| Ulrich Hagn
Dipl.-Ing. Mechanical Engineering Institute of Robotics and Mechatronics
Department of Robotic Systems
Muenchnerstrasse 20
D-82234 Wessling
Germany
Phone: ++49 (0) 81 53 / 28-1075
Fax: ++49 (0) 81 53 / 28-1134
ulrich.hagn(AT)dlr.de |
Fields of Activity
My main research area is the development of the DLR medical robotic system MiroSurge and the new generation MIRO® robot arm. Besides project management, I work on system and mechanical design of the robotic arm.
Additionally, I get involved with projects on
- instruments for conventional and robot assisted surgery
- force reflecting handcontrollers for master slave systems
- 3D laser sensors
Short CV
*1971 | Munich, Germany |
1998 | Graduation as Dipl.-Ing. at the Technische Universität München, diploma thesis 'Design of a surgical stapling device for hollow organ anastomosis' (US 6,269,997; US 6,258,107) |
1998 - | researcher at the DLR, Institute of Robotics and Mechatronics |
Colleagues in the medical field:Please follow this link for a list of colleagues working in the medical field
Publications
Hagn, U.; Konietschke, R.; Tobergte, A.; Nickl, M.; Jörg, S.; Kuebler, B.; Passig, G.; Gröger, M.; Fröhlich, F.; Seibold, U.; Le-Tien, L.; Albu-Schäffer, A.; Nothelfer, A.; Hacker, F.; Grebenstein, M.; Hirzinger, G. (2009) DLR MiroSurge - A Versatile System for Research in Endoscopic Telesurgery. In: International Journal of Computer Assisted Radiology and Surgery, Volume 5, (2) 2010, pages 183-193. published online Doi: 10.1007/s11548-009-0372-4, 2009
Hirzinger, G., Hagn, U. (2009) MiroSurge - ein innovatives Robotik-System für die minimal invasive Chirurgie, Medizintechnik in Bayern, available online
Hirzinger, G., Hagn, U. (2009) Gelenkig am offenen Herzen. forschung - Das Magazin der Deutschen Forschungsgemeinschaft, 02/2009, available online
Konietschke, R.; Hagn, U.; Nickl, M.; Jörg, S.; Tobergte, A.; Passig, G.; Seibold, U.; Le.Tien, L.; Kuebler, B.; Gröger, M.; Fröhlich, F.; Rink, Ch.; Albu-Schäffer, A.; Grebenstein, M.; Ortmaier, T.; Hirzinger, G. (2009) The DLR Miro Surge - A Robotic System for Surgery. Video contribution presented at ICRA 2009, Finalist for best video award
Hagn, U.; Ortmaier, T.; Konietschke, R.; Kuebler, B.; Seibold, U.; Tobergte, A.; Nickl, M.; Joerg, S.; Hirzinger, G. (2008) Telemanipulators for Remote Minimally Invasive Surgery. In: IEEE Robotics and Automation Magazine (RAM), 2008;15(4):28-38. DOI: 10.1109/MRA.2008.929925
Hagn, U., Nickl, M., Jörg, S., Tobergte, A., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Konietschke, R., Le-Tien, L., Albu-Schäffer, A., Grebenstein, M., Ortmaier, T. & Hirzinger, G. (2008) DLR MiroSurge -- towards versatility in surgical robotics 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. Proceedings of CURAC, 2008, pp. 143 - 146
Hagn, U., Nickl, M., Jörg, S., Passig, G., Bahls, T., Nothhelfer, A., Hacker, F., Le-Tien, L., Albu-Schäffer, A., Konietschke, R., Grebenstein, M., Warpup, R., Haslinger, R., Frommberger, M. & Hirzinger, G. (2008) The DLR MIRO: A versatile lightweight robot for surgical applications Industrial Robot: An International Journal, EMERALD GROUP PUBLISHING LIMITED, 2008, Vol. 35(4), pp. 324 - 336, Outstanding Paper Award Winner
Frumento, S., Michelini, R., Konietschke, R., Hagn, U., Ortmaier, T. & Hirzinger, G.
A Co-Robotic Positioning Device for Carrying Surgical End-Effectors
Proceedings of International Conference ASME-ESDA, Torino, italy, 2006, 4-7 July, pp.1 -8
Konietschke, R., Ortmaier, T., Ott, C., Hagn, U., Le-Tien, L. & Hirzinger, G.
