Publications

2026

• Bombieri M., Huaulme A., Cleary K., Giannarou S., Kronreif G., Mathis-Ullrich F., Mazomenos E., Nyangoh Timoh K., Pfeiffer M., Zenati MA., Fiorini P., Jannin P.:
  Interdisciplinary Dialogues on Surgical Data Science: Revising Its Benefits for Surgical Stakeholders and Patients
  In: IEEE Transactions on Medical Robotics and Bionics 8 (2026), p. 288-295
  ISSN: 2576-3202
  DOI: 10.1109/TMRB.2025.3643994
• Briel M., Haide L., Reincke M., Peter R., Piccinelli N., Kronreif G., Mathis-Ullrich F., Tagliabue E.:
  Robust distance estimation with out-of-distribution detection in ophthalmic surgery
  In: IEEE Transactions on Biomedical Engineering (2026)
  ISSN: 0018-9294
  DOI: 10.1109/TBME.2026.3661297
• Briel M., Haide L., Weber T., Jungo A., Piccinelli N., Kronreif G., Mathis-Ullrich F., Tagliabue E.:
  Intraoperative fusion of models and data for robust distance sensing
  In: International Journal of Computer Assisted Radiology and Surgery (2026)
  ISSN: 1861-6410
  DOI: 10.1007/s11548-026-03615-1
• Nienhaus J., Peter R., Kapeller F., Dettelbacher K., Sentosa R., Tagliabue E., Roodaki H., Drexler W., Schlegl T., Mathis-Ullrich F., Schmoll T., Leitgeb R.:
  PASO: A Multipurpose Porcine Anterior Segment Dataset Featuring Spectral and Reconstructed OCT Volume Scans and Surgical Instrument Segmentation Masks
  12th International Workshop on Ophthalmic Medical Image Analysis, OMIA 2025, Held in Conjunction with 28th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2025 (Daejeon, KOR, 27. September 2025 - 27. September 2025)
  In: Huihui Fang, Meng Wang, Heng Li, Hao Chen, Hrvoje Bogunovic, Cecilia S. Lee (ed.): Lecture Notes in Computer Science 2026
  DOI: 10.1007/978-3-032-10351-2_13
• Peter R., Oberschulte E., Vaidya A., Lindemeier T., Mathis-Ullrich F., Tagliabue E.:
  Rectification of Cornea Induced Distortions in Microscopic Images for Assisted Ophthalmic Surgery
  In: IEEE transactions on bio-medical engineering (2026)
  ISSN: 1558-2531
  DOI: 10.1109/TBME.2026.3656209
• 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
  DOI: 10.1007/978-3-032-05573-6_10
• Peter R., Pham DXV., Matten P., Wu E., Nienhaus J., Meissen F., Menten MJ., Tagliabue E., Mathis-Ullrich F.:
  Domain-agnostic weakly supervised surgical instrument segmentation
  In: Scientific Reports 16 (2026), Article No.: 9337
  ISSN: 2045-2322
  DOI: 10.1038/s41598-026-43054-1
• Robertshaw H., Barnes A., Blakelock P., Blanc R., Crossley R., Fahrig R., Hassan AE., Jackson B., Karstensen L., Kaur N., Kowarschik M., Lynch J., Mathis-Ullrich F., Meglan D., Pereira VM., Ourak M., Pantano M., Sadati SM., Taylor-Gee A., Vercauteren T., White P., Granados A., Booth TC.:
  A Position Statement on Endovascular Models and Effectiveness Metrics for Mechanical Thrombectomy Navigation, on Behalf of the Stakeholder Taskforce for Artificial Intelligence-Assisted Robotic Thrombectomy (START)
  In: Journal of the American Heart Association 15 (2026), p. e044931-
  ISSN: 2047-9980
  DOI: 10.1161/JAHA.125.044931
• Robertshaw H., Fischer N., Karstensen L., Jackson B., Chen X., Sadati H., Bergeles C., Granados A., Booth TC.:
  Toward AI Autonomous Navigation for Mechanical Thrombectomy Using Hierarchical Modular Multi-Agent Reinforcement Learning (HM-MARL)
  In: IEEE Robotics and Automation Letters (2026)
  ISSN: 2377-3766
  DOI: 10.1109/LRA.2026.3664661

