The DLR MIRO robotic arm is a core element in the MIRO Innovation Lab at the DLR Institute of Robotics and Mechatronics in Oberpfaffenhofen. The MIRO Innovation Lab (MIL) is an open innovation lab in the robot-supported medicine sector and is sponsored by the Helmholtz Association. The aim is to use close collaboration between DLR, clinical partners, participating industrial companies and other research institutes to enable cooperative research in the medical robotics sector.