Tim Lueth's Research Page

Project: Startup company FORMOVE GmbH – Foundation for Physical AI

Founder involved: Konstantin Ryan, Julian Ilg, Alex Oldemeier

Company background: Konstantin Ryan and Julian Ilg both worked as research assistants and Exist founders at the MIMED Chair and completed their doctoral theses with flying colors. Dr. Ryan earned his doctorate between 2020 and 2024 with 3D-printed light metal exoskeletons, while Julian Ilg earned his between 2021 and 2026 with a full-body sensor suit. Its application in a patient study also led to a publication in Nature Data Science in 2026. At the same time, they were active as founders in the PhysioMio project. Only thanks to FORMOVE's technology is it possible to program the ever-growing number of humanoid robots in real-world applications at short notice by using a novel physical AI process that combines complex human movement sequences with vision to translate them into movements of the humanoid robots. Co-founder Alex Oldemeier came from Google.

MIMED congratulates its long-standing colleague Dr. Yilun Sun on his appointment as associate professor at Tongji University in Shanghai, China. As a doctoral student and postdoctoral researcher, he was a teaching assistant for the course “Mathematical Software Tools”/“Numerical Software Tools for Engineers” for many years. We wish him all the best in his new position and hope to stay in touch.

Started by Tim Lueth in 2006, the textbook on Surgical Navigation and Robotics, which was sent to Springer Verlag in 2023, will finally be published in 2024. It is thanks to Mattias Träger, co-author and book project manager, and also Renate Heuser, Chief of MIMED Administration, that the textbook will finally see the light of day.

Project: Startup Company Aumatis GmbH  

Founder involved: Christoph Rehekampff and Felix Pancheri

Company Background: Following impressive results at the university chair in converting 3D-printed plastic components into aluminum (lightweight structures) or bronze (springs) with only 0.2 mm wall thickness, Christoph Rehekampff and Felix Pancheri founded the company Aumatis in 2023. Their goal is to develop a fully automated desktop machine for material transformation, enabling melting temperatures above 800 °C to be achieved even in office environments—engineering offices or research laboratories—for the production of durable assemblies. 

All colleagues at MIMED are proud that Franziska Sophie Klein, a long-time scientist at the chair and also in university committees, has not only written an outstanding doctoral thesis on the fully automated registration of patients for navigated ENT surgeries, but has also accepted a professorship at the University of Applied Science at Rosenheim. Even after completing her doctorate during the COVID-19 pandemic, she continues to come up with good ideas for the use of technology.

Involved scientists: Markus Huber, Maik Wenckstern, Stephan Bredenkamp, Marcel Stockhege, Tim Lueth  

Objective: To determine whether it is possible to build an e-hot rod with road approval (88 km/h, 100 km range), even if new transmission and drive concepts must be developed. The mini hot rods from Wenckstern are equipped with an 11 kW combustion engine.  

Results: After Tim Lueth privately purchased a hot rod from Wenckstern at the end of 2021, the idea quickly emerged to create an e-hot rod for city driving that could reach nearly 100 km/h, travel 100 km, and be charged in 10 hours at 220 V. Tim Lueth’s Zero FX motorcycle has a motor and battery that theoretically fit into the vehicle and can be power-limited. Maik Wenckstern and Stephan Bredenkamp were quickly enthusiastic about the idea, and Wenckstern provided a vehicle for conversion. Markus Huber designed and built the remarkable electric hot rod at MIMED. Already in July 2022, Maik Wenckstern, Stephan Bredenkamp, and Marcel Stockhege were able to test drive it in front of the MIMED building.  

Project: Endovascular "over-the-wire" telemanipulation robot for interventional radiology and cardiac interventions  

Scientists involved: Philipp Paprottka, Ralf Sodian, ErgoSurg team, Tim Lueth  

Objective: To reduce radiation exposure for interventional radiologists and cardiologists, catheter systems should be operable by medical staff outside the intervention room, potentially even over long distances. For this purpose, several wires and catheters must be telemanipulated within and relative to each other inside a patient’s vascular system. A second research topic was the idea of designing the complete robot using the SG-Lib as an automatic design script.  

Results: In contrast to the CORINDUS vascular robot (Israeli company, founded in 2002 by Rafael Beyar, Technion, acquired by Siemens for 1 billion euros in 2019), the new design uses an "over-the-wire" instead of a "rapid-exchange" technology and operates without custom-specific cartridges, being compatible with any catheter system on the market. The project was on hold from 2023 to 2025, as Siemens’ disappointment with the Corindus acquisition was seen by investors as a sign of a "robot-looking-for-a-task" or "solution-desperately-seeking-a-problem". The M&A transaction of ErgoSurg may also have contributed. In 2026, the system design was restarted as a research project. The robot was completely designed using the SG-Lib between March 2022 and May 2022. Although many additional functions had to be written during this period, the design, 3D printing, and assembly took place during the COVID-19 pandemic at Tim Lueth’s home. The conversion into a medical product took place at ErgoSurg in Ismaning.  Philipp Paprottka was responsible for clinical integration. 

Project: Telemanipulator for catheters and guide wires in interventional radiology and cardiology

Scientists involved: Philipp Paprottka, Ralf Sodian, ErgoSurg team, Tim Lueth

Objective: To reduce the radiation exposure of treating radiologists and interventional radiologists during diagnosis and therapy, an inexpensive, preferably disposable robotic system is to be developed that allows the wires and catheters to be moved by a robot via a telemanipulation console at a greater distance from the CTs or angiographs.

Results: An initial system will be implemented in 2020 and later evaluated for suitability at TUM Hospital MRI (Chief Physician of Interventional Radiology Prof. Dr. Philip Papprottka) and at the Lahr Heart Center (Chief Physician Prof. Dr. Ralf Sodian).

Project: Handheld Intranasal Endoscopic Instrument Telemanipulator (2015-2021)

Participating scientists: Suat Cömert, R. Roth, V. Ameres, Gero Strauß, Mattias Träger, Tim Lueth

Objective: Based on experience with printed mechanical manipulators for single-port surgery, the aim was since 2015-2021 to investigate whether the concept of snake-like manipulator arms could also be transferred to ENT surgery using a handheld instrument with a pistol grip. This manipulator would then be used to guide any instruments inserted into the paranasal sinuses to the site of the procedure.

Results: Suat Cömert, who had already worked as a student at JHU with our cooperation partner NSF Research Center CISST, Russel H. Taylor, Greg Hager, Peter Kanzanzides, Baltimore, USA), is conducting extensive experiments on the transfer of 3D-printed polyamide structures into wire-eroded metal structures, which can be designed to be significantly smaller. The prototype was ready for use in 2018, and the handheld manipulator system made of PEEK with internally guided flexible instruments was ready for use in 2019.

Selection of our publications:

• Coemert, S., Yalvac, B., Bott, V., & Sun, Y. (2021): Development and validation of an automated FEM-based design optimization tool for continuum compliant structures. *International Journal of Advanced Manufacturing Technology*, Springer.
• Coemert, S., Roth, R., Strauss, G., & Schmitz, P.M. (2020): A handheld flexible manipulator system for frontal sinus surgery. *International Journal of Computer Assisted Radiology and Surgery*, Springer.
• Coemert, S., Ameres, V., Roth, R., Strauss, G., & Schmitz, P.M. (2020): Concept and realization of a handheld manipulator system for transnasal middle ear surgery. *Procedia CIRP*, Elsevier.
• Coemert, S., Burkhardt, S., Rodewald, K.S., & Lueth, T.C. (2020). A process towards eliminating cytotoxicity by removal of surface contamination from electrical discharge machined nitinol. *Procedia CIRP*, Elsevier.
• Coemert, S., Veith, L., & Strauss, G. (2019). Anatomical characterization of frontal sinus and development of representative models. *Proceedings of the 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
• Coemert, S., Traeger, M.F., Graf, E.C. & Lueth, T.C. (2017): Suitability evaluation of various manufacturing technologies for the development of surgical snake-like manipulators from metals based on flexure hinges. *Procedia CIRP*, Elsevier.
• Coemert, S., Alambeigi, F., Deguet, A. et al. (2016): Integration of a snake-like dexterous manipulator for head and neck surgery with the da Vinci research kit. *Proceedings of the Hamlyn Symposium on Medical Robotics*, ResearchGate.
• Coemert, S., Gao, A., Carey, J.P. et al. (2016): Development of a snake-like dexterous manipulator for skull base surgery. *Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society*, IEEE. 