2025

• Briel M., Haide L., Emmrich J., Piccinelli N., Kronreif G., Tagliabue E., Mathis-Ullrich F.:
  Intraoperative 3D Reconstruction and Geometric Modeling Using Sensorized Microsurgical Instruments
  In: IEEE Transactions on Medical Robotics and Bionics (2025)
  ISSN: 2576-3202
  DOI: 10.1109/TMRB.2025.3604119
• 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
  In: International Journal of Computer Assisted Radiology and Surgery (2025), Article No.: 100085
  ISSN: 1861-6410
  DOI: 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
  In: IEEE Robotics and Automation Letters (2025), Article No.: 0b00006494228ca6
  ISSN: 2377-3766
  DOI: 10.1109/LRA.2025.3585357
• Henrich P., Mathis-Ullrich F.:
  LOOC: Localizing Organs using Occupancy Networks and Body Surface Depth Images
  In: IEEE Access (2025)
  ISSN: 2169-3536
  DOI: 10.1109/ACCESS.2025.3543736
• Henrich P., Mathis-Ullrich F., Scheikl P.:
  LUDO: Low-Latency Understanding of Deformable Objects using Point Cloud Occupancy Functions
  In: IEEE Transactions on Robotics (2025), p. 1-18
  ISSN: 1552-3098
  DOI: 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
  In: Computers in Biology and Medicine 196 (2025), Article No.: 110844
  ISSN: 0010-4825
  DOI: 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
  In: Frontiers in Neuroergonomics 6 (2025)
  ISSN: 2673-6195
  DOI: 10.3389/fnrgo.2025.1535799
• Matasyoh NM., Delev D., Masalha W., Mathis-Ullrich F., Zeineldin R.:
  Correction: NeuroLens: organ localization using natural language commands for anatomical recognition in surgical training (International Journal of Computer Assisted Radiology and Surgery, (2025), 20, 8, (1623-1632), 10.1007/s11548-025-03463-5)
  In: International Journal of Computer Assisted Radiology and Surgery (2025)
  ISSN: 1861-6410
  DOI: 10.1007/s11548-025-03519-6
• Matasyoh NM., Delev D., Masalha W., Mathis-Ullrich F., Zeineldin R.:
  NeuroLens: organ localization using natural language commands for anatomical recognition in surgical training
  In: International Journal of Computer Assisted Radiology and Surgery (2025)
  ISSN: 1861-6410
  DOI: 10.1007/s11548-025-03463-5
• Moosa F., Robertshaw H., Karstensen L., Booth TC., Granados A.:
  Benchmarking reinforcement learning algorithms for autonomous mechanical thrombectomy
  In: International Journal of Computer Assisted Radiology and Surgery (2025)
  ISSN: 1861-6410
  DOI: 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
  In: International Journal of Computer Assisted Radiology and Surgery (2025)
  ISSN: 1861-6410
  DOI: 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
  In: IEEE Robotics and Automation Letters (2025)
  ISSN: 2377-3766
  DOI: 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
  DOI: 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
  In: Current Directions in Biomedical Engineering 10 (2024), p. 17-20
  ISSN: 2364-5504
  DOI: 10.1515/cdbme-2024-0105
• Fischer N., Ho P., Marzi C., Schuler P., Mathis-Ullrich F.:
  A Laryngoscope with Shape Memory Actuation
  In: Current Directions in Biomedical Engineering 10 (2024), p. 58-61
  ISSN: 2364-5504
  DOI: 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
  DOI: 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
  DOI: 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
  In: Current Directions in Biomedical Engineering 10 (2024), p. 41-44
  ISSN: 2364-5504
  DOI: 10.1515/cdbme-2024-0111
• Lemke HU., Mathis-Ullrich F.:
  Design criteria for AI-based IT systems
  In: International Journal of Computer Assisted Radiology and Surgery (2024)
  ISSN: 1861-6410
  DOI: 10.1007/s11548-024-03064-8
• Matasyoh NM., Mathis-Ullrich F., Zeineldin R.:
  SAMSurg: Surgical Instrument Segmentation in Robotic Surgeries Using Vision Foundation Model
  In: IEEE Access 12 (2024), p. 193950-193959
  ISSN: 2169-3536
