: Proceedings of the M&R 2000, International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. Vol. 1. S. 141-147

Digital factory: planning and running enterprises of the future
Woern, H.; Frey, D.; Keitel, J.
2000. In: Proceedings of the 26th Annual Conference of the IEEE Electronics Society, IECON 2000, Nagoya, Japan 2000. IEEE Press 2000. S. 1286-1291

Cooperation between human beings and robot systems in an industrial environment
Woern, H.; Laengle, T.
2000. In: Proceedings of the M&R 2000, International Conference on Mechatronics and Robotics, St. Petersburg, Russia 2000. Vol. 1. S. 156-165

Collision avoidance path planning for multi-links manipulators in uncertain environment
Woern, H.; Gonchar, L.; Yussupova, N.; Shakhmametova, G.
2000. In: Intelligent autonomous systems 6. Ed.: E. Pagello. Amsterdam 2000. S. 1025-1030

Bin-picking systems and applications: a state of the art
Mueller, M.; Woern, H.
2000. In: Proceedings of the IASTED International Conference Robotics and Automation, RA 2000, Honolulu, HI 2000

Automatic selection of grippers for object handling
Rembold, U.; Belougroudov, V.; Laengle, T.; Woern, H.
2000. In: Autonome mobile Systeme 2000. Hrsg.: R. Dillmann. Berlin 2000. S. 80-87

A pattern catalogue of surgical interventions for computer-supported operation planning
Muenchenberg, J.; Woern, H.; Brief, J.; Kuebler, C.; Hassfeld, S.; Muehling, J.
2000. In: Medicine meets virtual reality. MMVR 2000. Ed.: J.D. Westwood. Amsterdam 2000. S. 227-229. (Studies in health technology and informatics. 70.)

A multisensorial robotic system for reliable picking of scarcely modelled objects
Mueller, M.; Woern, H.
2000. In: Proceedings of the 6th International Conference on Control, Automation, Robotics and Vision, ICARCV 2000, Singapore, Malaysia 2000. S. 220-225

Stiffness control of object’s pose for multifinger grippers
Fischer, T.; Rapela, D.; Woern, H.
2000. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1999 (2000) S. 129-136

Robust detection of object displacements in unstructured scenes
Mueller, M.; Stepanov, S.; Laengle, T.; Woern, H.
2000. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1999 (2000) S. 33-39

Segmentierung medizinischer Bilddaten : Erfahrungen mit der automatischen Anpassung eines Gewebemodells an individuelle Patientenaufnahmen
Pernozzoli, A.; Raczkowsky, J.; Burghart, C.; Haßfeld, S.; Brief, J.; Rembold, U.; Wörn, H.
1999. KI-99 : Advances in Artificial Intelligence, Proceedings of the 23rd Annual German Conference on Artificial Intelligence, Bonn, Germany, 13th - 15th September 1999. Ed.: W. Burgard, Springer Verlag

Sensor-based microrobot control in a micromanipulation desktop station
Fatikow, S.; Buerkle, A.; Fahlbusch, S.; Woern, H.
1999. In: Proceedings of IARP Workshop on Micro Robots, Micro Machines and Systems, Moscow, Russia 1999. S. 43-48

Assembly planning in a flexible micro-assembly station
Woern, H.; Seyfried, J.; Fatikow, S.; Faizullin, A.
1999. In: Proceedings of the 2nd International Workshop on Intelligent Manufacturing Systems, IMS 1999, Leuven, Belgium 1999. Ed.: H. Van Brussel. Leuven 1999. S. 487-496

Intelligent control of a mobile microrobot in a flexible microassembly station
Woern, H.; Santa, K.; Fatikow, S.
1999. In: Proceedings of 6th International Symposium on Adaptive Systems Theory, SPAS’99, St. Petersburg, Russia 1999. S. 200-205

Control system of a smart microrobot cell
Fatikow, S.; Woern, H.
1999. In: Proceedings of International Conference on Information Systems, Analysis and Synthesis / International Conference on Systemics, Cybernetics and Informatics, Orlando, Fla. 1999. S. 275-283

Sicher im Griff
Woern, H.; Rembold, D.; Mueller, M.; Fischer, T.; Fahlbusch, S.
1999. Maschinenmarkt 105 (1999) S.-Ausg. "Deutschland innovativ 2000" S. 58-65