Project: Tim Lueth is appointed Fellow of the University of Tokyo (2019)  

Involved scientists: Hajime Asama, Tim Lueth  

Background: In 2019, Tim Lüth is appointed Fellow of the University of Tokyo (Todai) in the Department of Precision Engineering. The long-standing scientific collaboration since 1994 with Professor Hajime Asama, as professor at Todai, is certainly decisive. On the occasion of the joint workshop of the Technical University of Munich with the University of Tokyo in 2019, the award is announced, and Professor Lüth is invited to give a summer lecture series on medical robotics, 3D printing, and mechanism design in Hiroshima and Tokyo. He is pleased that, following his Visiting Professorship (1994/95) at the ETL in Tsukuba through the private invitation of Hajime Asama, he can once again visit important cultural sites before returning after a farewell party from Tokyo and Professor Asama.  

Project: Team Sport - Long Distance Run (2018)
Participating scientists: Yilun Sun, Dingzhi Zhang, Sonja Berensmeier, Veit Senner, Daniel Rixen, Wolfgang Polifke, Markus Lienkamp, Harald Klein - MIMED: Lucas Artmann, Simon Schiele, Konstantin Ryan, Julian Ilg, Christoph Parhofer
Objective: Does competitive team sport support scientific output and the professional career of scientists?
Results: While the team of MIMED assistants is still significantly smaller than the team of professors in 2018, it will grow larger every year after 2020.

Project: Startup Company Laralab (2017)

Founder involved: Julian Praceus, Alex Vasilev, Julian Bernard

Company background: In 2017, Julian Praceus recognizes the growing importance of heart surgery using the geometry of cardiac anatomy and wants to develop planning programs for this purpose. He starts an EXIST project at the MIMED chair. The company wins the Digital Innovations start-up competition. Julian Praceus reorganizes the company and, together with Alex Vasilev and Julian Bernard, Laralab becomes a model of success. 

Success story: The use of neural networks and deep learning for the automatic segmentation of anatomical regions whose boundaries cannot be determined using Hounsfield values becomes a key to success. The company becomes ISO 13485 and MDR certified before the first IIa products are launched. In 2025, the company is successfully sold to Abbot. With the support of Quantum Partners and the law firm Dechert (which also brought the start-up Voxel-Jet to the New York Stock Exchange in 2013).

Project: Fully automatic patient registration with a laser-assisted stereo camera (2013-2017)

Participating scientists: Franziska Sophie Görlach-Klein, Tim Lueth

Objective: A major advantage of optical navigation over electromagnetic navigation is the theoretical possibility of fully automatic surface registration of patients via the visual axis. This requires an automatically controllable active camera head (Krinninger-Hurka) and a laser pointer. The aim of the work in 2013 was to find the right lasers with which such a system would be practically possible, to build it, and to validate it. 

Results: In 2015, Fraziska Klein succeeded in building an initial system in which lasers with a coordinated wavelength generated a reflection point on the skin, which allowed measurement with the stereocamera. Whereas previous systems required the surgeon to move this laser pointer, this step was eliminated by the active camera head with integrated laser set. The laser wavelength must take the patient's skin color into account, and the camera head evaluates the laser specifically to capture strong height contrasts. The system has not yet become widely accepted, as electromagnetic navigation grew faster than optical applications from 2015 onwards. 

Other important research teams at that time: Brainlab GmbH, ErgoSurg GmbH

Selection of our publications:

• GOERLACH, Franziska S., et al. Evaluation of pattern-based point clouds for patient registration—A phantom study. In: 2015 International Conference on Intelligent Informatics and Biomedical Sciences (ICIIBMS). IEEE, 2015. pp. 392-397.
• GOERLACH, Franziska S., et al. Detection of surface points with an 850nm laser and an NDI stereo camera. In: 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE, 2014. pp. 719-725.
• GOERLACH, Franziska S., et al. Multi-layered, 3D skin phantoms of human skin in the wavelength range 650–850nm. In: 2015 International Conference on Intelligent Informatics and Biomedical Sciences (ICIIBMS). IEEE, 2015. pp. 250-256.
• GOERLACH, Franziska S., et al. Precision of near-infrared laser spot detection on different skin tissues featuring an NDI stereo camera. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). IEEE, 2014. pp. 303-308.
• GOERLACH, Franziska S., et al. Accuracy of Surface Point Detection With an 850nm Laser and NDI Stereo Camera. In: ASME International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. pp. V003T03A019.

Founder involved: Dr.-Ing. Jan Gumprecht

Company Background: An idea from 2006 called "desktop sports" was turned into a first prototype by Lorenzo D'Angelo in 2011. By using it at his desk, Tim Lueth reduced his weight almost by 20 kg. The publication was submitted in 2012. However, the entrepreneurial vision was only realized by Jan Gumprecht, who founded the company FitSeat in 2016 after completing his doctorate at the chair.

Selection of our publications:

• Lorenzo T D'Angelo and Tim Lueth (2011): "Desktop Sport: Desk with Integrated Bicycle Ergometer and Cadence Feedback by Automatic Computer Screen Switch," submitted to IEEE Int'l Conference on EMBC

Project: Team Sport - Wake Boarding (2015)
Participating scientists: MIMED Team, ERGOSURG Team, and Bioseparation Team (Sonja Berensmeier) and Dorian Walcher, Tim Lueth
Objective: Does competitive team sport support scientific output and the professional career of scientists?
Results: Alongside long-distance running, Wakeboarding is the team sport that has been practiced the longest, from 2014 to 2024, with breaks during and after the coronavirus pandemic, sometimes only by a smaller team. Every two weeks, the facility was booked exclusively for the team for two hours. Hardcore riders also train several times a week. Some kiteboarders do too, as do some kitefoilers and pumpfoilers. Thanks to Elisabeth Lindinger, Petra Lang-Siebeking, and Mark Siebeking. Cable skiing has been added since 2021. Sigita Rosovaite was training the ERGOSURG Team from 2022.

MIMED congratulates its colleague Dr.-Ing. Houde Dai on his appointment as professor at the Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences. Houde Dai, invited from Shenzhen to Munich in 2009, remained at the chair until 2013 and published an exceptional amount of high-quality work on sensor technology for deep brain stimulation in Lorenzo D'angelo's AgeTech group. In addition to his doctorate, another highlight of his time in Munich was coming in second place in the dragon boat race in the Olympic Park.

Project: Team Sport – Dragon Boat Racing (2011)
Participating scientists: The entire MIMED team
Objective: Does competitive team sports promote scientific work and the professional careers of scientists?
Results: The TUM/LMU eight-man rowing competitions somehow disappeared, and Jan Gumbrwecht founded a new team for the Munich dragon boat races in 2011. Initial training took place on office chairs in the MIMED foyer using broomsticks before the team took to the water. An excellent 2nd place in their first competition (boat number 4) demonstrates the team's spirit and fighting spirit.

Project: Krupp Foundation funds elderly people research with 3 Mio. € at TUM (2009)
    
Objective: The aim of the research was to establish a permanent center for robotics and technology development to support independent living for elderly people. Ten years after awarding the Alfried Krupp Prize to Tim Lüth, the Krupp Foundation, under the leadership of Berthold Beitz, was ready to support Tim Lüth again, this time at the Technical University of Munich. The proposal, including the appointment of three new professorships at IMETUM (among them from the chair of Professor Hornegger, President of the University of Nuremberg), was approved in 2009.

Results: Immediately after the approval by the Krupp Foundation, the IMETUM building was reassigned from the topic of elderly people to a new focus on biomedicine, and the appointment procedures of the selected professors were not completed. Consequently, the Krupp Foundation reduced the funding and granted only 1 million euros directly to the MIMED chair. This funding laid the foundation for four doctoral theses and a long-term collaboration with the Kuratorium Wohnen im Alter (KWA) and the largest rehabilitation center in Japan, located in Kobe.

Project: Development of a compact endoscope guidance robot for head surgery (2008-2011)

Participating scientists: Max Krinninger, Thomas Maier, Mattias Traeger, Gero Strauß, Andreas Dietz, Tim Lueth

Objective: Based on the concepts of the autoclavable Robo-Point robot (Dirk Schauer), the aim was to develop a small robot that could be attached to the operating table and guide an endoscope in 5 DoF, but in which the degrees of freedom could be achieved not by sequential kinematics as with the Robopoint, but by parallel kinematics in two planes.

Results: Max Krinninger built such a robot for the ICCAS in Leipzig, and TUM Mimed sold several copies of it to Karl Storz. The  1st serial production for Karl Storz has been completed by Mattias Traeger. The robot was clinically used and evaluated by Gero Strauß at Andreas Dietz's clinic in 2011. In 2014, Max Kinnninger and Stephan Nowatischin founded the medical robotics company Medineering GmbH. 

