Publications
2026 Peter R. , Oberschulte E. , Wu E. , Vaidya A. , Lindemeier T. , Tagliabue E. , Mathis-Ullrich F. :Generation of Controllable and Photorealistic Synthetic Cataract Surgery Images: Blending 3D Models and Real-World Data 10th International Workshop on Simulation and Synthesis in Medical Imaging, SASHIMI 2025, held in conjunction with the 28th International conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2025 (Daejeon, KOR 23. September 2025 - 23. September 2025 )In: Virginia Fernandez, Lianrui Zuo, Samuel W. Remedios, David Wiesner, Adrià Casamitjana (ed.): Lecture Notes in Computer Science 2026 10.1007/978-3-032-05573-6_10 2025 Briel M. , Haide L. , Hess M. , Schimmelpfennig J. , Matten P. , Peter R. , Hillenbrand M. , Tagliabue E. , Mathis-Ullrich F. :Intraoperative adaptive eye model based on instrument-integrated OCT for robot-assisted vitreoretinal surgery International Journal of Computer Assisted Radiology and Surgery 2025 ), Article No.: 100085 ISSN: 1861-6410 10.1007/s11548-025-03325-0 Gyenes B. , Franke N. , Scheikl P. , Henrich P. , Younis R. , Neumann G. , Wagner M. , Mathis-Ullrich F. :Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom IEEE Robotics and Automation Letters 2025 ), Article No.: 0b00006494228ca6 ISSN: 2377-3766 10.1109/LRA.2025.3585357 Henrich P. , Mathis-Ullrich F. :LOOC: Localizing Organs using Occupancy Networks and Body Surface Depth Images IEEE Access 2025 )ISSN: 2169-3536 10.1109/ACCESS.2025.3543736 Henrich P. , Mathis-Ullrich F. , Scheikl P. :LUDO: Low-Latency Understanding of Deformable Objects using Point Cloud Occupancy Functions IEEE Transactions on Robotics 2025 ), p. 1-18 ISSN: 1552-3098 10.1109/TRO.2025.3582837 Karstensen L. , Robertshaw H. , Hatzl J. , Jackson B. , Langejürgen J. , Breininger K. , Uhl C. , Sadati SM. , Booth T. , Bergeles C. , Mathis-Ullrich F. :Learning-based autonomous navigation, benchmark environments and simulation framework for endovascular interventions Computers in Biology and Medicine 196 2025 ), Article No.: 110844 ISSN: 0010-4825 10.1016/j.compbiomed.2025.110844 Lingelbach K. , Rips J. , Karstensen L. , Mathis-Ullrich F. , Vukelić M. :Evaluating robotic actions: spatiotemporal brain dynamics of performance assessment in robot-assisted laparoscopic training Frontiers in Neuroergonomics 6 2025 )ISSN: 2673-6195 10.3389/fnrgo.2025.1535799 Matasyoh NM. , Delev D. , Masalha W. , Mathis-Ullrich F. , Zeineldin R. :NeuroLens: organ localization using natural language commands for anatomical recognition in surgical training International Journal of Computer Assisted Radiology and Surgery 2025 )ISSN: 1861-6410 10.1007/s11548-025-03463-5 Moosa F. , Robertshaw H. , Karstensen L. , Booth TC. , Granados A. :Benchmarking reinforcement learning algorithms for autonomous mechanical thrombectomy International Journal of Computer Assisted Radiology and Surgery 2025 )ISSN: 1861-6410 10.1007/s11548-025-03360-x Robertshaw H. , Jackson B. , Wang J. , Sadati H. , Karstensen L. , Granados A. , Booth TC. :Reinforcement learning for safe autonomous two-device navigation of cerebral vessels in mechanical thrombectomy International Journal of Computer Assisted Radiology and Surgery 2025 )ISSN: 1861-6410 10.1007/s11548-025-03339-8 Schüßler A. , Kunz CP. , Younis R. , Alt B. , Paik