Strahlentherapieplanung und Feldkontrolle von Skelettmetastasen mit 3D-Sonographie
Mende, U.; Krempien, R.; Hartmann, R.; Wannenmacher, M.; Woern, H.; Grabowski, H.; Haimerl, M.
1999. Strahlenther. u. Onkol. 175 (1999) S.-Nr. 1 S. 176

Simulation of frontal orbital advancement
Grabowski, H.; Hassfeld, S.; Muenchenberg, J.; Brief, J.; Rembold, U.; Woern, H.
1999. Virtual reality 1999 H. 4 S. 235-240 und in: Proceedings of Conference: Computer Assisted Radiology and Surgery, CARS 99, Paris 1999. S. 645-650

Simulation der Knochenverlagerung beim Frontal Orbital Advancement
Grabowski, H.; Hassfeld, S.; Brief, J.; Muenchenberg, J.; Rembold, U.; Woern, H.
1999. In: Bildverarbeitung für die Medizin 1999. Hrsg.: H. Evers. Berlin 1999. S. 278-283. (Informatik aktuell.)

Sensorintegration in Robotersteuerung am Beispiel taktiler Sensoren für Greiferfinger
Mueller, M.; Rembold, D.; Mendieta, J.; Laengle, T.; Woern, H.
1999. In: Proceedings of the SPS/IPC/DRIVES’99, Nürnberg, Germany 1999. S. 885-894

Robust detection of object displacements in unstructured scenes
Mueller, M.; Stepanov, S.; Laengle, T.; Woern, H.
1999. In: Proceedings of the IAR Workshop’99, Strassbourg, France 1999. S. 1-6

Robot controlled osteotomy in craniofacial surgery
Burghart, C.; Keitel, J.; Hassfeld, S.; Rembold, U.; Woern, H.
1999. In: Workshop on Haptic Devices in Medical Applications, HDMA, Paris 1999. S. 12-22

Robot assisted craniofacial surgery: first clinical evaluation
Burghart, C.; Krempien, R.; Redlich, T.; Pernozzoli, A.; Grabowski, H.; Muenchenberg, J.; Albers, J.; Hassfeld, S.; Vahl, C.; Rembold, U.; Woern, H.
1999. In: Proceedings. Computer Aided Radiology and Surgery, Paris 1999. S. 828-833

Picking-up deformable linear objects with industrial robots
Remde, A.; Henrich, D.; Woern, H.
1999. In: Proceedings. 30th International Symposium on Robotics, 30th ISR, Tokyo, Japan 1999. Ed.: Int. Fed. of Robotics. Shibakoen : Japan Robot Assoc. 1999. S. 213-218

Manipulating deformable linear objects: efficient simulation of the workpiece behavior
Remde, A.; Henrich, D.; Karl, S.; Woern, H.
1999. In: Proceedings of the IASTED International Conference on Robotics and Applications, RA’99, Santa Barbara, CA 1999. Anaheim, CA : IASTED 1999. S. 64-70

Manipulating deformable linear objects: contact state transitions and transition conditions
Remde, A.; Henrich, D.; Woern, H.
1999. In: Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’99, Kyongju, Korea 1999. Vol. 3. Kyunghee Printing 1999. S. 1450-1455

Manipulating deformable linear objects - vision-based recognition of contact state transitions
Abegg, F.; Henrich, D.; Woern, H.
1999. In: Proceedings of the 9th International Conference on Advanced Robotics, ICAR’99, Tokyo 1999. Ed.: Japan Robot Assoc. Tokyo 1999. S. 135-140

Kamera-basiertes Sensorsystem eines mobilen Mikroroboters
Woern, H.; Buerkle, A.
1999. In: Autonome Mobile Systeme 1999. Hrsg.: G. Schmidt. Berlin 1999. S. 88-97

Human-robot-cooperation using multi-agent-systems
Laengle, T.; Woern, H.
1999. In: Proceedings of the MAS’99, International Conference on Multi-Agent Systems, Vienna, Austria 1999. S. 289-294

Grasping and reliable picking of overlapping objects in unstructured scenes
Mueller, M.; Laengle, T.; Woern, H.
1999. In: Proceedings of the International Conference on Advanced Robotics, ICAR’99, Tokyo, Japan 1999. S. 53-58

Ein experimentelles Robotersystem für die craniomaxillofaciale Chirurgie
Raczkowsky, J.; Burghart, C.; Grabowski, H.; Muenchenberg, J.; Woern, H.; Hassfeld, S.
1999. In: Proceedings of AUTOMED 99, Darmstadt 1999

