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2025

2024

Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User StudyHosam Alagi, Nikola Fischer, Kai Behrends, Iris Fürst-Walter, Jürgen Becker, Michael Beigl, Franziska Mathis-Ullrich, Björn Hein. biorob 2024: 889-894 [doi]

Registered and Segmented Deformable Object Reconstruction from a Single View Point CloudPit Henrich, Balázs Gyenes, Paul Maria Scheikl, Gerhard Neumann, Franziska Mathis-Ullrich. wacv 2024: 3117-3126 [doi]

Tracking Tumors under Deformation from Partial Point Clouds using Occupancy NetworksPit Henrich, Jiawei Liu, Jiawei Ge, Samuel Schmidgall, Lauren Shepard, Ahmed Ezzat Ghazi, Franziska Mathis-Ullrich, Axel Krieger. iros 2024: 7227-7234 [doi]

Design criteria for AI-based IT systemsHeinz U. Lemke, Franziska Mathis-Ullrich. cars, 19(2):185-190, February 2024. [doi]

SAMSurg: Surgical Instrument Segmentation in Robotic Surgeries Using Vision Foundation ModelNevin M. Matasyoh, Franziska Mathis-Ullrich, Ramy A. Zeineldin. access, 12:193950-193959, 2024. [doi]

Interactive Surgical Training in Neuroendoscopy: Real-Time Anatomical Feature Localization Using Natural Language ExpressionsNevin M. Matasyoh, Rüdiger Schmidt, Ramy A. Zeineldin, Uwe Spetzger, Franziska Mathis-Ullrich. tbe, 71(10):2991-2999, October 2024. [doi]

Lens Capsule Tearing in Cataract Surgery using Reinforcement LearningRebekka Charlotte Peter, Steffen Peikert, Ludwig Haide, Doan Xuan Viet Pham, Tahar Chettaoui, Eleonora Tagliabue, Paul Maria Scheikl, Johannes Fauser, Matthias Hillenbrand, Gerhard Neumann, Franziska Mathis-Ullrich. icra 2024: 15501-15508 [doi]

Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable ObjectsPaul Maria Scheikl, Nicolas Schreiber, Christoph Haas, Niklas Freymuth, Gerhard Neumann, Rudolf Lioutikov, Franziska Mathis-Ullrich. ral, 9(6):5338-5345, June 2024. [doi]

NeuroIGN: Explainable Multimodal Image-Guided System for Precise Brain Tumor SurgeryRamy A. Zeineldin, Mohamed E. Karar, Oliver Burgert, Franziska Mathis-Ullrich. jms, 48(1):25, December 2024. [doi]

2023

Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgeryNikola Fischer, Johannes Knapp, Franziska Mathis-Ullrich. at, 71(7):554-561, July 2023. [doi]

A Self-Assembling Extendable Tendon-Driven Continuum Robot With Variable LengthNikola Fischer, Matthias Becher, Lasse Höltge, Franziska Mathis-Ullrich. ral, 8(12):8518-8524, December 2023. [doi]

Compact flexible actuator based on a shape memory alloy for shaping surgical instrumentsNikola Fischer, Franziska Mathis-Ullrich. at, 71(7):547-553, July 2023. [doi]

A sensorized modular training platform to reduce vascular damage in endovascular surgeryNikola Fischer, Christian Marzi, Katrin Meisenbacher, Anna Kisilenko, Tornike Davitashvili, Martin Wagner, Franziska Mathis-Ullrich. cars, 18(9):1687-1695, September 2023. [doi]

A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton InterfacesNikola Fischer, Hosam Alagi, Michael Beigl, Björn Hein, Franziska Mathis-Ullrich. humanoids 2023: 1-7 [doi]

Recurrent neural networks for generalization towards the vessel geometry in autonomous endovascular guidewire navigation in the aortic archLennart Karstensen, Jacqueline Ritter, Johannes Hatzl, Floris Ernst, Jens Langejürgen, Christian Uhl, Franziska Mathis-Ullrich. cars, 18(9):1735-1744, September 2023. [doi]

Grounding Graph Network Simulators using Physical Sensor ObservationsJonas Linkerhägner, Niklas Freymuth, Paul Maria Scheikl, Franziska Mathis-Ullrich, Gerhard Neumann. iclr 2023: [doi]

Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysisChristian Marzi, Felix Buck, Franziska Mathis-Ullrich. at, 71(7):528-536, July 2023. [doi]

Special issue: Minimal-invasive roboticsGeorg Rauter, Franziska Mathis-Ullrich. at, 71(7):503-504, July 2023. [doi]

Sim-to-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted SurgeryPaul Maria Scheikl, Eleonora Tagliabue, Balázs Gyenes, Martin Wagner, Diego Dall'Alba, Paolo Fiorini, Franziska Mathis-Ullrich. ral, 8(2):560-567, 2023. [doi]

LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic SurgeryPaul Maria Scheikl, Balázs Gyenes, Rayan Younis, Christoph Haas, Gerhard Neumann, Martin Wagner 0001, Franziska Mathis-Ullrich. jmlr, 24, 2023. [doi]