  DOI: 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
  In: IEEE Transactions on Biomedical Engineering (2024), p. 1-9
  ISSN: 0018-9294
  DOI: 10.1109/TBME.2024.3405814
• Matasyoh NM., Zeineldin R., Mathis-Ullrich F.:
  Optimising speech recognition using LLMs: an application in the surgical domain
  In: Current Directions in Biomedical Engineering 10 (2024), p. 45-48
  ISSN: 2364-5504
  DOI: 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)
  In: International Journal of Computer Assisted Radiology and Surgery (2024)
  ISSN: 1861-6410
  DOI: 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
  In: International Journal of Computer Assisted Radiology and Surgery (2024)
  ISSN: 1861-6410
  DOI: 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
  DOI: 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
  In: International Journal of Computer Assisted Radiology and Surgery (2024)
  ISSN: 1861-6410
  DOI: 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
  In: IEEE Robotics and Automation Letters (2024), p. 1-8
  ISSN: 2377-3766
  DOI: 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
  In: Current Directions in Biomedical Engineering 10 (2024), p. 95-98
  ISSN: 2364-5504
  DOI: 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
  In: Surgical Endoscopy (2024)
  ISSN: 0930-2794
  DOI: 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
  In: Journal of Medical Systems 48 (2024), p. 25-
  ISSN: 0148-5598
  DOI: 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
  In: Scientific Reports 14 (2024), Article No.: 3713
  ISSN: 2045-2322
  DOI: 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
  DOI: 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
  In: IEEE Robotics and Automation Letters 8 (2023), p. 8518-8524
  ISSN: 2377-3766
  DOI: 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
  In: At-Automatisierungstechnik 71 (2023), p. 554-561
  ISSN: 0178-2312
  DOI: 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
  In: International Journal of Computer Assisted Radiology and Surgery (2023)
  ISSN: 1861-6410
  DOI: 10.1007/s11548-023-02935-w
• Fischer N., Mathis-Ullrich F.:
  Compact flexible actuator based on a shape memory alloy for shaping surgical instruments
  In: At-Automatisierungstechnik 71 (2023), p. 547-553
  ISSN: 0178-2312
  DOI: 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
  In: International Journal of Computer Assisted Radiology and Surgery (2023)
  ISSN: 1861-6410
  DOI: 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
  In: At-Automatisierungstechnik 71 (2023), p. 528-536
  ISSN: 0178-2312
  DOI: 10.1515/auto-2023-0066
• Rauter G., Mathis-Ullrich F.:
  Special issue: Minimal-invasive robotics
  In: At-Automatisierungstechnik 71 (2023), p. 503-504
  ISSN: 0178-2312
  DOI: 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
  In: Frontiers in Human Neuroscience 17 (2023), Article No.: 1239374
  ISSN: 1662-5161
  DOI: 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
  In: At-Automatisierungstechnik 71 (2023), p. 537-546
  ISSN: 0178-2312
  DOI: 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
  DOI: 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
  DOI: 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
  In: Journal of Medical Devices-Transactions of the Asme 15 (2021), Article No.: 011108
  ISSN: 1932-6181
  DOI: 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
  In: IEEE Transactions on Medical Robotics and Bionics 3 (2021), p. 738-749
  ISSN: 2576-3202
  DOI: 10.1109/TMRB.2021.3091184

2020

• Kunz C., Maurer P., Kees F., Henrich P., Marzi C., Hlaváč M., Schneider M., Mathis-Ullrich F.:
  Infrared marker tracking with the HoloLens for neurosurgical interventions
  In: Current Directions in Biomedical Engineering 6 (2020), Article No.: 20200027
  ISSN: 2364-5504
  DOI: 10.1515/cdbme-2020-0027