RobUSt - Robotics and Ultrasound Team

About

The robotics and ultrasound team (RobUSt) at the CAMP chair aims to shape autonomous and intelligent solutions for the future healthcare industry by focusing on the joint field of robotics and ultrasound image analysis. To accomplish such interdisciplinary tasks, we need to develop advanced machine learning techniques to improve the understanding of images and scenes (ultrasound images, MRI, CT, RGB-D images, etc), shared control to improve the safety and better human-robotic interaction performance, robotic learning to learn and encode the operational skills from experienced clinicians. Currently, the clinical applications include scanning of limb arteries, thyroid, spine/bone, and abdominal. The RobUSt group is based in Klinikum Rechts der Isar, which allows close cooperation with clinicians to really impact future clinical practices.

Contact Person / Group Coordination

Zhongliang Jiang (zl.jiang@tum.de)

Group Members

Research Partners

Research Partner

  • Imperial College London
  • DLR
  • Brainlab
  • ImFusion
  • Klinikum Recht Der Isar 
  • Deutsches Herzzentrum München
  • Klinik für Gefäßchirurgie – Helios Klinikum München West

Publications

2024

  • Azampour, Mohammad Farid; Mach, Kristina; Fatemizadeh, Emad; Demiray, Beatrice; Westenfelder, Kay; Steiger, Katja; Eiber, Matthias; Wendler, Thomas; Kainz, Bernhard; Navab, Nassir: Multitask Weakly Supervised Generative Network for MR-US Registration. IEEE Transactions on Medical Imaging, 2024, 1-1 mehr…
  • Azampour, Mohammad Farid; Velikova, Yordanka; Fatemizadeh, Emad; Dakua, Sarada Prasad; Navab, Nassir: Self-supervised Probe Pose Regression via Optimized Ultrasound Representations for US-CT Fusion. In: Lecture Notes in Electrical Engineering. Springer Nature Singapore, 2024 mehr…
  • Bi, Yuan; Jiang, Zhongliang; Duelmer, Felix; Huang, Dianye; Navab, Nassir: Machine Learning in Robotic Ultrasound Imaging: Challenges and Perspectives. Annual Review of Control, Robotics, and Autonomous Systems 7 (1), 2024, 335-357 mehr…
  • Bi, Yuan; Jiang, Zhongliang; Duelmer, Felix; Huang, Dianye; Navab, Nassir: Machine Learning in Robotic Ultrasound Imaging: Challenges and Perspectives. Annual Review of Control, Robotics, and Autonomous Systems 7 (1), 2024 mehr…
  • Gafencu, Miruna-Alexandra; Velikova, Yordanka; Saleh, Mahdi; Ungi, Tamas; Navab, Nassir; Wendler, Thomas; Azampour, Mohammad Farid: Shape completion in the dark: completing vertebrae morphology from 3D ultrasound. International Journal of Computer Assisted Radiology and Surgery 19 (7), 2024, 1339-1347 mehr…
  • Huang, Dianye; Yang, Chenguang; Zhou, Mingchuan; Karlas, Angelos; Navab, Nassir; Jiang, Zhongliang: Robot-Assisted Deep Venous Thrombosis Ultrasound Examination Using Virtual Fixture. IEEE Transactions on Automation Science and Engineering, 2024, 1-12 mehr…
  • Jiang, Zhongliang; Bi, Yuan; Zhou, Mingchuan; Hu, Ying; Burke, Michael; Navab, Nassir: Intelligent robotic sonographer: Mutual information-based disentangled reward learning from few demonstrations. The International Journal of Robotics Research, 2024 mehr…
  • Jiang, Zhongliang; Bi, Yuan; Zhou, Mingchuan; Hu, Ying; Burke, Michael; Navab, Nassir: Intelligent robotic sonographer: Mutual information-based disentangled reward learning from few demonstrations. The International Journal of Robotics Research 43 (7), 2024, 981-1002 mehr…
  • Jiang, Zhongliang; Duelmer, Felix; Navab, Nassir: DopUS-Net: Quality-Aware Robotic Ultrasound Imaging Based on Doppler Signal. IEEE Transactions on Automation Science and Engineering 21 (3), 2024, 3229-3242 mehr…
  • Jiang, Zhongliang; Kang, Yunfeng; Bi, Yuan; Li, Xuesong; Li, Chenyang; Navab, Nassir: Class-Aware Cartilage Segmentation for Autonomous US-CT Registration in Robotic Intercostal Ultrasound Imaging. IEEE Transactions on Automation Science and Engineering, 2024, 1-13 mehr…
  • Li, Jun; Su, Tongkun; Zhao, Baoliang; Lv, Faqin; Wang, Qiong; Navab, Nassir; Hu, Ying; Jiang, Zhongliang: Ultrasound Report Generation with Cross-Modality Feature Alignment via Unsupervised Guidance. IEEE Transactions on Medical Imaging, 2024, 1-1 mehr…
  • Wang, Cheng; Guo, Li; Zhu, Jianjun; Zhu, Lifeng; Li, Chichi; Zhu, Haidong; Song, Aiguo; Lu, Ligong; Teng, Gao-Jun; Navab, Nassir; Jiang, Zhongliang: Review of robotic systems for thoracoabdominal puncture interventional surgery. APL Bioengineering 8 (2), 2024 mehr…
  • Wang, Fanghao; Zhang, Youchao; Jin, Daoyuan; Jiang, Zhongliang; Liu, Yaqian; Knoll, Alois; Jiang, Huanyu; Ying, Yibin; Zhou, Mingchuan: Magnetic Soft Microrobot Design for Cell Grasping and Transportation. Cyborg and Bionic Systems 5, 2024 mehr…