Comparative validation of machine learning algorithms for surgical workflow and skill analysis with the HeiChole benchmarkMartin Wagner, Beat P. Müller-Stich, Anna Kisilenko, Duc Tran, Patrick Heger, Lars Mündermann, David M. Lubotsky, Benjamin Müller, Tornike Davitashvili, Manuela Capek, Annika Reinke, Carissa Reid, Tong Yu 0009, Armine Vardazaryan, Chinedu Innocent Nwoye, Nicolas Padoy, Xinyang Liu, Eung-Joo Lee, Constantin Disch, Hans Meine, Tong Xia, Fucang Jia, Satoshi Kondo, Wolfgang Reiter, Yueming Jin, Yonghao Long, Meirui Jiang, Qi Dou 0001, Pheng-Ann Heng, Isabell Twick, Kadir Kirtaç, Enes Hosgor, Jon Lindström Bolmgren, Michael Stenzel, Björn von Siemens, Long Zhao, Zhenxiao Ge, Haiming Sun, Di Xie, Mengqi Guo, Daochang Liu, Hannes Götz Kenngott, Felix Nickel, Moritz von Frankenberg, Franziska Mathis-Ullrich, Annette Kopp-Schneider, Lena Maier-Hein, Stefanie Speidel, Sebastian Bodenstedt. mia, 86:102770, May 2023. [doi]

Ensemble Learning and 3D Pix2Pix for Comprehensive Brain Tumor Analysis in Multimodal MRIRamy A. Zeineldin, Franziska Mathis-Ullrich. miccai 2024: 24-34 [doi]

Development of an AI-driven system for neurosurgery with a usability study: a step towards minimal invasive roboticsRamy A. Zeineldin, Denise Junger, Franziska Mathis-Ullrich, Oliver Burgert. at, 71(7):537-546, July 2023. [doi]

2022

LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic ScenesBenjamin Alt, Christian Kunz, Darko Katic, Rayan Younis, Rainer Jäkel, Beat Peter Müller-Stich, Martin Wagner, Franziska Mathis-Ullrich. iros 2022: 5265-5270 [doi]

Segmentation of the mouse skull for MRI guided transcranial focused ultrasound therapy planningTorsten Hopp, Luca Springer, Carl Gross, Saskia Grudzenski-Theis, Franziska Mathis-Ullrich, Nicole V. Ruiter. miigp 2022: [doi]

Learning-based autonomous vascular guidewire navigation without human demonstration in the venous system of a porcine liverLennart Karstensen, Jacqueline Ritter, Johannes Hatzl, Torben Pätz, Jens Langejürgen, Christian Uhl, Franziska Mathis-Ullrich. cars, 17(11):2033-2040, 2022. [doi]

Capacitive Proximity Sensor for Non-Contact Endoscope LocalizationChristian Marzi, Hosam Alagi, Olivia Rau, Jochen Hampe, Jan G. Korvink, Björn Hein, Franziska Mathis-Ullrich. icra 2022: 9614-9620 [doi]

Automated Linear and Non-Linear Path Planning for Neurosurgical InterventionsSteffen Peikert, Christian Kunz, Nikola Fischer, Michal Hlavác, Andrej Pala, Max Schneider, Franziska Mathis-Ullrich. icra 2022: 7731-7737 [doi]

Dynamic CNNs using uncertainty to overcome domain generalization for surgical instrument localizationMarkus Philipp, Anna Alperovich, Marielena Gutt-Will, Andrea Mathis, Stefan Saur, Andreas Raabe, Franziska Mathis-Ullrich. wacv 2022: 1727-1736 [doi]

From Chairs To Brains: Customizing Optical Flow For Surgical Activity LocalizationMarkus Philipp, Neal Bacher, Stefan Saur, Franziska Mathis-Ullrich, Andrés Bruhn. isbi 2022: 1-5 [doi]

Self-supervised iRegNet for the Registration of Longitudinal Brain MRI of Diffuse Glioma PatientsRamy A. Zeineldin, Mohamed E. Karar, Franziska Mathis-Ullrich, Oliver Burgert. brainles-ws 2023: 25-34 [doi]

Multimodal CNN Networks for Brain Tumor Segmentation in MRI: A BraTS 2022 Challenge SolutionRamy A. Zeineldin, Mohamed E. Karar, Oliver Burgert, Franziska Mathis-Ullrich. brainles-ws 2023: 127-137 [doi]

Explainability of deep neural networks for MRI analysis of brain tumorsRamy A. Zeineldin, Mohamed E. Karar, Ziad Elshaer, Jan Coburger, Christian Rainer Wirtz, Oliver Burgert, Franziska Mathis-Ullrich. cars, 17(9):1673-1683, 2022. [doi]

2021

Localizing Neurosurgical Instruments Across Domains and in the WildMarkus Philipp, Anna Alperovich, Marielena Gutt-Will, Andrea Mathis, Stefan Saur, Andreas Raabe, Franziska Mathis-Ullrich. midl 2021: 581-595 [doi]

Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement LearningPaul Maria Scheikl, Balázs Gyenes, Tornike Davitashvili, Rayan Younis, André Schulze, Beat P. Müller-Stich, Gerhard Neumann, Martin Wagner, Franziska Mathis-Ullrich. iros 2021: 1859-1864 [doi]

A Hybrid Deep Registration of MR Scans to Interventional Ultrasound for Neurosurgical GuidanceRamy A. Zeineldin, Mohamed E. Karar, Franziska Mathis-Ullrich, Oliver Burgert. miccai 2021: 586-595 [doi]

Ensemble CNN Networks for GBM Tumors Segmentation Using Multi-parametric MRIRamy A. Zeineldin, Mohamed E. Karar, Franziska Mathis-Ullrich, Oliver Burgert. brainles-ws 2022: 473-483 [doi]

iRegNet: Non-Rigid Registration of MRI to Interventional US for Brain-Shift Compensation Using Convolutional Neural NetworksRamy A. Zeineldin, Mohamed E. Karar, Ziad Elshaer, Markus Schmidhammer, Jan Coburger, Christian Rainer Wirtz, Oliver Burgert, Franziska Mathis-Ullrich. access, 9:147579-147590, 2021. [doi]

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