Navigation with Local Sensors in Surgical Robotics [Elektronische Ressource] / Philipp J. Stolka. Betreuer: Dominik Henrich

Navigation with Local Sensors in Surgical Robotics Von der Universität Bayreuth zur Erlangung des Grades eines Doktors der Naturwissenschaften (Dr. rer. nat.) genehmigte Abhandlung vorgelegt von Philipp Stolka aus Tychy/Polen 1. Gutachter: 2. Gutachter: Tag der Einreichung: Tag des Kolloquiums: 23Prefix•About800,JabiribnHayyan,laterknownasGeber,waseducated reading translationsfrom Greek and based his chemical system ”on two substances: sulphur, which...is hotand dry, and mercury, which is cold and wet. Since each contains all four elements, anyother material can be formed by the proper combination of these two, and since we cannotknow substance but only form, our search must aim at the most desired product, gold”.This is the most perfect, most virtuous product since, as Aristotle said, all things, evenbase metals, struggle upward.•”Todotwothingsatonceistodoneither.”–PubliliusSyrus,Romanslave,firstcenturyB.C.•”Thepastonlyexistsinsofarasitispresentintherecordsof today. And what thoserecords are is determined by what questions we ask. There is nootherhistorythanthat.”–JohnA.Wheler,19824AbstractUsing robots in medicine and especially in surgery requires an adequate representation of andreaction to a changing environment. This is usually achievedbymodelingtheenvironmentat di!