Distributed diagnosis and teleservice for automated production cells
Woern, H.; Laengle, T.
1999. In: Proceedings of the ECC’99, European Control Conference, Karlsruhe, Germany 1999. S. 930

Die Sternum-Metastase bei Mammakarzinom, Stellenwert der Sonographie
Mende, U.; Krempien, R.; Schweikart, S.; Wannenmacher, M.; Grischke, E.-M.; Haimerl, M.; Woern, H.
1999. Strahlenther. u. Onkol. 175 (1999) S.-Nr. 1 S. 120

An intuitive operation planning system for craniofacial surgery
Muenchenberg, J.; Brief, J.; Grabowski, H.; Kuebler, C.; Hassfeld, S.; Raczkowsky, J.; Rembold, U.; Woern, H.
1999. In: Proceedings of 1st International Workshop on Haptic Devices in Medical Applications, HDMA, Paris 1999. S. 94-101

A system architecture for computer and robot assisted craniofacial surgery
Pernozzoli, A.; Burghart, C.; Brief, J.; Hassfeld, S.; Raczkowsky, J.; Muehling, J.; Rembold, U.; Woern, H.
1999. In: Proceedings of EUREL 1999, Pisa 1999

3D norm data - the first step towards semiautomatic virtual craniofacial surgery
Brief, J.; Hassfeld, S.; Muenchenberg, J.; Grabowski, H.; Redlich, T.; Walz, M.; Krempien, R.; Raczkowsky, J.; Burgert, O.; Salb, T.; Rembold, U.; Woern, H.; Muehling, J.
1999. In: Proceedings of Conference: Computer Assisted Radiology and Surgery, CARS 99, Paris 1999. S. 834-838

Mensch-Raum-Roboter. Fragmente zu einem DFG-Sachbeihilfe-Antrag (Normalverfahren) [online]
Kohler, N.; Woern, H.; Henckels, D.; Hoeniger, T.
1999

Segmentierung medizinischer Bilddaten unter Verwendung eines automatisch generierten patientenspezifischen Gewebemodells und Superquadriken
Burghart, C.; Pernozzoli, A.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings des Workshops Bildverarbeitung für die Medizin 1998 : Algorithmen - Systeme - Anwendungen, Aachen, Deutschland, 26. - 27. März 1998. Hrsg.: T. Lehmann, Springer Verlag

Robot Cell for Craniofacial Surgery
Burghart, C.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings of the 24th Anual Conference of the IEEE Industrial Electronics Society, IECON 1998, Aachen, Germany, 31st August - 4th September 1998, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IECON.1998.724121

Accuracy Tests and Sensor Fusion Using a Surgical Robot and an Optical Tracking System
Burghart, C.; Frey, D.; Raczkowsky, J.; Rembold, U.; Wörn, H.
1998. Proceedings of the International Conference on Intelligent Autonomous Systems, IAS-5, 1998. Ed. Y. Kakazu, IOS Press

A surgical robotic system for maxillofacial surgery
Burghart, C.; Raczkowsky, J.; Rembold, U.; Wörn, H.; Haßfeld, S.
1998. CARS 1998 : Computer Assisted Radiology and Surgery, Proceedings of the 12th International Symposium and Exhibition, Tokyo, Japan, 24th - 27th June 1998. Ed.: H. U. Lemke, Elsevier

Distributed autonomous robotic systems 3. DARS, 1998, Karlsruhe
Lueth, T.; Dillmann, R.; Woern, H.
1998. Berlin 1998

On-line path planning with optimal C-space discretization
Henrich, D.; Wurll, C.; Woern, H.
1998. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 98, Victoria, Canada 1998

On-line motion planning for medical applications
Burghart, C.; Wurll, C.; Henrich, D.; Raczkowsky, J.; Rembold, U.; Woern, H.
1998. In: The 24th Annual Conference of the IEEE Industrial Electronics Society, IECON’98, Aachen, Germany 1998

On-line path planning by heuristic hierarchical search
Henrich, D.; Wurll, C.; Woern, H.
1998. In: The 24th Annual Conference of the IEEE Industrial Electronics Society, IECON’98, Aachen, Germany 1998

A distributed planning and control system for industrial robots
Wurll, C.; Henrich, D.; Woern, H.; Damm, M.; Schloen, J.; Maier, W.
1998. In: The 5th IEEE International Advanced Motion Control Workshop, AMC 98, Coimbra, Portugal 1998