Selection of our publications:

• Berger, T., Maier, T., Scholz, M., Lüth, T. (2016): Evaluation of a micromanipulator for middle ear surgery: A preclinical study. *Laryngo-Rhino-Otologie*.
• Neumuth, T., Meixensberger, J., Lüth, T. (2013): The "Surgical Deck": A new generation of operating rooms for ENT surgery. *Laryngo-Rhino-Otologie*.
• Krinninger, M., Maier, T., Berger, T., Dietz, A., & Lüth, T. (2012): Clinical use of a micromanipulator system: preliminary clinical experience in middle ear surgery. *HNO / PubMed*.
• Krinninger, M., Maier, T., Berger, T., Dietz, A., & Lüth, T. (2012): Clinical use of a micromanipulator. *HNO*, Springer.
• Schaller, S., Strauss, G., Krinninger, M., Hurka, F. et al. (2011): Influence of an auto-motorized optical navigation camera on the surgical workflow in ENT surgery. *Laryngo-Rhino-Otologie*.
• Schaller, S., Strauss, G., Krinninger, M. et al. (2011): The effects of a robot-guided navigation camera in ENT surgery. *Laryngo-Rhino-Otologie*.
• Krinninger, M. (2011): A system for endoscope guidance in ENT surgery. *Dissertation*, d-nb.info.
• Dietz, A., Krinninger, M., Lüth, T. (2010): A Modified Technique for FESS with an Endoscope Manipulator. *Otolaryngology–Head and Neck Surgery*.
• Krinninger, M., Strauß, G., Markert, M., Kraus, T., & Lüth, T. (2009): The kinematic design of the new endoscope manipulator system (EMS) for functional endoscopic sinus surgery and familiar techniques in ENT surgery. *World Congress on Medical Physics and Biomedical Engineering*, Springer.

Project: A navigation system for liver surgery 

Scientists involved: Mathias Markert, Nikita Shevchenko, Johannes Schwaiger, Niko Dörfler, Stephan Nowatschin, Stefan Weber, Tim Lueth 

Objective: In liver surgery, compact tumors are embedded in the flexible liver tissue. The tumors are resected in open surgery. Liver tissue (parenchyma) grows back. The liver's vascular system, which does not grow back, is located in the immediate vicinity of the tumors. Damage to the vascular trees during surgery can pose a significant risk to patients, which is why tumors should be removed as close as possible to their margins. If tumor tissue remains, there is a considerable risk of tumor recurrence. A risk assessment is therefore necessary, which was first calculated by the Peitgen group in Bremen. The aim now is to implement a navigation system for soft tissue that can be used by the medical team to plan surgery in such a way as to minimize risk. 

Results: Between 2005 and 2010, a clinically approved liver navigation system was developed and evaluated in a clinical study at several clinics in Germany.   

Other important research teams at that time:  Heinz-Otto Peitgen, MEVIS, University of Bremen   

Selection of our publications: 

• Johannes Schwaiger, Mathias Markert, Nikita Shevchenko, and Tim C. Lueth: "The effects of real-time image navigation in operative liver surgery," International Journal of Computer Assisted Radiology and Surgery, Volume 6, Number 6, 785-796, 2011, DOI: 10.1007/s11548-011-0557-5
• Bernhard Seidl, Nikita Shevchenko, Tim Christian Lueth, "Efficient Semi-Automatic Segmentation of Liver Tumors from CT Scans with Interactive Refinement," Proceedings of the IASTED International Conference "Biomedical Engineering" (Biomed 2011), February 16 - 18, 2011, Innsbruck, Austria, pp. 310 - 315., DOI: 10.2316/P.2011.723-019
• Doerfler, N.; Seidl, B.; Shevchenko, N.; Stenzel, R.; Lueth, T.C.; "Blood vessel detection in navigated ultrasound: An assistance system for liver resections," Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on, 2011, pp. 445–450, DOI: 10.1109/ICCME.2011.5876781
• Nikita Shevchenko, Mathias Markert and Tim C. Lueth, "A Fast Recognition Algorithm for Liver Tissue Segmentation from CT Scans", Proceedings of the IASTED International Conference "Biomedical Engineering" (Biomed 2011), February 16 - 18, 2011, Innsbruck, Austria, pp. 316 - 320., DOI: 10.2316/P.2011.723-021
• Shevchenko, N.; Schwaiger, J.; Markert, M.; Flatz, W.; Lueth, Tim C.; , "Evaluation of a resectable ultrasound liver phantom for testing of surgical navigation systems," Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE, vol., no., pp. 916–919, Aug. 30, 2011–Sept. 3, 2011, doi: 10.1109/IEMBS.2011.6090205
• Markert M, Koschany A, Lueth T.: "Tracking of the liver for navigation in open surgery." Int J Comput Assist Radiol Surg. 2010 May;5(3):229-35. Epub 2009 Aug 7. Review., DOI: 10.1007/s11548-009-0395-x, PMID: 20033499
• Schwaiger, J.; Markert, M.; Seidl, B.; Shevchenko, N.; Doerfler, N.; Lueth, T.C.; , "Risk analysis for intraoperative liver surgery," Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE , vol., no., pp.410-413, Aug. 31 2010-Sept. 4 2010, doi: 10.1109/IEMBS.2010.5627313, PMID: 21096534
• Shevchenko, N.; Seidl, B.; Schwaiger, J.; Markert, M.; Lueth, T.C.; , "MiMed liver: A planning system for liver surgery," Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE , vol., no., pp.1882-1885, Aug. 31, 2010-Sept. 4, 2010, doi: 10.1109/IEMBS.2010.5627120, PMID: 21096423
• Oldhafer KJ, Stavrou GA, Prause G, Peitgen HO, Lueth TC, Weber S.: "How to operate a liver tumor you cannot see." Langenbecks Arch Surg. 2009 May;394(3):489-94. Epub 2009 Mar 12., doi: 10.1007/s00423-009-0469-9, PMID: 19280221
• G. A. Stavrou, S. Weber, H.-O. Peitgen, T. C. Lueth, and K. J. Oldhafer: "[First Resection of a Non Visible, Non Palpable Liver tumor Using Modern Visualization Techniques and Navigation]" CHIRURGISCHES FORUM UND DGAV FORUM 2009 German Society for Surgery, 2009, Volume 38, VI, 81-83, DOI: 10.1007/978-3-642-00625-8_33
• Markert M.; Koschany A.; Lueth T.C.  "Tracking of the liver for navigation in open surgery." CARS: Int'l Congress on Computer Assisted Radiology and Surgery, Berlin, Germany, June 23-27, 2009. In Lemke, et al. (Ed.), International Journal of Computer Assisted Radiology and Surgery 4(Suppl. 1), Springer Verlag, pp. S286-S287.
• Nowatschin, S.; Markert, M.; Weber, S.; Lueth, T.C.; , "A system for analyzing intraoperative B-Mode ultrasound scans of the liver," Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE , vol., no., pp.1346-1349, 22-26 Aug. 2007, doi: 10.1109/IEMBS.2007.4352547
• Nowatschin S., W. S., Lueth T.C.. "Automatic landmark extraction in intraoperative ultrasound images of the liver. " CARS 2007 Proceedings of the 21th Congress on Computer Aided Radiology and Surgery, June 27-30, Berlin, Germany
• Markert M., Weber S., Kleemann M., Bruch H.P., Lueth T.C. (2006): "Comparison of fundamental requirements for soft tissue navigation with a novel assistance system for open liver surgery." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan,  Int J CARS (2006) 1:pp. 498-499.
• Nowatschin S., Weber S., Lueth T.C. (2006): "Comparison of different phantoms for evaluating new assistance systems for open liver surgery." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan, Int J CARS (2006) 1:498
• Nowatschin S., Weber S., Lueth T.C. (2006): "Fast and simple segmentation of vessels in the liver using intraoperative ultrasound data." CARS 2006: Int'l Congress on Computer Assisted Radiology and Surgery, Osaka, Japan,  Int J CARS (2006) 1:288-290.
• Weber S., Markert M., Nowatschin S., Kleemann M., Bruch H.P., Lueth T. C.: "Computer Assistance for Supporting Complex Liver Resections." World Congress of the International Hepato-Biliary-Pancreato Association (IHBPA), Edinburgh, UK , September 3 - 7, 2006.

Project: Surgical navigation system for the insertion of dental implants in maxillofacial surgery (RoboDent III)

Participating scientists: Thomas Maier, Sebastian Stopp, Thomas Wenger, Alexander Rautenberg, Herbert Deppe, Tim Lueth

Objective: Through a new technology with 5mm gas ball trackers, improved and more fragile trackers, new display technology for the second display the attempt to improve dental navigation was started again.  The aim of the work was also to provide patients with implants and a matching superstructure within one appointment. For this purpose, the position of the dental implants must be precisely planned, they must be aligned in parallel and the planning must be precisely feasible. 

