Publications


2022
Explainability of deep neural networks for MRI analysis of brain tumors
Zeineldin, R. A.; Karar, M. E.; Elshaer, Z.; Coburger, J.; Wirtz, C. R.; Burgert, O.; Mathis-Ullrich, F.
2022. International Journal of Computer Assisted Radiology and Surgery. doi:10.1007/s11548-022-02619-x
From Chairs to Brains: Customizing Optical Flow for Surgical Activity Localization
Philipp, M.; Bacher, N.; Saur, S.; Mathis-Ullrich, F.; Bruhn, A.
2022. IEEE ISBI 2022 International Symposium on Biomedical Imaging, 28–31th March 2022, Kolkata, India. doi:10.1109/ISBI52829.2022.9761704
Dynamic CNNs Using Uncertainty To Overcome Domain Generalization for Surgical Instrument Localization
Philipp, M.; Alperovich, A.; Gutt-Will, M.; Mathis, A.; Saur, S.; Raabe, A.; Mathis-Ullrich, F.
2022. IEEE Winter Conference on Applications of Computer Vision (WACV 2022), Waikoloa, Hawaii, January 4-8, 2022, 3612–3621, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WACV51458.2022.00179
2021
Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
Marzi, C.; Prinzen, T.; Haag, J.; Klenzner, T.; Mathis-Ullrich, F.
2021. Frontiers in Surgery, 8, Article no: 742160. doi:10.3389/fsurg.2021.742160
iRegNet: Non-rigid Registration of MRI to Interventional US for Brain-Shift Compensation using Convolutional Neural Networks
Zeineldin, R. A.; Karar, M. E.; Elshaer, Z.; Schmidhammer, M.; Coburger, J.; Wirtz, C. R.; Burgert, O.; Mathis-Ullrich, F.
2021. IEEE Access, 9, 147579–147590. doi:10.1109/ACCESS.2021.3120306
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
Flexible Facile Tactile Sensor for Smart Vessel Phantoms
Fischer, N.; Scheikl, P.; Marzi, C.; Galindo-Blanco, B.; Kisilenko, A.; Müller-Stich, B. P.; Wagner, M.; Mathis-Ullrich, F.
2021. Current directions in biomedical engineering, 7 (1), 87–91. doi:10.1515/cdbme-2021-1019
Facile Testbed for Robotic X-ray based Endovascular Interventions
Karstensen, L.; Pätz, T.; Mathis-Ullrich, F.; Stallkamp, J.
2021. Current directions in biomedical engineering, 7 (1), 121–125. doi:10.1515/cdbme-2021-1026
Biocompatible Soft Material Actuator for Compliant Medical Robots
Marzi, C.; Fischer, N.; Mathis-Ullrich, F.
2021. Current directions in biomedical engineering, 7 (1), 58–62. doi:10.1515/cdbme-2021-1013
Synthetic data generation for optical flow evaluation in the neurosurgical domain
Philipp, M.; Bacher, N.; Nienhaus, J.; Hauptmann, L.; Lang, L.; Alperovich, A.; Gutt-Will, M.; Mathis, A.; Saur, S.; Raabe, A.; Mathis-Ullrich, F.
2021. Current directions in biomedical engineering, 7 (1), 67–71. doi:10.1515/cdbme-2021-1015
Slicer-DeepSeg: Open-Source Deep Learning Toolkit for Brain Tumour Segmentation
Zeineldin, R. A.; Weimann, P.; Karar, M. E.; Mathis-Ullrich, F.; Burgert, O.
2021. Current directions in biomedical engineering, 7 (1), 30–34. doi:10.1515/cdbme-2021-1007
epiTracker: A Framework for Highly Reliable Particle Tracking for the Quantitative Analysis of Fish Movements in Tanks
Bruch, R.; Scheikl, P. M.; Mikut, R.; Loosli, F.; Reischl, M.
2021. SLAS technology, 26 (4), 367–376. doi:10.1177/2472630320977454
Localizing neurosurgical instruments across domains and in the wild
Philipp, M.; Alperovich, A.; Gutt-Will, M.; Mathis, A.; Saur, S.; Raabe, A.; Mathis-Ullrich, F.
