Link length optimisation of a medical robot in minimally invasive surgery. - Rainer Konietschke; Tobias Ortmaier; Holger Weiss; Robert Engelke; Gerd Hirzinger (CARS, 2003)

All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications. - Rainer Konietschke; Gerd Hirzinger; Y. Yan (ARK, 2006)

A Humanoid Two-Arm System for Dexterous Manipulation. - Christian Ott 001; Oliver Eiberger; Werner Friedl; Berthold Bäuml; Ulrich Hillenbrand; Christoph Borst 001; Alin Albu-Schäffer; Bernhard Brunner; Heiko Hirschmüller; Simon Kielhöfer; Rainer Konietschke; Michael Suppa; et al. (Humanoids, 2006)

A Hands-on-robot for Accurate Placement of Pedicle Screws. - Tobias Ortmaier; Holger Weiss; Ulrich Hagn; Markus Grebenstein; Matthias Nickel; Alin Albu-Schäffer; Christian Ott 001; Stefan Jörg; Rainer Konietschke; Luc Le Tien; Gerd Hirzinger (ICRA, 2006)

Kinematic Design Optimization of an Actuated Carrier for the DLR Multi-Arm Surgical System. - Rainer Konietschke; Tobias Ortmaier; Ulrich Hagn; Gerd Hirzinger; Silvia Frumento (IROS, 2006)

The DLR MIRO: a versatile lightweight robot for surgical applications. - Ulrich Hagn; Mathias Nickl; Stefan Jörg; Georg Passig; Thomas Bahls; Alexander Nothhelfer; Franz Hacker; Luc Le Tien; Alin Albu-Schäffer; Rainer Konietschke; Markus Grebenstein; Rebecca Schedl-Warpup; et al. (Ind. Robot, 2008)

Telemanipulator for remote minimally invasive surgery. - Ulrich Hagn; Tobias Ortmaier; Rainer Konietschke; Bernhard Kübler; Ulrich Seibold; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Gerd Hirzinger (IEEE Robotics Autom. Mag., 2008)

Rollin' Justin - Mobile platform with variable base. - Christoph Borst 001; Thomas Wimböck; Florian Schmidt 001; Matthias Fuchs; Bernhard Brunner; Franziska Zacharias; Paolo Robuffo Giordano; Rainer Konietschke; Wolfgang Sepp; Stefan Fuchs; Christian Rink; Alin Albu-Schäffer; et al. (ICRA, 2009)

Inverse kinematics with closed form solutions for highly redundant robotic systems. - Rainer Konietschke; Gerd Hirzinger (ICRA, 2009)

The DLR MiroSurge - A robotic system for surgery. - Rainer Konietschke; Ulrich Hagn; Mathias Nickl; Stefan Jörg; Andreas Tobergte; Georg Passig; Ulrich Seibold; Luc Le Tien; Bernhard Kübler; Martin Gröger; Florian A. Fröhlich; Christian Rink; et al. (ICRA, 2009)

Planning and control of a teleoperation system for research in minimally invasive robotic surgery. - Andreas Tobergte; Rainer Konietschke; Gerd Hirzinger (ICRA, 2009)

On the role of multimodal communication in telesurgery systems. - Robert Bauernschmitt; Eva U. Braun; Martin Buss; Florian A. Fröhlich; Sandra Hirche; Gerhard Hirzinger; Julius Kammerl; Alois C. Knoll; Rainer Konietschke; Bernhard Kübler; Rüdiger Lange; Hermann Georg Mayer; et al. (MMSP, 2009)

VR-Map: A New Device for Patient Registration and Optimal Robot Positioning. - Andrea Schwier; Rainer Konietschke; Tim Bodenmüller; Tobias Ende; Simon Kielhöfer; Gerd Hirzinger (CURAC, 2010)

A multimodal training platform for minimally invasive robotic surgery. - Rainer Konietschke; Andreas Tobergte; Carsten Preusche; Paolo Tripicchio; Emanuele Ruffaldi; Sabine Webel; Uli Bockholt (RO-MAN, 2010)

DLR MiroSurge: a versatile system for research in endoscopic telesurgery. - Ulrich Hagn; Rainer Konietschke; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Bernhard Kübler; Georg Passig; Martin Gröger; Florian A. Fröhlich; Ulrich Seibold; Luc Le Tien; Alin Albu-Schäffer; et al. (Int. J. Comput. Assist. Radiol. Surg., 2010)

MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. - Andreas Tobergte; Georg Passig; Bernhard Kübler; Ulrich Seibold; Ulrich Hagn; Florian A. Fröhlich; Rainer Konietschke; Stefan Jörg; Mathias Nickl; Sophie Thielmann; Robert Haslinger; Martin Gröger; et al. (Presence Teleoperators Virtual Environ., 2010)

Optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgery. - Rainer Konietschke; Tim Bodenmüller; Christian Rink; Andrea Schwier; Berthold Bäuml; Gerd Hirzinger (ICRA, 2011)

Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors. - Julian Klodmann; Rainer Konietschke; Alin Albu-Schäffer; Gerhard Hirzinger (IROS, 2011)

A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS). - Martin Lohmann; Rainer Konietschke (CURAC, 2012)

Bi-modal assistance functions and their effect on user perception and movement coordination with telesurgery systems. - Verena Nitsch; Berthold Färber; Anja Hellings; Stefan Jörg; Andreas Tobergte; Rainer Konietschke (HAVE, 2012)

Classification of Modeling for Versatile Simulation Goals in Robotic Surgery. - Stefan Jörg; Rainer Konietschke; Julian Klodmann (IAS (2), 2012)

Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery. - Bastian Deutschmann; Rainer Konietschke; Alin Albu-Schäffer (IROS, 2013)

Classification of Modeling for Versatile Simulation Goals in Robotic Surgery. - Stefan Jörg; Rainer Konietschke; Julian Klodmann (Frontiers of Intelligent Autonomous Systems, 2013)