2023

  • Azampour, Mohammad Farid; Tirindelli, Maria; Lameski, Jane; Gafencu, Miruna; Tagliabue, Eleonora; Fatemizadeh, Emad; Hacihaliloglu, Ilker; Navab, Nassir: Anatomy‐aware computed tomography‐to‐ultrasound spine registration. Medical Physics 51 (3), 2023, 2044-2056 mehr…
  • Bi, Yuan; Jiang, Zhongliang; Clarenbach, Ricarda; Ghotbi, Reza; Karlas, Angelos; Navab, Nassir: MI-SegNet: Mutual Information-Based US Segmentation for Unseen Domain Generalization. In: Lecture Notes in Computer Science. Springer Nature Switzerland, 2023 mehr…
  • Bi, Yuan; Jiang, Zhongliang; Clarenbach, Ricarda; Ghotbi, Reza; Karlas, Angelos; Navab, Nassir: MI-SegNet: Mutual Information-Based US Segmentation for Unseen Domain Generalization. In: MICCAI. Springer Nature Switzerland, 2023 mehr…
  • Huang, Dianye; Bi, Yuan; Navab, Nassir; Jiang, Zhongliang: Motion Magnification in Robotic Sonography: Enabling Pulsation-Aware Artery Segmentation. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2023 mehr…
  • Huang, Dianye; Bi, Yuan; Navab, Nassir; Jiang, Zhongliang: Motion Magnification in Robotic Sonography: Enabling Pulsation-Aware Artery Segmentation. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2023 mehr…
  • Jiang, Zhongliang; Li, Chenyang; Lil, Xuesong; Navab, Nassir: Thoracic Cartilage Ultrasound-CT Registration Using Dense Skeleton Graph. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2023 mehr…
  • Jiang, Zhongliang; Li, Xuesong; Zhang, Chenyu; Bi, Yuan; Stechele, Walter; Navab, Nassir: Skeleton Graph-Based Ultrasound-CT Non-Rigid Registration. IEEE Robotics and Automation Letters 8 (8), 2023, 4394-4401 mehr…
  • Jiang, Zhongliang; Salcudean, Septimiu E.; Navab, Nassir: Robotic ultrasound imaging: State-of-the-art and future perspectives. Medical Image Analysis 89, 2023, 102878 mehr…
  • Jiang, Zhongliang; Zhou, Yue; Cao, Dongliang; Navab, Nassir: DefCor-Net: Physics-aware ultrasound deformation correction. Medical Image Analysis 90, 2023, 102923 mehr…
  • Mozafari, Mohammad; Bitarafan, Adeleh; Azampour, Mohammad Farid; Farshad, Azade; Soleymani Baghshah, Mahdieh; Navab, Nassir: VISA-FSS: A Volume-Informed Self Supervised Approach for Few-Shot 3D Segmentation. In: Lecture Notes in Computer Science. Springer Nature Switzerland, 2023 mehr…
  • Ning, Guochen; Liang, Hanyin; Jiang, Zhongliang; Zhang, Hui; Liao, Hongen: The potential of 'Segment Anything' (SAM) for universal intelligent ultrasound image guidance. BioScience Trends 17 (3), 2023, 230-233 mehr…
  • Velikova, Yordanka; Azampour, Mohammad Farid; Simson, Walter; Gonzalez Duque, Vanessa; Navab, Nassir: LOTUS: Learning to Optimize Task-Based US Representations. In: Lecture Notes in Computer Science. Springer Nature Switzerland, 2023 mehr…
  • Wysocki, Magdalena; Azampour, Mohammad Farid; Eilers, Christine; Busam, Benjamin; Salehi, Mehrdad; Navab, Nassir: Ultra-NeRF: Neural Radiance Fields for Ultrasound Imaging. 2023 mehr…
  • Zhai, Guangyao; Huang, Dianye; Wu, Shun-Cheng; Jung, HyunJun; Di, Yan; Manhardt, Fabian; Tombari, Federico; Navab, Nassir; Busam, Benjamin: MonoGraspNet: 6-DoF Grasping with a Single RGB Image. 2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2023 mehr…
  • Zhou, Mingchuan; Guo, Xiangyu; Grimm, Matthias; Lochner, Elias; Jiang, Zhongliang; Eslami, Abouzar; Ye, Juan; Navab, Nassir; Knoll, Alois; Nasseri, Mohammad Ali: Needle detection and localisation for robot‐assisted subretinal injection using deep learning. CAAI Transactions on Intelligence Technology, 2023 mehr…
  • Zhou, Mingchuan; Hennerkes, Felix; Liu, Jingsong; Jiang, Zhongliang; Wendler, Thomas; Nasseri, M. Ali; Iordachita, Iulian; Navab, Nassir: Theoretical error analysis of spotlight-based instrument localization for retinal surgery. Robotica 41 (5), 2023, 1536-1549 mehr…
  • Zhou, Mingchuan; Hennerkes, Felix; Liu, Jingsong; Jiang, Zhongliang; Wendler, Thomas; Nasseri, M. Ali; Iordachita, Iulian; Navab, Nassir: Theoretical error analysis of spotlight-based instrument localization for retinal surgery. Robotica 41 (5), 2023, 1536-1549 mehr…