2021. Medical Imaging with Deep Learning : MIDL 2021 : Lübeck, Germany, 7 July 2021, 581–595
Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement Learning
Scheikl, P. M.; Gyenes, B.; Davitashvili, T.; Younis, R.; Schulze, A.; Müller-Stich, B. P.; Neumann, G.; Wagner, M.; Mathis-Ullrich, F.
2021. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 27 Sept.-1 Oct. 2021, 1859–1864, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS51168.2021.9636193
A Hybrid Deep Registration of MR Scans to Interventional Ultrasound for Neurosurgical Guidance
Zeineldin, R. A.; Karar, M. E.; Mathis-Ullrich, F.; Burgert, O.
2021. Machine Learning in Medical Imaging: 12th International Workshop, MLMI 2021, Held in Conjunction with MICCAI 2021, Strasbourg, France, September 27, 2021, Proceedings. Ed.: C. Lian, 586–595, Springer Verlag. doi:10.1007/978-3-030-87589-3_60
Multimodal Risk-Map for Navigation Planning in Neurosurgical Interventions
Gerst, M.; Kunz, C.; Henrich, P.; Mathis-Ullrich, F.
2021. New Trends in Medical and Service Robotics – MESROB 2020, [International Workshop on New Trends in Medical and Service Robots, Basel]. Ed.: G. Rauter, 183–191, Springer International Publishing. doi:10.1007/978-3-030-58104-6_21
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. doi:10.1007/s00464-021-08509-8
Augmented reality–assisted ventriculostomy
Schneider, M.; Kunz, C.; Pal’a, A.; Wirtz, C. R.; Mathis-Ullrich, F.; Hlaváč, M.
2021. Neurosurgical focus, 50 (1), Art.-Nr.: E16. doi:10.3171/2020.10.FOCUS20779
Multimodal Risk-based Path Planning for Neurosurgical Interventions
Kunz, C.; Gerst, M.; Henrich, P.; Schneider, M.; Hlavac, M.; Pala, A.; Mathis-Ullrich, F.
2021. Journal of medical devices. doi:10.1115/1.4049550
Robotik im Operationssaal – (Ko‑)Operieren mit Kollege Roboter
Mathis-Ullrich, F.; Scheikl, P. M.
2021. Der Gastroenterologe, 16, 25–34. doi:10.1007/s11377-020-00496-x
Multimodal Risk-Map for Navigation Planning in Neurosurgical Interventions
Kunz, C.; Gerst, M.; Henrich, P.; Mathis-Ullrich, F.
2021. New Trends in Medical and Service Robotics. Eds: G. Rauter, P. C. Cattin, A Zam, R. Riener, G. Carbone, D. Pisla, Springer
2020
Towards automated correction of brain shift using deep deformable magnetic resonance imaging-intraoperative ultrasound (MRI-iUS) registration
Zeineldin, R. A.; Karar, M. E.; Coburger, J.; Wirtz, C. R.; Mathis-Ullrich, F.; Burgert, O.
2020. Current directions in biomedical engineering, 6 (1). doi:10.1515/cdbme-2020-0039
Infrared marker tracking with the HoloLens for neurosurgical interventions
Kunz, C.; Maurer, P.; Kees, F.; Henrich, P.; Marzi, C.; Hlaváč, M.; Schneider, M.; Mathis-Ullrich, F.
2020. Current directions in biomedical engineering, 6 (1), Art.-Nr.: 20200027. doi:10.1515/cdbme-2020-0027
Deep learning for semantic segmentation of organs and tissues in laparoscopic surgery
Scheikl, P. M.; Laschewski, S.; Kisilenko, A.; Davitashvili, T.; Müller, B.; Capek, M.; Müller-Stich, B. P.; Wagner, M.; Mathis-Ullrich, F.
2020. Current directions in biomedical engineering, 6 (1), Article no: 20200016. doi:10.1515/cdbme-2020-0016
Autonomous guidewire navigation in a two dimensional vascular phantom
Karstensen, L.; Behr, T.; Pusch, T. P.; Mathis-Ullrich, F.; Stallkamp, J.
2020. Current directions in biomedical engineering, 6 (1), Art.Nr. 20200007. doi:10.1515/cdbme-2020-0007
Autonomous guidewire navigation using neural networks
Carstensen, L.; Behr, T.; Pusch, T.; Mathis-Ullrich, F.; Stallkamp, J.
2020. Biomedical engineering, 65 (s1), S61
Intraoperative motion patterns of surgical microscopes in neurosurgery
Philipp, M.; Mathis-Ullrich, F.