Results: In the period 2008-2011, the system was modified by new smaller trackers, the software significantly improved and new display technologies tested (iPhone 02/2008 wireless). One problem remains the billing model, which did not finance the introduction of complex technology that has to be funded by the physician versus disposables that the physician is allowed to bill for. The RoboDent devices were manufactured by ErgoSrug GmbH based on the new panel-PC Navigation devices with the 5mm glass sphere trackers. Prof. Dr. Dr. Herbert Deppe was main clinical advisor for dental implantology at this time.

Other important research teams: Materialize

Selection of our publications:

• Lueth, Tim C.; Wenger, Thomas; Rautenberg, Alexander; Deppe, Herbert; , "RoboDent and the change of needs in computer aided dental implantology during the past ten years," Robotics and Automation (ICRA), 2011 IEEE International Conference on , vol., no., pp.1-4, 9-13 May 2011
• Stopp, T. Maier and T.C. Lueth (2008): "New methods in computer-aided dental implantology" THE MKG-CHIRURG, Volume 1, Number 1, 10-21

Video 2008: Surgical Navigation System for Dental Implants (RoboDent III NPU)

Tim Lueth is delighted that Franz Irlinger (Academic Director) will become his sole deputy at the chair, perfectly organizing teaching and taking care of the topics of microtechnology, mechanisms, and 3D printing. Until his retirement in 2024, he will also continue to support the German Gear Technology Colloquium (Aachen-Dresden-Munich) and teach Tim Lueth in the field of mechanism theory.

MIMED is very proud that Stefan Weber, doctoral student and postdoctoral researcher for many years as head of medical devices at Tim Lueth, has been appointed professor in Lutz Nolte's department at the COME Research Institute of the University of Bern in collaboration with the Inselspital. Tim Lueth is delighted that Stefan Weber has not only founded further medical robotics companies since 2008 (Cascination, LEM), but is also helping to give the 11:Metre One Design "ELFE" a new lease of sporting life on Lake Thun from 2019 onwards.

Project: Team Sport - Rowing (2007) 

Participating scientists: Markus Vogl, Yuichiro Honda, Michael Scheuenpflug, Mario Strauß, Marcus Fischer, Mathias Markert, Jan Harnisch, Oliver Kessling, Tim Lueth

Objective: Does competitive team sport support scientific output and the professional career of scientists?

Results: Now that the ELFE boat is available to SV03 in Berlin and Tim Lueth is rowing in the TU Munich professors' eight against LMU, the MIMED team will begin training next season 2007.

Project: Robotic workspace extension of a navigation camera with automatic position optimization (2006–2008)  

Involved scientists: Max Krinninger, Florian Hurka, Gero Strauß, Tim Lueth  

Objective: The use of navigation in certain fields such as dentistry was limited by the size and minimum distance (even with a pyramidal volume) of the Polaris camera, as the stereo camera’s field of view was repeatedly obstructed by staff, operating lights, or insufficient ceiling height. Therefore, between 2002 and 2005, experiments were conducted with other stereo cameras (Bumblebee) and electromagnetic measurement technologies. At the end of 2004, NDI developed the Vicra camera for dental applications, which was later also adopted in ENT surgery. However, repositioning and reorienting the camera after changes in patient position or camera stand remained problematic.  

Results: The first prototype by Max Krinninger was built in 2006 using the Automat construction kit with a plaster housing. Later, servo motors and 3D-printed silicone couplings were used. Only through integration with the NC bus (Florian Hurka) could the camera be fully automatically aligned and select its optimal working position autonomously.  The device became a commercial product in the KARL STORZ navigation system family by ERGOSURG, nevertheless, after 2010 electromagnetic navigation became more popular.

Other important research teams at that time:  COME Bern (Frank Langlotz PhD & Lutz-Peter Nolte)

Selection of our publications:

• Schaller, S., Strauss, G., Krinninger, M., Hurka, F. et al. (2011): Influence of an auto-motorized optical navigation camera on the surgical workflow in ENT surgery. *Laryngo-Rhino-Otologie*, Europe PMC.  
• Strauss, G., Krinninger, M., Hurka, F. et al. (2011): The effects of a robot-guided navigation camera in ENT surgery. *Laryngo-Rhino-Otologie*, Thieme Connect.  
• Lüth, T. & Strauß, G. (2010): Discussion of different assistance methods for endoscopy from a technical perspective. *Endoskopie heute*, Thieme Connect.  
• Hurka, F., Strauss, G., Krinninger, M. & Lueth, T.C. (2011): The effects of a robot-guided navigation camera in ENT surgery. *Laryngo-Rhino-Otologie.*  

Project: Startup Company ErgoSurg GmbH (2006)

Founder involved: Tim Lueth

Company background: Twelve months after moving from Berlin to Munich, ERGOSURG GmbH was founded in 2006 because business partner Jürgen Bier (LB Medical / RobDent) fell seriously ill and unusual business activities by company employees in Berlin required immediate action. With the purchase of Juergen Bier's 33% stake in the summer of 2007, Tim Lueth became the sole shareholder. Long-time development and business partner Jürgen Bier passed away in December 2007 after a serious illness. In contrast to the property rights of LB Medical GmbH, the entire company inventory of RoboDent GmbH, including the software servers, unfortunately remains missing. This also affects the navigation software developed by Charité and BZMM on behalf of RoboDent GmbH from 2001 and 2003 onwards: LapDoc - NaviPanel ENT - NaviBase.

Success story: In mid-June 2007, Ergosurg GmbH is audited by TÜV Rheinland as an MPG manufacturer and, in the fourth quarter, begins production as an OEM manufacturer of CE-certified optical and electromagnetic ENT navigation systems for Karl Storz Tuttlingen in the start-up center of the Technical University of Munich. The first 10 devices are delivered in 2007. A total of 1,000 surgical navigation systems are distributed worldwide over the next years. RoboDent GmbH also has its devices manufactured by Ergosurg. In 2013, a collaboration begins with MAKO, and in 2017 with Joimax, which wins the NASS Technology Award in 2019 with the spinal navigation system developed by ERGOSURG. At the end of 2024, an international company becomes the majority shareholder of ErgoSurg GmbH.

Project: Certification of the MIMED Chair/Professor Lueth as a medical device manufacturer according to ISO13485 & ISO9001

MIMED group leaders involved: Stefan Weber, Franz Irlinger, Franz Niederhofer, Ralf TIta, Tim Lueth 

Objective: The objective was to have the new MIMED Chair officially certified as a medical device manufacturer as quickly as possible after Tim Lueth moved from Charité Berlin to the Technical University of Munich.

Results: After one year, following an audit in June 2006, not only the MIMED chair but also the start-up ERGOSURG GmbH were certified by TÜV Rheinland according to ISO 13485 and ISO 9001. The auditors from TÜV had already certified the former chair and the BZMM under the direction of Tim Lueth in Berlin.

Tim Lueth moves to the Technical University of Munich (MIMED) in the 2005/06 winter semester.

Background: After Tim Lueth did not consider moving to Munich in 2001, he will be appointed to the Technical University of Munich in 2005.

Independent Research: Tim Lueth was appointed professor for life at the Technical University of Munich on July 1, 2005, and began his work on October 1, 2005, for the 2005/2006 winter semester. His chair is called MIMED (Microtechnology and Medical Device Technology). The inaugural lecture will take place on April 5, 2006. The teaching load will increase from 2 SWS to 9 SWS. Tim Lueth is leaving the Fraunhofer Society to reduce potential conflicts between the university/FhG and company start-up activities.

Project: Certification of BZMM as a medical device manufacturer – ISO 13485 ISO 9001 (2004)

Scientists involved: Stefan Weber, Peter Tetenz (TÜV Rheinland), Tim Lüth

QM Beauftragte: Stefan Weber, Dirk Mucha, Dirk Schauer

Objective: Now that the Otto robot (delta kinematics) has been approved as a medical device by SRL Charité as a single unit, the BZMM (IPK MedTech and Charité SRL) should be able to be officially listed as a certified medical device manufacturer with DIMDI. In addition to documented proof that we have been working in accordance with ISO 13485 for a year, we need QM documentation and an internal and external TÜV audit in order to be recognized as an MPG manufacturer.

Results: While Tim Lüth programs the networked Filemaker database for the approval documents, Stefan Weber takes care of documenting the work instructions and the overall design of the QM manual. We will receive the certificates in June 2004!