2022

  • Bi, Yuan; Jiang, Zhongliang; Gao, Yuan; Wendler, Thomas; Karlas, Angelos; Navab, Nassir: VesNet-RL: Simulation-Based Reinforcement Learning for Real-World US Probe Navigation. IEEE Robotics and Automation Letters 7 (3), 2022, 6638-6645 mehr…
  • Bitarafan, Adeleh; Azampour, Mohammad Farid; Bakhtari, Kian; Soleymani Baghshah, Mahdieh; Keicher, Matthias; Navab, Nassir: Vol2Flow: Segment 3D Volumes Using a Sequence of Registration Flows. Medical Image Computing and Computer Assisted Intervention -- MICCAI 2022, Springer Nature Switzerland, 2022 mehr…
  • Chen, Lienhung; Jiang, Zhongliang; Cheng, Long; Knoll, Alois C.; Zhou, Mingchuan: Deep Reinforcement Learning Based Trajectory Planning Under Uncertain Constraints. Frontiers in Neurorobotics 16, 2022 mehr…
  • Grzech, Daniel; Azampour, Mohammad Farid; Glocker, Ben; Schnabel, Julia; Navab, Nassir; Kainz, Bernhard; Le Folgoc, Loı̈c: A variational Bayesian method for similarity learning in non-rigid image registration. Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2022 mehr…
  • Jian, Bailiang; Azampour, Mohammad Farid; De Benetti, Francesca; Oberreuter, Johannes; Bukas, Christina; Gersing, Alexandra S.; Foreman, Sarah C.; Dietrich, Anna-Sophia; Rischewski, Jon; Kirschke, Jan S.; Navab, Nassir; Wendler, Thomas: Weakly-Supervised Biomechanically-Constrained CT/MRI Registration of the Spine. Medical Image Computing and Computer Assisted Intervention -- MICCAI 2022, Springer Nature Switzerland, 2022 mehr…
  • Jiang, Zhongliang; Danis, Nehil; Bi, Yuan; Zhou, Mingchuan; Kroenke, Markus; Wendler, Thomas; Navab, Nassir: Precise Repositioning of Robotic Ultrasound: Improving Registration-Based Motion Compensation Using Ultrasound Confidence Optimization. IEEE Transactions on Instrumentation and Measurement 71, 2022, 1-11 mehr…
  • Jiang, Zhongliang; Gao, Yuan; Xie, Le; Navab, Nassir: Towards Autonomous Atlas-Based Ultrasound Acquisitions in Presence of Articulated Motion. IEEE Robotics and Automation Letters 7 (3), 2022, 7423-7430 mehr…
  • Jiang, Zhongliang; Li, Zhenyu; Grimm, Matthias; Zhou, Mingchuan; Esposito, Marco; Wein, Wolfgang; Stechele, Walter; Wendler, Thomas; Navab, Nassir: Autonomous Robotic Screening of Tubular Structures Based Only on Real-Time Ultrasound Imaging Feedback. IEEE Transactions on Industrial Electronics 69 (7), 2022, 7064-7075 mehr…
  • Velikova, Yordanka; Simson, Walter; Salehi, Mehrdad; Azampour, Mohammad Farid; Paprottka, Philipp; Navab, Nassir: CACTUSS: Common Anatomical CT-US Space for US Examinations. Medical Image Computing and Computer Assisted Intervention -- MICCAI 2022, Springer Nature Switzerland, 2022 mehr…