2020. Biomedical engineering, 65 (s1), S58-S62
Path Planning for Robotic Camera Guidance in Laparoscopy
Scheikl, P. M.; Zhebin, J.; Mathis-Ullrich, F.
2020. Biomedical engineering, 65 (s1)
A Simulation Environment for Visual Multi-Agent Reinforcement Learning in Robot-Assisted Laparoscopy
Scheikl, P. M.; Scheler, U.; Franke, N.; Mathis-Ullrich, F.
2020. Biomedical engineering, 65 (s1)
Augmented Reality in the Operating Room for Neurosurgical Interventions
Kunz, C.; Mathis-Ullrich, F.; Hein, B.
2020. The Upper-Rhine Artificial Intelligence Symposium, 13th May, Karlsruhe
Sheet-Metal Production Scheduling Using AlphaGo Zero
Rinciog, A.; Mieth, C.; Scheikl, P. M.; Meyer, A.
2020. Proceedings of the 1st Conference on Production Systems and Logistics (CPSL 2020), Stellenbosch, ZA, March 17-20, 2020. Ed.: P. Nyhuis, 342–352. doi:10.15488/9676
2019
Collaborative Control for Surgical Robots
Scheikl, P. M.; Lanz, D.; Mathis-Ullrich, F.
2019, May. IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2019), Montreal, Canada, May 20–24, 2019
A Mechatronic Interface for using Oblique-Viewing Endoscopes with Light Weight Robots for Laparoscopic Surgery
Petani, L.; Scheikl, P. M.; Mathis-Ullrich, F.
2019, May. IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2019), Montreal, Canada, May 20–24, 2019
Evaluation of Methods for Semantic Segmentation of Endoscopic Images
Bopp, B.; Scheikl, P. M.; Kunz, C.; Mathis-Ullrich, F.
2019, May. IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2019), Montreal, Canada, May 20–24, 2019
Metric-based evaluation of fiducial markers for medical procedures
Kunz, C.; Genten, V.; Meissner, P.; Hein, B.
2019. Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, CA, February 16-21, 2019. Ed.: B. Fei, 97, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2511720
Intraoperative Data Acquisition through Visual Sensing of Surgical Workflow
Marzi, C.; Raczkowsky, J.; Mathis-Ullrich, F.
2019. Tagungsband - 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. (CURAC 2019). Hrsg.: O. Burgert, 171–172, Hochschule
Evaluation of domain randomization techniques for transfer learning
Grün, S.; Honinger, S.; Scheikl, P. M.; Hein, B.; Kröger, T.
2019. 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte, Brasil, December 02-06, 2019, 481–486, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAR46387.2019.8981654
Analyzing Natural Language Commands during Laparoscopic Surgery for Robotic Camera Guidance
Scheikl, P. M.; Nigl, B.; Kunz, C.; Mathis-Ullrich, F.
2019. 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. - Tagungsband. Reutlingen, 19 - 21 September 2019. Hrsg.: O. Burgert, 29–31, Hochschule Reutlingen
Fast Volumetric Auto-Segmentation of Head CT Images in Emergency Situations for Ventricular Punctures
Kunz, C.; Henrich, P.; Scheikl, P. M.; Hlavac, M.; Schneider, M.; Heinz, W.; Hein, B.; Mathis-Ullrich, F.
2019. CURAC 2019 - 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Reutlingen, 19. - 21. September 2019. Hrsg.: O. Burgert, 41–46, Hochschule
Augmented reality-assisted ventricular puncture with marker-based scene registration
Kunz, C.; Schneider, M.; Hlavac, M.; Zenth, D.; Pylatiuk, C.; Hein, B.
2019. International journal of computer assisted radiology and surgery, 14 (Suppl. 1), S151-S152
2018
A Robotic Diathermy System for Automated Capsulotomy
Ullrich, F.; Lussi, J.; Chatzopoulos, V.; Michels, S.; Petruska, A. J.; Nelson, B. J.
2018. Journal of medical robotics research, 03 (01), Artikel: 1850001. doi:10.1142/S2424905X18500010
Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, 13 – 15 September 2018, 28–33, Universität Leipzig
A System for Augmented Reality Guided Ventricular Puncture Using a HoloLens: Design, Implementation and Initial Evaluation
Kunz, C.; Hlavac, M.; Schneider, M.; Hein, B.; Puljiz, D.; Peikert, S.