J. , Wagner M. , Mathis-Ullrich F. :Semi-Autonomous Robotic Assistance for Gallbladder Retraction in Surgery IEEE Robotics and Automation Letters 2025 )ISSN: 2377-3766 10.1109/LRA.2025.3577430 2024 Alagi H. , Fischer N. , Behrends K. , Ftirst-Walter I. , Becker J. , Beigl M. , Mathis-Ullrich F. , Hein B. :Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 (Heidelberg 1. September 2024 - 4. September 2024 )In: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics 2024 10.1109/BioRob60516.2024.10719794 Fischer J. , Andreas D. , Beckerle P. , Mathis-Ullrich F. , Marzi C. :Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization Current Directions in Biomedical Engineering 10 2024 ), p. 17-20 ISSN: 2364-5504 10.1515/cdbme-2024-0105 Fischer N. , Ho P. , Marzi C. , Schuler P. , Mathis-Ullrich F. :A Laryngoscope with Shape Memory Actuation Current Directions in Biomedical Engineering 10 2024 ), p. 58-61 ISSN: 2364-5504 10.1515/cdbme-2024-1067 Henrich P. , Gyenes B. , Scheikl P. , Neumann G. , Mathis-Ullrich F. :Registered and Segmented Deformable Object Reconstruction from a Single View Point Cloud 2024 IEEE Winter Conference on Applications of Computer Vision, WACV 2024 (Waikoloa, HI 4. January 2024 - 8. January 2024 )In: Proceedings - 2024 IEEE Winter Conference on Applications of Computer Vision, WACV 2024 2024 10.1109/WACV57701.2024.00310 Henrich P. , Liu J. , Ge J. , Schmidgall S. , Shepard L. , Ghazi AE. , Mathis-Ullrich F. , Krieger A. :Tracking Tumors under Deformation from Partial Point Clouds using Occupancy Networks 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024 (Abu Dhabi 14. October 2024 - 18. October 2024 )In: IEEE International Conference on Intelligent Robots and Systems 2024 10.1109/IROS58592.2024.10802114 Kunz CP. , Kraus M. , Younis R. , Wagner M. , Mathis-Ullrich F. :Statistical Shape Models for Grasp Point Determination in Laparoscopic Surgeries Current Directions in Biomedical Engineering 10 2024 ), p. 41-44 ISSN: 2364-5504 10.1515/cdbme-2024-0111 Lemke HU. , Mathis-Ullrich F. :Design criteria for AI-based IT systems International Journal of Computer Assisted Radiology and Surgery 2024 )ISSN: 1861-6410 10.1007/s11548-024-03064-8 Matasyoh NM. , Mathis-Ullrich F. , Zeineldin R. :SAMSurg: Surgical Instrument Segmentation in Robotic Surgeries Using Vision Foundation Model IEEE Access 12 2024 ), p. 193950-193959 ISSN: 2169-3536 10.1109/ACCESS.2024.3520386 Matasyoh NM. , Schmidt R. , Zeineldin R. , Spetzger U. , Mathis-Ullrich F. :Interactive Surgical Training in Neuroendoscopy: Real-Time Anatomical Feature Localization using Natural Language Expressions IEEE Transactions on Biomedical Engineering 2024 ), p. 1-9 ISSN: 0018-9294 10.1109/TBME.2024.3405814 Matasyoh NM. , Zeineldin R. , Mathis-Ullrich F. :Optimising speech recognition using LLMs: an application in the surgical domain Current Directions in Biomedical Engineering 10 2024 ), p. 45-48 ISSN: 2364-5504 10.1515/cdbme-2024-0112 Peter R. , Moreira S. , Tagliabue E. , Hillenbrand M. , Nunes RG. , Mathis-Ullrich F. :Correction to: Stereo reconstruction from microscopic images for computer-assisted ophthalmic surgery(International Journal of Computer Assisted Radiology and Surgery, 10.1007/s11548-024-03177-0) International Journal of Computer Assisted Radiology and Surgery 2024 )ISSN: 1861-6410 10.1007/s11548-024-03270-4 Peter R. , Moreira S. , Tagliabue E. , Hillenbrand M. , Nunes RG. , Mathis-Ullrich F. :Stereo reconstruction from microscopic images for computer-assisted ophthalmic surgery International Journal of Computer Assisted Radiology and Surgery 2024 )ISSN: 1861-6410 10.1007/s11548-024-03177-0 Peter RC. , Peikert S. , Haide L. , Pham DXV. , Chettaoui T. , Tagliabue E. , Scheikl P. , Fauser J. , Hillenbrand M. , Neumann G. , Mathis-Ullrich F. :Lens Capsule Tearing in Cataract Surgery using Reinforcement Learning 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 (Yokohama 13. May 2024 - 17. May 2024 )In: Proceedings - IEEE International Conference on Robotics and Automation 2024 10.1109/ICRA57147.2024.10611714 Robertshaw H. , Karstensen L. , Jackson B. , Granados A. , Booth TC. :Autonomous navigation of catheters and guidewires in mechanical thrombectomy using inverse reinforcement learning International Journal of Computer Assisted Radiology and Surgery 2024 )ISSN: 1861-6410 10.1007/s11548-024-03208-w Scheikl P. , Schreiber N. , Haas C. , Freymuth N. , Neumann G. , Lioutikov R. , Mathis-Ullrich F. :Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects IEEE Robotics and Automation Letters 2024 ), p. 1-8 ISSN: 2377-3766 10.1109/LRA.2024.3382529 Schüßler A. , Younis R. , Paik J. , Wagner M. , Mathis-Ullrich F. , Kunz CP. :Interactive Surgical Liver Phantom for Cholecystectomy Training Current Directions in Biomedical Engineering 10 2024 ), p. 95-98 ISSN: 2364-5504 10.1515/cdbme-2024-1076 Younis R. , Yamlahi A. , Bodenstedt S. , Scheikl P. , Kisilenko A. , Daum M. , Schulze A. , Wise PA. , Nickel F. , Mathis-Ullrich F. , Maier-Hein L. , Müller-Stich BP. , Speidel S. , Distler M. , Weitz J. , Wagner M. :A surgical activity model of laparoscopic cholecystectomy for co-operation with collaborative robots Surgical Endoscopy 2024 )ISSN: 0930-2794 10.1007/s00464-024-10958-w Zeineldin R. , Karar ME. , Burgert O. , Mathis-Ullrich F. :NeuroIGN: Explainable Multimodal Image-Guided System for Precise Brain Tumor Surgery Journal of Medical Systems 48 2024 ), p. 25- ISSN: 0148-5598 10.1007/s10916-024-02037-3 Zeineldin R. , Karar ME. , Elshaer Z. , Coburger J. , Wirtz CR. , Burgert O. , Mathis-Ullrich F. :Explainable hybrid vision transformers and convolutional network for multimodal glioma segmentation in brain MRI Scientific Reports 14 2024 ), Article No.: 3713 ISSN: 2045-2322 10.1038/s41598-024-54186-7 Zeineldin R. , Mathis-Ullrich F. :Ensemble Learning and 3D Pix2Pix for Comprehensive Brain Tumor Analysis in Multimodal MRI Challenge on Brain Tumor Segmentation, BraTS 2023, International Challenge on Cross-Modality Domain Adaptation for Medical Image Segmentation, CrossMoDA 2023, held in conjunction with the Medical Image Computing for Computer Assisted Intervention Conference, MICCAI 2023 (Vancouver, BC, CAN 8. October 2023 - 12. October 2023 )In: Ujjwal Baid, Sylwia Malec, Spyridon Bakas, Reuben Dorent, Monika Pytlarz, Alessandro Crimi, Ruisheng Su, Navodini Wijethilake (ed.): Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2024 10.1007/978-3-031-76163-8_3 2023 Fischer N. , Becher M. , Holtge L. , Mathis-Ullrich F. :A Self-Assembling Extendable Tendon-Driven Continuum Robot With Variable Length IEEE Robotics and Automation