Concepts of Human-Robot Cooperation for a new Medical Robot
Proceedings of Human Centered Robotic Systems -- HCRS, 2006, pp.1 - 6
Ortmaier, T., Weiß, H., Hagn, U., Nickl, M., Albu-Schäfer, A., Ott, C., Jörg, S., Konietschke, R., Le-Tien, L. & Hirzinger, G.
A Hands-on-Robot for Accurate Placement of Pedicle Screws
Proceedings of the ICRA-2006 IEEE International Conference on Robotics and Automation, 2006, pp. 4179 - 4186
Ortmaier, T., Weiss, H., Hagn, U., Grebenstein, M., Nickl, M., Ott, C., Albu-Schäffer, A., Hirzinger, G., Essensreiter, R. & Bertram, M.
Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben
VDI Wissensforum - Mechatronik 2005 - VDI-Berichte, 2005, pp. 661 - 686
Ortmaier, T., Weiss, H., Hagn, U., Ott, C., Hirzinger, G., Essenreiter, R. & Bertram, M.
Ein neues System zum robotergestützten, navigierten Setzen von Pedikelschrauben
XXVII Münchner Symposium für Experimentelle Orthopädie, 2005
Ortmaier, T., Weiß, H., Hagn, U., Grebenstein, M., Nickl, M., Albu-Schäffer, A., Ott, C., Jörg, S., Konietschke, R. & Hirzinger, G.
Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben
B. K. (ed.), ifm Internationales Forum für Mechatronik, Tagungsband, 2005, pp. 673 - 699
Ortmaier, T., Reintsema, D., Seibold, U., Hagn, U. & Hirzinger, G.
The DLR Minimally Invasive Robotics Surgery Scenario
Färber, G.; Hoogen, J. S. 453. O. (ed.)
Workshop on Advances in Interactive Multimodal Telepresence Systems, Munich, March 29-30, 2001
Proceedings, Hieronymus Buchreproduktions GmbH, München, 2001
Ortmaier, T., Seibold, U., Hagn, U., Boehm, D., Reichenspurner, H. & Hirzinger, G.
Autonomy and Haptic Feedback in Minimally Invasive Robotic Surgery
Fourth Annual Meeting of the International Society for Minimally Invasive Cardiac Surgery (ISMICS), Munich, June, 27-30, 2001
Awards
Finalist for best video award: Konietschke, R.; Hagn, U.; Nickl, M.; Jörg, S.; Tobergte, A.; Passig, G.; Seibold, U.; Le.Tien, L.; Kuebler, B.; Gröger, M.; Fröhlich, F.; Rink, Ch.; Albu-Schäffer, A.; Grebenstein, M.; Ortmaier, T.; Hirzinger, G. (2009) The DLR Miro Surge - A Robotic System for Surgery. Video contribution presented at ICRA 2009
Outstanding Paper Award: Hagn, U., Nickl, M., Jörg, S., Passig, G., Bahls, T., Nothhelfer, A., Hacker, F., Le-Tien, L., Albu-Schäffer, A., Konietschke, R., Grebenstein, M., Warpup, R., Haslinger, R., Frommberger, M. & Hirzinger, G. (2008) The DLR MIRO: A versatile lightweight robot for surgical applications Industrial Robot: An International Journal, EMERALD GROUP PUBLISHING LIMITED, 2008, Vol. 35(4), pp. 324 - 336
Third Place at CURAC: Hagn, U., Nickl, M., Jörg, S., Tobergte, A., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Konietschke, R., Le-Tien, L., Albu-Schäffer, A., Grebenstein, M., Ortmaier, T. & Hirzinger, G. (2008) DLR MiroSurge -- towards versatility in surgical robotics 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. Proceedings of CURAC, 2008, pp. 143 - 146
The EURON/EUnited Robotics Technology Transfer Award 2007
Supervised diploma thesis
Thielmann, S. (2008): Design of a drive unit for surgical forceps
Grätzl, F. (2006): Design of a surgical simulator
Frumento, S. (2006): Kinematic design Optimization of an actuated carrier for the DLR multi-arm surgical system (advised PhD thesis)
Huber, M. (2004): Concepts for a trailer system for medical robotics
Friedl, W. (2004): Concepts and design of a laser triangulation sensor
Kasper, C. (2004): mechanical design of a surgical tool for precise robotic pedicle screw placement
Kübler, B. (2003): Design of a drive unit for medical forceps in the field of minimal invasive robotic surgery
Auberger, R. (2001): Concepts and design of robotic joints for surgical robots
Sturm, M. (2000): Mechanical design of surgical forceps for minimal invasive telesurgery
If you are interested in a diploma or master thesis, please contact me.
Please find additional information on the DLR MIRO and DLR KineMedic here.