2018. CURAC 2018 - Tagungsband : 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. : 13.-15. September 2018, Leipzig. Hrsg: T. Neumuth, 132–137, Universität Leipzig
2016
Perforation forces of the intact porcine anterior lens capsule
Ullrich, F.; Lussi, J.; Felekis, D.; Michels, S.; Petruska, A. J.; Nelson, B. J.
2016. Journal of the mechanical behavior of biomedical materials, 62, 347–354. doi:10.1016/j.jmbbm.2016.05.007
Assistive Device for Efficient Intravitreal Injections
Ullrich, F.; Michels, S.; Lehmann, D.; Pieters, R. S.; Becker, M.; Nelson, B. J.
2016. Ophthalmic surgery, lasers & imaging retina, 47 (8), 752–762. doi:10.3928/23258160-20160808-09
Swimming characteristics of helical microrobots in fibrous environments
Ullrich, F.; Qiu, F.; Pokki, J.; Huang, T.; Pané, S.; Nelson, B. J.
2016. 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 26-29, 2016, UTown, Singapore, 470–475, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/BIOROB.2016.7523671
Automated Device for Intravitreal Injections
Ullrich, F.; Michels, S.; Becker, M.; Nelson, B. J.
2016. CURAC 2016 - Tagungsband : 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., 29.09.-01.10.2016, Bern. Ed.: Juan Ansó, 184–185, Der Andere Verlag
Mikrorobotik für die minimalinvasive Ophthalmochirurgie
Ullrich, F.; Nelson, B. J.
2016. Der Augenspiegel : Forum der Augenärzte, 62 (Januar), 32–35
2015
Magnetically actuated and guided milli-gripper for medical applications
Ullrich, F.; Dheman, K. S.; Schuerle, S.; Nelson, B. J.
2015. IEEE International Conference on Robotics and Automation (ICRA 2015) : Seattle, Washington, USA, 26 - 30 May 2015, 1751–1756, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2015.7139424
2014
Microrobots: a new era in ocular drug delivery
Fusco, S.; Ullrich, F.; Pokki, J.; Chatzipirpiridis, G.; Özkale, B.; Sivaraman, K. M.; Ergeneman, O.; Pané, S.; Nelson, B. J.
2014. Expert opinion on drug delivery, 11 (11), 1815–1826. doi:10.1517/17425247.2014.938633
Automated capsulorhexis based on a hybrid magnetic-mechanical actuation system
Ullrich, F.; Schuerle, S.; Pieters, R.; Dishy, A.; Michels, S.; Nelson, B. J.
2014. IEEE International Conference on Robotics and Automation IEEE ICRA 2014 : Hong Kong, China, 31 May - 7 June, 2014, 4387–4392, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2014.6907498
Automated Capsulorhexis using a Magnetic Mechanical Catheter Actuation System
Ullrich, F.; Felekis, D.; Nelson, B. J.
2014. Swiss Society of Biomedical Engineering Annual Meeting (2014), Zurich, Switzerland, August 27–28, 2014
Recent Progress in Magnetically Actuated Microrobotics for Ophthalmic Therapies
Ullrich, F.; Fusco, S.; Chatzipirpiridis, George; Pané, S.; Nelson, B. J.
2014. European Ophthalmic Review, 08 (02), 120–126. doi:10.17925/EOR.2014.08.02.120
2013
Mobility Experiments With Microrobots for Minimally Invasive Intraocular Surgery
Ullrich, F.; Bergeles, C.; Pokki, J.; Ergeneman, O.; Erni, S.; Chatzipirpiridis, G.; Pané, S.; Framme, C.; Nelson, B. J.
2013. Investigative ophthalmology & visual science, 54 (4), 2853–63. doi:10.1167/iovs.13-11825
2012
Non-contact, 3D magnetic biomanipulation for in vivo and in vitro applications
Sakar, M. S.; Schurle, S.; Erni, S.; Ullrich, F.; Pokki, J.; Frutiger, D. R.; Ergeneman, O.; Kratochvil, B. E.; Nelson, B. J.
2012. International Symposium on Optomechatronic Technologies (ISOT 2012) : Paris, France, 29 - 31 October 2012, 1–2, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ISOT.2012.6403292