Tim Lueth is delighted that his long-standing deputy and head of the Medical Devices Department at Fraunhofer IPK Berlin, Andreas Hein, has accepted the professorship for “Automation and Measurement Technology” at the University of Oldenburg. Congratulations from all colleagues at BZMM (Charité and IPK). With SRL since July 1997, doctorate in February 2000, head of department at IPK (2001) and professor beginning of 2003 – an impressive career.

Project: EFRE Project BZMM (Berlin Center for Mechatronic Medical Devices) 2002

Directors: Tim Lueth (Managing Director), Juergen Bier, Eckart Uhlmann

Objective: With the approval end of 2002 of the EU infrastructure (EFRE) application BZMM (Berlin Center for Mechatronic Medical Devices) in June 2000, the joint Berlin center between Fraunhofer IPK and Charité, under the management of Prof. Dr. Tim Lüth, can officially begin in December 2002. At this point, Tim Lüth was already a Fraunhofer professor at Charité according to the Berlin model with a reduced teaching load of 2SWS. The goal is to establish IPK Berlin within the Fraunhofer Society as a leading location for medical robots and computer-assisted surgery and to enable further company start-ups in Berlin Brandenburg after JJM GmbH, FIMR gGmbH, LB Medical GmbH, and RoboDent GmbH.

Results: With the opening, funds were available to hire additional staff at Charité and the Fraunhofer Institute (Timo Krüger, Dirk Mucha, Emanuel Jank, Andreas Rose) and to expand previous developments in navigation towards electromagnetic (Aurora), new redundant robot arm kinematics (Mitsubishi PA10), or X-Ray systems. The state of Berlin provided €1.2 million in funding from the EFFE fund. The Fraunhofer Society provided a similar amount and financed the C4 professorship of Tim Lüth, who, in parallel to his work at Charité, also held the position of division director at IPK for medical technology. Tim Lüth had already set up the first laboratory for the BZMM at the IPK Berlin during his time as acting division director from 2001 onwards, for example to work on the C-arm project for the company ZIEHM. RoboDent also funded the BZMM with €800,000 as part of a BMBF application to have the source code handed over to the BZMM revised. For this reason, the RoboDent source code was available at the IPK and Charité. With Tim Lueth's move to the Technical University of Munich at the end of 2005, Klaus Radermacher (academic advisor at RWTH Aachen University) and then Erwin Keeve (Bonn, Oslo) was appointed as the new director, a position he held until 2017.

Patent Situation: From 2003 onwards, professors were no longer able to register their inventions for patents at their own expense and in their own name, but had to register the patents via the universities/Fraunhofer. It is astonishing that all of Tim Lüth's patents, which he registered himself and was represented by the law firm Gulde Hengelhaupt, were granted, while none of the patents (DE-102004009367-A1, DE-102004011888-A1, DE-102004011959-A1) that he had to register as co-inventor via the Fraunhofer patent department were granted. For this reason, Tim Lueth already classified the change in employee invention law as inadequate at the end of 2005. While a company needs patents to protect its production and wants to retain inventors through profit sharing, public-law corporations have no intention of making a profit and there are numerous conflicts of interest between profit sharing for inventors and the acceptance of third-party funds from potential patent litigants or licensees.

Other important research teams at that time: Munich, MITI (Hubertus Feussner, TUM-MRI), Strasbourg IRCAD (Jacques Marescaux), Karlsruhe-Heidelberg (SFB 414 Computerassisted Surgery)

Project: Foundation of CURAC (German Society for Computer- and Robot-Assisted Surgery)

Objective: On March 9, 2001, the German Society for Computer- and Robot-Assisted Surgery (CURAC) will be founded in Leipzig at the Hotel Fürstenhof, based on the International Society for Computer Aided Surgery (ISCAS).
The founding board members are: President Prof. F. Bootz, ENT, Leipzig; 1st Vice President Prof. R. Fahlbusch, NCh, Erlangen; 2nd Vice President Prof. Hirzinger, Robotics, Munich; Secretary General Prof. Dr. H. U. Lemke, Computer Science, Berlin; Treasurer Prof. Schlag, Surgery, Berlin; Deputy Treasurer Prof. Dr. V. Seifert, NCh, Frankfurt, Secretary Prof. Lüth, Robotics, Berlin, Deputy Secretary PD Hassfeld, MKG, Heidelberg

Founding members: from ISCAS are Prof. H.U. Lemke, Computer Science, Berlin Prof. Dr.-Ing. G. Hirzinger, Robotics, DLR Prof. Dr. P.M. Schlag, Surgery, Berlin, Prof. Dr. F. Bootz, ENT, Leipzig, Prof. Dr. W. A. Kalender, Physics, Erlangen Prof. Dr. A. Schweikard, Computer Science, Munich, Prof. Dr. Dr. J. Bier, MKG, Berlin,  Dr. U. G. Kühnapfel, Computer Science, Karlsruhe Prof. Dr. V. Seifert, Neurosurgery, Frankfurt, Prof. R. Fahlbusch, Neurosurgery, Erlangen Prof. Dr. T. C. Lueth, Robotics, Berlin,  Prof. Dr. R. Wetzel, Orthopedics, Munich, PD Dr. Dr. S. Hassfeld, MKG, Heidelberg, Prof. Dr. F. W. Mohr, Cardiac Surgery, Leipzig, PD Dr. Volkmar Falk, Dr. Gero Strauß, among others (see list)

Project: Founding of RoboDent GmbH

Founder involved: Tim Lüth and Jürgen Bier

Background: Triggered by the Alfried Krupp Prize for young university teachers, the visibility of medical robotics research in Berlin was once again significantly increased. Following the medical approval of the robot for surgical use on the head and the first operations, interest in navigation and robotics also grew among implant manufacturers and OPG manufacturers. At the same time, the industry lacked the know-how to convert this technology into a product itself in the short term. Since the university cannot take on series production or product liability, the only option was to spin off the company.

The company: At the end of 2000, Jürgen Bier (1/3) and Tim Lüth (2/3) founded LB Medical GmbH and, for the collaboration with Thomas Straumann AG (CH), RoboDent GmbH in Berlin. Their task was to further develop head navigation outside the university, obtain MDD approval, and start series production of navigation systems for maxillofacial surgery and dental implantology. At the company headquarters on Schwedenstraße, as well as at Jojumarie GmbH, a loft was converted into office space, a production facility, and a workshop. The first devices were still equipped with "Ropal" stereo cameras from Rhowedder Visotech (Manfred Schmied, Christian Lappe). However, this company was acquired by the Canadian company NDI in early 2000 and renamed NDI Europe. From mid-2000, NDI Polaris devices were then installed. From 2004, the NDI Vicra was designed in collaboration with RoboDent and installed from 2005. Key employees: Olaf Schermeier (later CTO at Dräger and Fresenius Medical Care), Sabine Woytowicz (later customer director at Valeo)

Competitors: Joshua Lustman, Hebrew University, DenX (Ori Hadomi), Israel, W.F.Thumfart, Innsbruck, Michael Truppe, Wien, Austria, and Company Materialise

Project: Tissue engineering of heart valves 

Scientists involved: Ralf Sodian, Andreas Hein, Daniel Szymanski, Roland Hetzer, Tim Lueth 

Objective: The aim of the project was to produce tissue-engineered heart valve replicas based on the geometry of individual heart valves and to implant these instead of using standardized heart valves. 

Results: We were able to show that it is possible to segment the vascular geometry based on CT image data, print it in 3D, and use the 3D prints to produce scaffolds for cell colonization on the scaffolds. The cells were grown on the scaffolds in a bioreactor. The grown valves were implanted in sheep. 

Other important research teams at that time: Joseph Philip Vacanti, Harvard Medical School Robert Langer, MIT, Cambridge 

Selection of our publications: 

• Szymanski, D.; A. Hein, R. Sodian, P. Fu, R. Hetzer, T. Lüth: "3D reconstruction of cardiovascular structures for rapid prototyping and tissue engineering." Automed 2001, Bochum, Germany, Sep. 17-18, 2001
• Sodian R, Loebe M, Hein A, Martin DP, Hoerstrup SP, Potapov EV, Hausmann H, Lueth T, Hetzer R.: "Application of stereolithography for scaffold fabrication for tissue engineered heart valves." ASAIO J. 2002 Jan-Feb;48(1):12-16.
• Sodian R, Fu P, Lueders C, Szymanski D, Fritsche C, Gutberlet M, Hoerstrup SP, Hausmann H, Lueth T, Hetzer R.: "Tissue engineering of vascular conduits: fabrication of custom-made scaffolds using rapid prototyping techniques." Thorac Cardiovasc Surg. 2005 Jun;53(3):144-149.