2021

  • Gao, Daoyi; Li, Yitong; Ruhkamp, Patrick; Skobleva, Iuliia; Wysocki, Magdalena; Jung, HyunJun; Wang, Pengyuan; Guridi, Arturo; Navab, Nassir; Busam, Benjamin: Polarimetric Pose Prediction. arXiv PrePrint, 2021 mehr…
  • Grzech, Daniel; Azampour, Mohammad Farid; Qiu, Huaqi; Glocker, Ben; Kainz, Bernhard; Le Folgoc, Loïc: Uncertainty quantification in non-rigid image registration via stochastic gradient Markov chain Monte Carlo. Machine Learning for Biomedical Imaging 1, 2021, 1--25 mehr…
  • Jiang, Z.; Wang, H.; Li, Z.; Grimm, M.; Zhou, M.; Eck, U.; Brecht, S. V.; Lueth, T. C.; Wendler, T.; Navab, N.: Motion-Aware Robotic 3D Ultrasound. 2021 IEEE International Conference on Robotics and Automation, 2021 mehr…
  • Jiang, Zhongliang; Grimm, Matthias; Zhou, Mingchuan; Hu, Ying; Esteban, Javier; Navab, Nassir: Automatic Force-Based Probe Positioning for Precise Robotic Ultrasound Acquisition. IEEE Transactions on Industrial Electronics 68 (11), 2021, 11200-11211 mehr…
  • Jiang, Zhongliang; Zhou, Yue; Bi, Yuan; Zhou, Mingchuan; Wendler, Thomas; Navab, Nassir: Deformation-Aware Robotic 3D Ultrasound. IEEE Robotics and Automation Letters 6 (4), 2021, 7675-7682 mehr…
  • Segato, Alice; Vece, Chiara Di; Zucchelli, Sara; Marzo, Marco Di; Wendler, Thomas; Azampour, Mohammad Farid; Galvan, Stefano; Secoli, Riccardo; De Momi, Elena: Position-Based Dynamics Simulator of Brain Deformations for Path Planning and Intra-Operative Control in Keyhole Neurosurgery. IEEE Robotics and Automation Letters 6 (3), 2021, 6061-6067 mehr…

2020

  • Gonzalez Duque, Vanessa; Al Chanti, Dawood; Crouzier, Marion; Nordez, Antoine; Lacourpaille, Lilian; Mateus, Diana: Low-limb muscles segmentation in 3D freehand ultrasound using non-learning methods and label transfer. 16th International Symposium on Medical Information Processing and Analysis, SPIE, 2020 mehr…
  • Hase, Hannes; Azampour, Mohammad Farid; Tirindelli, Maria; Paschali, Magdalini; Simson, Walter; Fatemizadeh, Emad; Navab, Nassir: Ultrasound-Guided Robotic Navigation with Deep Reinforcement Learning. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 mehr…
  • Jiang, Zhongliang; Grimm, Matthias; Zhou, Mingchuan; Esteban, Javier; Simson, Walter; Zahnd, Guillaume; Navab, Nassir: Automatic Normal Positioning of Robotic Ultrasound Probe Based Only on Confidence Map Optimization and Force Measurement. IEEE Robotics and Automation Letters 5 (2), 2020, 1342-1349 mehr…
  • Jiang, Zhongliang; Lei, Long; Sun, Yu; Qi, Xiaozhi; Hu, Ying; Li, Bing; Navab, Nassir; Zhang, Jianwei: Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling. IEEE Transactions on Medical Robotics and Bionics 2 (3), 2020, 463-473 mehr…
  • Kong, Xin; Yang, Xuemeng; Zhai, Guangyao; Zhao, Xiangrui; Zeng, Xianfang; Wang, Mengmeng; Liu, Yong; Li, Wanlong; Wen, Feng: Semantic Graph Based Place Recognition for 3D Point Clouds. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2020 mehr…

2019

  • Fink, Laura; Lee, Sing Chun; Wu, Jie Ying; Liu, Xingtong; Song, Tianyu; Velikova, Yordanka; Stamminger, Marc; Navab, Nassir; Unberath, Mathias: LumiPath – Towards Real-Time Physically-Based Rendering on Embedded Devices. In: Lecture Notes in Computer Science. Springer International Publishing, 2019 mehr…

Location

Klinikum rechts der Isar
IFL – Interdisziplinäres Forschungslabor

UG Bau 501 Raum 1.01.2
Ismaningerstraße 22
81675 München