Multi-directional search with goal switching for robot path planning
Henrich, D.; Wurll, C.; Woern, H.
1998. In: The 11th International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems, IEA/AIE 98, Castellan, Spain 1998. Vol. 2. S. 75-84

6 DOF path planning in dynamic environments. A parallel on-line approach
Henrich, D.; Wurll, C.; Woern, H.
1998. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 98, Leuven, Belgium 1998. Vol. 1. S. 330-335

Automatic off-line programming and motion planning for industrial robots
Woern, H.; Wurll, C.; Henrich, D.
1998. In: Proceedings of the 29th International Symposium on Robotics, ISR 98, Birmingham, UK 1998. S. 196 199

Schnelle Kollisionserkennung durch parallele Abstandsberechnung
Henrich, D.; Gontermann, S.; Woern, H.
1998. In: Autonome mobile Systeme 1997. 13. Fachgespräch, Stuttgart 1997. Hrsg.: P. Levi. Berlin 1997. S. 131-142. (Informatik aktuell.)

Flexible Steuerung pneumatischer Greifer
Remde, A.; Henrich, D.; Woern, H.
1998. Feinwerktech., Mikrotech., Mikroelektron. 12 (1998) S. 940-943

Grasping with multifingered grippers
Doersam, T.; Fischer, T.; Munoz, L.-A.; Woern, H.
1998. Jber., Dt.-Franz. Inst. f. Autom. u. Robotik, Univ. Karlsruhe 1997 (1998) S. 67-71

Modular design of consistent enterprise models
Reithofer, W.; Raczkowsky, J.; Woern, H.
1997. In: Australasia-Pacific Forum on Intelligent Processing & Manufacturing of Materials, IPMM’97, Gold Coast, Australia 1997. S. 1157-1163

Cooperation in human-robot-teams
Laengle, T.; Hoeniger, T.; Rembold, U.; Woern, H.
1997. In: Proceedings of the International Conference on Informatics and Control, ICI&C, St. Petersburg, Russia 1997. Vol. 3. S. 1306-1314

A review of parallel processing approaches to robot kinematics and Jacobian
Henrich, D.; Karl, J.; Woern, H.
1997. Karlsruhe 1997. (Interner Bericht. Fakultät für Informatik, Universität Karlsruhe. 1997,10.)

Parallele Bewegungsplanung in dynamischen Umgebungen
Wurll, C.; Henrich, D.; Woern, H.
1997. Karlsruhe 1997. (Interner Bericht. Fakultät für Informatik, Universität Karlsruhe. 1997,20.)

Entwicklung eines Fertigungssystems zum automatischen Schweissen von Behaeltern
Woern, H.; Mazac, K.; Hajdu, E.; Rothoerl, E.
1984. (Kuka Schweissanlagen und Roboter GmbH, Augsburg, Hrsg.), KfK-PFT 77 (Maerz 84)

Prozessueberwachung in flexiblen Fertigungssystemen
Stute, G.; Storr, A.; Doettling, W.; Schwager, J.; Woern, H.
1978. (Institut fuer Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen, Universitaet Stuttgart, Hrsg.), KfK-PDV 148 (Mai 78)

Grundlagen der Prozessautomatisierung fuer die Fertigung/Prozessteuerung (Steuerung flexibler Fertigungssysteme)
Stute, G.; Storr, A.; Binder, D.; Doettling, W.; Fink, H.; Firnau, J.; Herrscher, A.; Woern, H.
1977. (Institut fuer Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen, Universitaet Stuttgart, Hrsg.), KFK-PDV 107 (Februar 77)

Einsatz von Mikroprozessoren zur Prozesslenkung
Barthel, F.; Bauer, G.; Blask, H.; Caninenberg, W.; Faerber, G.; Fink, H.; Freyberger, F.; Fromme, G.; Frueh, J.; Illi, D.; Knoepker, R.; Kobitzsch, W.; Koch, G. R.; Krieger, J.; Kup, B.; Lauber, R.; Liedke, G.; Neudorfer, E.; Patz, M.; Pelz, K.; Schatz, J.; Schaefer, K.; Schmidt, V.; Schnieder, E.; Seifert, M.; Siebert, H.; Siefkes, H.; Spieth, U.; Stams, D.; Stocker, H.; Walze, H.; Wolfgarten, H.; Woern, H.
1977. PDV-Fachtagung, Karlsruhe, 3.-4.November 1976 KFK-PDV 101 (Januar 77)