Project: 3D ultrasound imaging and robot-assisted seed implantation for brachytherapy of the prostate 

Participating scientists: Stefan Weber, Rolf Lechtenberg, Christoph Tiede, Andreas Eckert, Tim Lueth

Objective: The objective was to develop an integrated 3D ultrasound and seed implantation assistance system for brachytherapy of the prostate. 

Results: An ultrasound probe is moved in the rectum via a linear drive that can be actively controlled or passively moved by the physician. A patented tissue protection device with integrated ultrasound-visible markers allows non-invasive tomographic imaging of the tissue around the prostate as well as tracking and position measurement of the needle tip of manually or assisted-inserted needles. An ejection mechanism can be activated when the needle is withdrawn to eject a seed where the current position of the needle tip and continuous radiation planning indicate the optimal position for the radiation source. The method is patented and was used in a similar way for Navifitty or freehand 3D printing in 2006. 

Other important research teams at that time: no group known to us at that time 

Selection of our publications:

• Tim Lueth (2000): Method and applicator for positioning and/or ejecting radiation sources via hollow needles into biological tissue, Granted German Patent DE-10058163-C2, Bebig Isotopen- und Medizintechnik GmbH, later Eckart und Ziegler AG
• Tim Lueth (2000): Device for the linear and/or rotary guidance of an object such as a probe and instrument guidance, Granted German Patent DE-10051953-C1, Bebig Isotopen- und Medizintechnik GmbH, later Eckart und Ziegler AG

Project: Table-integrated robot for mammabiopsy in nuclear spin tomography (MRI)

Participating scientists: Oliver Wendt, Yuichiro Honda, Tim Lueth, Johann Oellinger, Carsten Siewert, Roland Felix

Objective: The aim was to develop a robot that can be operated without image artifacts in a magnetic resonance tomograph and can perform a precise breast biopsy.

Results: In the period 1997-2000 such an MRT table and coil-integrated robot was developed. At the time of completion, however, the focus for mammary biopsies was again on CT and ultrasound. A patent dispute with Siemens stopped the conversion into the final medical product. The pictures show the trade fair appearance at MEDICA 2000.

Other important research teams: Siemens Medical

Selection of our publications:

• M Hentschel, J. Oellinger, C. Siewert, H. Wieder, N. Hosten, O. Wendt, T. Lueth, U. Boenick and R. Felix: "H and P-NMR Characterisation of a Double Breast Coil for Spectroscopic Measurements and Imaging - Characteristics of a Newly Developed Mammado Double Coil for NMR Spectroscopy 1H31P) and Imaging", Biomedical Engineering 1999 44:10 , 272-277 , DOI: 10.1515/bmte.1999.44.10.272, PMID: 10584401
• Oellinger H, Wendt O, Siewert C, Park IC, Dorsch M, Lueth TC, Felix R, Boenick U.: "Effects of para- and diamagnetic materials in a 1.5 Tesla high field magnetic resonance tomography system (MRT)," Biomed Tech (Berl). 1998 Oct;43(10):281-6, DOI: 10.1515/bmte.1998.43.10.281
• O Wendt, J. Oellinger, T C Lueth, R. Felix and U. Boenick: "The Effects of the Use of Piezoelectric Motors in a 1.5-Tesla High-Field Magnetic Resonance Imaging System (MRI) - Effects of Piezoelectric Motors in a 1.5-Tesla High-Field Magnetic Resonance Imaging (MRT)", Biomedical Engineering/Biomedical Engineering 2000 45:1-2 , 20-25 , DOI: 10.1515/bmte.2000.45.1-2.20
• O. Wendt, J. Oellinger, U. Boenick, R. Felix, T.C. Lueth, D. Schauer: "Biopsy device for histological preservation of small tumors in MR mammography," Biomedical Engineering Jan 2000, Volume 45, No. s1, Pages 220-221, DOI: 10.1515/bmte.2000.45.s1.220
• Johann Oellinger, Oliver Wendt, Carsten Siewert, Tim Lueth (2000): "Automatically controlled breast biopsy." Humboldt Spectrum, 3/2000, p.48-51.
• Oliver Wendt, Johann Oellinger, Tim Lueth (1999): "Positioning unit for magnetic resonance tomography installations simultaneously serves patient's support, and functions in combination with automatically controllable positioning system of medicinal instruments," Granted patent DE19905239A1 (2006-08-24)
• Oliver Wendt, Johann Oellinger, Tim Lueth (2000): Device for navigating and positioning medical instruments in magnetic resonance tomographs, Filed PCT Patent WO-0213709-A1

Tim Lueth was honored with the Alfried Krupp zu Bohlen und Halbach Prize for young university teachers in 1999. The prize is awarded annually to only one young university teacher in Germany, aged 38 or under, across all disciplines. The prize was/is endowed with 1 million DM/euros, thus freeing the winner from financial worries in their research for the next few years. Tim Lüth received the prize from Federal President Dr. Johannes Rau and Curatorium Chairman Professor Dr. h.c. mult. Berthold Beitz in November 1999 at Villa Hügel in Essen.

Project: Founding of JoJuMarie GmbH 

Founder involved: Andreas Eckert, Tim Lüth, Jürgen Bier 

Background: Since 1986, inspired by neurosurgeon Professor Alim Louis Benabid in Grenoble, a robot for stereotactic (navigated) deep brain stimulation without a stereotactic frame has been under development. This work was initially carried out at François DANEL's company AID. With the development of delta kinematics by Reymond Clavel at EPFL Lausanne, a team led by Hervé Druais in Grenoble at Integrated Surgical Systems (ISS, DeeMed) developed a navigation system and a robot for guiding a heavy surgical microscope using delta kinematics. The combination of navigation and robotics took place at DeeMed in Grenoble starting in 1991. The ceiling-mounted system was called SurgiScope. The first Surgiscope was installed in Grenoble in 1994 and at the Surgical Robotics Lab in Berlin in 1997. Tim Lüth worked in Grenoble for several months in 1997 to learn how to control and assemble the robot so that he could convert the device from a motorized microscope stand to a tactile surgical robot. Carl Zeiss developed a floor-mounted co-worker product called MKM. After the Swedish company ELEKTA (stereotactic frames) acquired DeeMed, it was sold to Medtronic in 2000, which thus became the world leader in surgical navigation ahead of the German company Brainlab. The robotics division was purchased at the end of 1999 by the start-up JoJuMarie GmbH, Berlin, from the US company Medtronic. There were 40 SurgiScope installations worldwide. 

The Company: In 1999, Andreas Eckert (business), Jürgen Bier (surgeon), and Tim Lueth (engineering) founded the company Jojumarie Intelligente Instrumente GmbH with the aim of developing and producing medical robots and computer-assisted surgical technologies in Germany. However, the bursting of the dot-com bubble in 2000 made it extremely difficult to attract investors in Germany for computer-assisted medicine. This also affected Eckert & Ziegler AG, which was only able to return to its initial valuations 20 years later. Key employees were Stefan Weber and Christoph Tiede (later founders/CEOs of Cascination and LEM, Bern, Switzerland). Tim Lueth and Juergen Bier withdraw from JJM at the end of 2000.

Project: An interactive hands-on robot for oral and maxillofacial surgery

Participating scientists: Andreas Hein, Jochen Albrecht, Malte Stien, Stefan Zachow, Frank Hoelzle, Martin Klein, Juergen Bier, Tim Lueth

Objective: The aim was to realize the world's first clinically applicable instrument-guiding Hands-on Robot (OTTO from ceiling) for tactile head surgery and to demonstrate an advantageous use for patients. 

Results: In the period from early 1997 to late 1999, the ceiling-mounted delta kinematics of the SurgiScope were converted from a double joystick-controlled (submarine mode) microscope holder to a hands-on instrument-guiding robot. This involved the modification and extension of hardware components as well as a completely new real-time control, which included the active stereo camera (IGT Flashpoint 5000) in addition to the robot encoder. The robot was controlled by the surgeon's touch, whereby the robot receives a virtual mass and a virtual friction as well as virtual potential fields to precisely achieve an off-line programmed task (several implants) based on volumetric CT imaging and still give the physician the feeling of being able to move the robot freely. The controller was completed in 1999. The preparation of the approval documents for the TÜV in the period end of 1999 - beginning of 2000. The first clinical use took place in May 2000. The robot was operated in combination with a mobile intraoperative computer tomograph, TomoScan M from Philips, for 1 year regularly clinically. The doctors involved were Jürgen Bier, Martin Klein and Frank Hoelzle. The following projects investigated smaller robots (RoboDent), redundant robots (OTTO II, Mitsubishi PA-10) and Navigated Control® as a replacement for the large ceiling mounted robot. Malte Stien dealt with simulation and telemanipulation, Andreas Hein with real-time control of the hands-on robot and Jochen Albrecht (Queck) with intraoeprative tomographic imaging and automatic registration of CT and robot/navigation.