Letters 8 2023 ), p. 8518-8524 ISSN: 2377-3766 10.1109/LRA.2023.3325781 Fischer N. , Knapp J. , Mathis-Ullrich F. :Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery At-Automatisierungstechnik 71 2023 ), p. 554-561 ISSN: 0178-2312 10.1515/auto-2023-0058 Fischer N. , Marzi C. , Meisenbacher K. , Kisilenko A. , Davitashvili T. , Wagner M. , Mathis-Ullrich F. :A sensorized modular training platform to reduce vascular damage in endovascular surgery International Journal of Computer Assisted Radiology and Surgery 2023 )ISSN: 1861-6410 10.1007/s11548-023-02935-w Fischer N. , Mathis-Ullrich F. :Compact flexible actuator based on a shape memory alloy for shaping surgical instruments At-Automatisierungstechnik 71 2023 ), p. 547-553 ISSN: 0178-2312 10.1515/auto-2023-0049 Karstensen L. , Ritter J. , Hatzl J. , Ernst F. , Langejürgen J. , Uhl C. , Mathis-Ullrich F. :Recurrent neural networks for generalization towards the vessel geometry in autonomous endovascular guidewire navigation in the aortic arch International Journal of Computer Assisted Radiology and Surgery 2023 )ISSN: 1861-6410 10.1007/s11548-023-02938-7 Marzi C. , Buck F. , Mathis-Ullrich F. :Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis At-Automatisierungstechnik 71 2023 ), p. 528-536 ISSN: 0178-2312 10.1515/auto-2023-0066 Rauter G. , Mathis-Ullrich F. :Special issue: Minimal-invasive robotics At-Automatisierungstechnik 71 2023 ), p. 503-504 ISSN: 0178-2312 10.1515/auto-2023-0098 Robertshaw H. , Karstensen L. , Jackson B. , Sadati H. , Rhode K. , Ourselin S. , Granados A. , Booth TC. :Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review Frontiers in Human Neuroscience 17 2023 ), Article No.: 1239374 ISSN: 1662-5161 10.3389/fnhum.2023.1239374 Zeineldin RA. , Junger D. , Mathis-Ullrich F. , Burgert O. :Development of an AI-driven system for neurosurgery with a usability study: a step towards minimal invasive robotics At-Automatisierungstechnik 71 2023 ), p. 537-546 ISSN: 0178-2312 10.1515/auto-2023-0061 Zeineldin RA. , Karar ME. , Mathis-Ullrich F. , Burgert O. :Self-supervised iRegNet for the Registration of Longitudinal Brain MRI of Diffuse Glioma Patients 8th International MICCAI Brainlesion Workshop, BrainLes 2022 (Singapore, SGP 18. September 2022 - 18. September 2022 )In: Spyridon Bakas, Ujjwal Baid, Bhakti Baheti, Alessandro Crimi, Sylwia Malec, Monika Pytlarz, Maximilian Zenk, Reuben Dorent (ed.): Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2023 10.1007/978-3-031-44153-0_3 2021 Gerst M. , Kunz C. , Henrich P. , Mathis-Ullrich F. :Multimodal risk-map for navigation planning in neurosurgical interventions In: Mechanisms and Machine Science 2021 10.1007/978-3-030-58104-6_21 Kunz C. , Gerst M. , Henrich P. , Schneider M. , Hlavac M. , Pala A. , Mathis-Ullrich F. :Multimodal risk-based path planning for neurosurgical interventions Journal of Medical Devices-Transactions of the Asme 15 2021 ), Article No.: 011108 ISSN: 1932-6181 10.1115/1.4049550 Kunz C. , Hlavac M. , Schneider M. , Pal'a A. , Henrich P. , Jickeli B. , Wörn H. , Hein B. , Wirtz CR. , Mathis-Ullrich F. :Autonomous Planning and Intraoperative Augmented Reality Navigation for Neurosurgery IEEE Transactions on Medical Robotics and Bionics 3 2021 ), p. 738-749 ISSN: 2576-3202 10.1109/TMRB.2021.3091184 2020