Other important research teams: a) Brian Davies, Imperial College London, United Kingdom, b) Russel Taylor, Johns Hopkins University, Baltimore, USA, c) Moshe Shoham, Technion, Haifa, Israel

Selection of our publications:

• Lueth, T.C.; Hein, A.; Albrecht, J.; Demirtas, M.; Zachow, S.; Heissler, E.; Klein, M.; Menneking, H.; Hommel, G.; Bier, J.; , "A surgical robot system for maxillofacial surgery," IEEE IECON 1998 Industrial Electronics Society, 1998. vol.4, no., pp.2470-2475
• Hein, A.; Lueth, T.C.; Hommel, G.; , "Contact observation of interactive surgical robotics systems," Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on , vol.2, no., pp.733-739 vol.2, 1999
• Andreas Hein and Tim C. Lueth: "Image-Based Control of Interactive Robotics Systems" MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI'99 Lecture Notes in Computer Science, 1999, Volume 1679/1999,

OTTO von Decke based on a SurgiScope Delta-3 kinematics with 6DoF. It was the first clinical used "hands-on" robot. The video shows the clinical case of the first patient.  

Video 2000: Worldwide 1st surgical operation using an approved surgical robot at the skull (3:30 Minutes)

Project: Team Sport Sailing (1999)

Participating scientists: Andreas Hein, Olaf Schermeier, Malte Stien, Stefan Weber, Ralf Tita, Chie-Hee Cho, Tim Lueth

Objective: Does competitive team sport support scientific output and the professional career of scientists?

Results: In 1999, Tim Lüth purchased the Eos, an old racing yacht from 1922, and, with the help of Andreas Hein and Olaf Schermeier, transferred it to Lake Wannsee (SV03). In 2000, the Eos was used as a team boat and also sailed in regattas. From 2001 to 2005, the Eos was restored. These sailors have all had impressive careers. Either sailing promoted their personal development, or they are scientific personalities who sail.

Project: Simulation and Monitoring of Robot Assisted Surgery

Participating scientists: Malte Stien, Daniel Szymanski, Andreas Hein, Tim Lueth

Objective: If the movement of patients and instruments can be monitored by stereotactic measurement technology (IGT Flashpoint 5000) and by encoders of the movement of the robot kinematics, then it is possible to graphically calculate a scene that reflects the current operating situation in detail. During bone surgery (head surgery), even the removal of bone tissue and changes in CT image data can be recorded. The advantage of this procedure is that viewers can take any focus. 

Results: We were able to show that using graphical simulation systems such as AnySYM/Robcad, it was possible to load image textures of current screen contents as well as medical image data into the graphical simulation in order to carry out a monitoring system for interventions in this way. In the period 1998-1999 the spectrum of applications was extended from MKG surgery to dentistry and prostate seed implantation (brachytherapy). Have in mind, that in 1999, the first onboard graphics cards for computers were shipped. We used at this time a silicon graphics machine for 100.000 DM for graphical visualization, that could be replaced by a Mac-Laptop with a comparable graphics power of 5% of the price of the SG machine a year later. The computer game “Far Cry” motivated us to introduce 3D surface models into surgical navigation and robotics.

Other important research teams: Gerd Hirzinger, DLR Oberpfaffenhofen, Germany,  Hervé Druais, DeeMed-Elekta IGS, Grenoble, France, Stefan Linner, AnySIM, Munich, Germany

Selection of our publications:

• Stien M, Hein A, Szymanski D, Lueth T.: "A new approach for modelling kinematic dependencies for monitoring locations of objects in closed kinematic chains." Stud Health Technol Inform. 2002, Springer, Medicine Meets Virtual Reality (MMVR), Newport Beach, USA, Jan. 23 - 26, pp. 85: 504-506.
• Stien M, Hein A, Szymanski D, Lueth T.: "A system for simulation and monitoring of robot-assisted and navigation-assisted surgical interventions." Stud Health Technol Inform. 2002, Springer, Medicine Meets Virtual Reality (MMVR), Newport Beach, USA, Jan. 23 - 26, pp. 85: 501-503.
• Stien, M; Y.-W. Lin, T. Lueth, H. Druais, G. Volkwein, S. Linner, J. Bier (1999): "Simulation and Monitoring of Surgical Robotics Interventions," CARS 1999 Computer Assisted Radiology and Surgery, Elsevier Science B.V., 1999, pp. 818-822
• Stien, M., T. Lueth, A. Hein (1999): "Safety aspects of distributed information systems in a hi-tech OR" Automed'99, 2nd workshop "Automation processes for medicine", Darmstadt, February 25-26.In S. Leonhardt, et al. (Ed.), Progress Reports VDI - Series 17, No. 183, VDI Verlag GmbH.Stien, M.; A. Hein, D. Szymanski, T. Lüth: "Optimization of navigation-supported surgical procedures through graphic simulation."Automed 2001, Bochum, Germany, Sep. 17-18, 2001

Automatically controlled imaging and registration with a motorized mobile CT scanner 

Scientists involved: Jochen Albrecht-Queck, Cyrill v. Tiesenhausen, Oliver Schwerdner, Frank Hoelzle, Martin Klein, Norbert Hosten, Nils Haberland, Roland Felix, Juergen Bier, Tim Lueth

Objective: The aim of the work was to perform automatic registration of the patient during intraoperative imaging with a computer tomograph in order to subsequently perform surgical navigation or surgical robotics with minimal registration error. 

Results: The procedure was first published by Tim Lüth in April 1998 in Humbold-Spektrum. For this purpose, a stationary tracker with several active LEDs was attached to the IGT Flashpoint 5000 stereo camera system and a tracker was attached to the operating table or directly to the patient's head. Since the tracker geometry can be recognized relative to the patient in the CT image and the position of the image relative to the CT tracker is also known, the patient can be registered automatically. A similar system was implemented in a second project by Cyrill v. Tiesenhausen for the BGU Clinic in Frankfurt.

Other important research teams at that time: Thorsten M. Buzug, Philips Research Laboratories, Hamburg 

Selection of our publications: 

• Tim Lueth: "Navigation and Robotics in Medicine," Humboldt-Spektrum 04/1998, issue 4/98, pp. 16-20.
• Albrecht, J.; T. Lueth, A. Hein, M. Stien, J. Bier (1999): Accuracy Analysis of CT Images With a Navigated Intraoperative CT. CARS'99, Paris, France, June. In H.U. Lemke et al. (Eds.), Computer Assisted Radiology and Surgery 1999, Elsevier Science Publishers.
• Hoelzle F, Klein M, Schwerdtner O, Lueth T, Albrecht J, Hosten N, Felix R, Bier J.: "Intraoperative computed tomography with the mobile CT Tomoscan M during surgical treatment of orbital fractures." Int J Oral Maxillofac Surg. 2001 Feb;30(1):26-31

Project: The Surgical Robotics Lab Berlin
Scientists involved: Jürgen Bier, Tim Lüth, Günter Hommel, Roland Felix, Ernst Heissler, Norbert Hosten, Martin Klein, Ralf Sodian, Gero Strauß

Objective: The Surgical Robotics Lab was started by three professors, Juergen Bier (Chief Surgeon, Maxillofacial Surgery) and Tim Lueth (Engineer/Computer Scientist), with support from Guenter Hommel. Tim Lüth started in March 1997 with students Markus Pritsch and Malte Stien in Grenoble, later joined by PhD students Andreas Hein, Malte Stien, Mustafa Demirtas, Jochen Albrecht (Queck) and, shortly thereafter, Christoph Thiede. Stefan Zachow completed his diploma thesis on 3D planning at the SRL. The clinical advisor was Dr. med., Dr. med. dent. Ernst Heissler. After his departure, Prof. Dr. Dr. Martin Klein became the main clinical advisor. For cardiac surgery, it has always been Ralf Sodian from 1998 to today. In ENT surgery, it was Gero Strauß and later Heinz Stammberger. When considering computer graphics, it is important to remember that until 1999, 3D graphics were only possible on special computers costing upwards of $100,000 and were reserved for a few laboratories. This changed at the end of 1999 when the first 3D graphics cards were installed in laptops, causing the number of programmers to increase dramatically. With a year, the price dropped to $1000 or less.

Background: Juergen Bier, chief maxillofacial surgeon at the Virchow Clinic Charité, and Joachim Mühling, chief maxillofacial surgeon at Heidelberg University Hospital, were both convinced as early as the early 1990s that robots and automation would find their way into the operating room. Both drove vintage car races and had a close connection to engineering. Juergen Bier's grandfather, August Bier, had already made outstanding contributions to surgery alongside Ferdinand Sauerbruch. While Joachim Mühling worked with Ulrich Rembold (University of Karlsruhe) from 1993 onwards to prepare SFB 414 (computer-assisted surgery, the successor to SFB 314), Jürgen Bier began working with Günter Hommel (Real-Time & Robotics, TU Berlin) in Berlin. In Karlsruhe, the KFZ was also home to the Artemis telemedicine project by Voges and Kühnapfel even before the founding of Intuitive Surgical. It was Günter Hommel who approached Tim Lueth (as a postdoctoral researcher with Ulrich Rembold) in 1996 during an assessment by the DFG in Bonn, asking him if he could imagine moving to Berlin and establishing personal contact with Jürgen Bier. Starting in the fall of 1996, Tim Lüth worked with Jürgen Bier to plan the staffing and equipment setup for a surgical robotics lab, while Jürgen Bier had the SurgiScope ceiling robot (microscope holder) installed in one of his operating rooms, at that time without MPG approval. After a proper appointment procedure and completing his habilitation examination in Karlsruhe, Tim Lüth was appointed professor at the Virchow Clinic, Charité, in 1997. It was the first professorship for clinical navigation and robotics, even before Russel Taylor's professorship at JHU, Baltimore, in 1998. Brian Davies in London was working in the field already.

At the end of 1996, the textbook Technical Multi-Agent Systems is submitted as a postdoctoral thesis (Habilitation) after four years at the Faculty of Information Science at the University of Karlsruhe (Karlsruhe Institute of Technology, KIT). The successful examination for the title of Dr.-Ing. habil. or Priv.-Doz. takes place in July 1997. The book is published in 1998 by Hanser-Verlag.

Project: Feodor Lynen Fellow (Alexander von Humboldt Foundation, 1994/95)  

Involved scientists: Tsugasa Ogasawara, Hideo Tsukune, Hajime Asama, Dae-Shi Kim, Tim Lueth  

Background: Tsugasa Ogasawara was a visiting researcher for one year in Ulrich Rembold’s laboratory in Karlsruhe, Germany, and worked within the KAMRO group led by Tim Lueth. After his return in 1993 to Dr. Hideo Tsukune’s laboratory in the Intelligent Machine Behaviour Department of the ETL in Tsukuba, Japan, Tim Lueth was invited to work in Tsugasa Ogasawara’s group at ETL for 12 months. With the support of reviewers Henning Tolle, Günter Schmidt, and Gerd Hirzinger, Tim Lueth became a Feodor Lynen Fellow (Alexander von Humboldt Foundation, 1994) and also an STA Fellow of the Japanese AIST, funded for 24 months to be used at any time during his lifetime. Tim Lueth stayed there for 6 month, until Ulrich Rembold asked him to return to Karslruhe.

Experience: Tim Lueth received the Feodor Lynen Fellowship as one of the first engineers ever. The ElectroTechnical Laboratory (abbreviated as Densouken in Japanese) was one of the largest and oldest research institutes in Japan. It was under both MITI and AIST, thus providing researchers with strong credentials on their meishi. Before moving to Tsukuba, it was located in Roppongi, Tokyo. In the mid-1990s, it employed about 500 people, including dozens of foreign researchers, many of whom held fellowships such as STA fellowships. At that time, it was the second-largest national research institute, working on nearly all electrotechnical topics ranging from microelectronics to hot fusion.  After a reorganization on 2001-04-01, it was renamed the National Institute of Advanced Industrial Science and Technology. During his time in the Tsukune Lab in the department of Tsugasa Ogasawara, Tim Lueth shared his office with later well-known scientists such as Yunhui Liu (Hong-Kong), Alex Zelinsky (Canberra), and Ruzena Bajcsy (Berkely). Japan was at that time the nation with by far the highest number of robots worldwide. Tim Lueth spent his time working with the miniature robot Khepera and the programming language LISP.  

KAMRO – Karlsruhe Autonomous Assembly Robot (DFG SFB 314 Artificial Intelligence) 

Participating scientists: Thomas Hugel, Jan Schloen, Dietmar Kappey, Martin Damm, Uwe Nassal, Xioqing Cheng, Gerhard Werling, Andreas Hoermann, Igor Paromtschik, Thomas Längle, Satoshi Iwaki, Yunichi Takeno, Ulrich Rembold, Tim Lueth

Objective: The objective of the KAMRO project in DFG SFB 314 (Artificial Intelligence) was to develop an autonomous assembly robot that could perform an assembly task with just one command: "Assemble Cranfield Assembly Benchmark." The Cranfield Assembly Benchmark is a type of pendulum to be assembled with assembly subtasks of varying complexity, which was originally developed for comparing robot programming languages. The shorter the robot program, the more efficient the language. KAMRO was designed to work with only one assembly priority graph and find the shortest assembly option based on the actual position of the components on the table. To do this, parts must be picked up with one arm, transferred to the other arm, and then assembled. It must also be possible to interrupt the assembly and resume it later. To do this, components must be put down again so that they can be picked up later. For the first time, force-torque sensors on the grippers and hand cameras were to be used for the assembly. 

Results: In the third phase of SFB 314 (Artificial Intelligence), the assembly of the Cranfield Assembly Benchmark was based on an assembly priority graph. The sequence control was provided by Andreas Hörmann and Xioqing Cheng. The image processing was provided by Dietmar Kappey. The robot control was provided by Jan Schloen and Martin Damm. The mobile manipulation was provided by Uwe Nassal, Martin Damm, and Tim Lueth. The work on central, decentralized, and distributed control was provided by Tim Lueth and Thomas Längle. In 1994, the robot was able to drive autonomously in Hartmut Weule's hall for 45 minutes via Wi-Fi, connected to AI planning with a real-time operating system on board, to assemble, interrupt the assembly, and resume it. KAMRO is now on display at the Deutsches Museum in Munich. It was previously built during the first phase of SFB 314 (Artificial Intelligence 1985-1987, 1988-90, 1991-1993, 1994-1995) at Ulrich Rembold's chair. It consists of a holonomic platform with Mecanum wheels and two PUMA 260 arms in a hanging configuration, proposed by Rüdiger Dillmann. In the second phase, the Cranfield Assembly Benchmark was assembled using teach-in programming.  

Other important research teams at that time: Oussama Khatib, Stanford Robotics Lab,  Rüdiger Dillmann, University of Karlsruhe, initiated the KAMRO project while he was still a research assistant at Rembold's chair. He later built the PRIAMOS robot at his own chair. 

Selection of our publications: 

• Lueth, T.C.; Rembold, U.; , "Extensive manipulation capabilities and reliable behavior at autonomous robot assembly," Robotics and Automation, 1994, IEEE International Conference on , pp. 3495-3500 vol.4, May 8-13, 1994, also invited for the IEEE R&A Magazine;
• Nassal, U.M.; Damm, M.; Lueth, T.C. (1994): Mobile Manipulation  A Mobile Platform Supporting a Manipulator System for an Autonomous Robot. WCRR SME World Conference on Robotics Research, pp. 11-11 to 11-24. (invited for the SME Trans. MS94-218)
• Laengle, Th., T.C. Lueth, U. Rembold (1995): A Distributed Control Architecture for Autonomous Robot Systems. In H. Bunke et al. (Eds.), Modelling and Planning for Sensor Based Intelligent Robot Systems, World Scientific, pp. 384-402.
• The robot KAMRO is located today at the Deutsche Museum in Munich. Nevertheless from 1992-1996, the robot was the highlight of the SFB 314 (Artificial Intelligence and Robotics) in Karlsruhe, Kaiserslautern and Saarbrücken.

Even 30 years later, the video and the capabilities are astonishing.

Video 1994: Autonomous Assembly Robot KAMRO (5 Minutes - accelerated 5 times)

Video 1993: Autonomous Assembly Robot KAMRO (5 Minutes - accelerated 5 times)

Project: Simulation and planning of assembly systems and autonomous robots (ESPRIT-2 CIM-PLATO | SFB314)

Participating scientists: Klaus Hoermann, Bernd Welz, Tim Lueth, Jianwei Zhang, Ulrich Rembold, Georg Näger, Ulf Osmers, Christoph Winterhalter

Objective: The aim of Tim Lueth's work was to plan the layout of a robot production cell in such a way that movement tasks could be performed without collision.

Results: Using the software library developed by Peter Adolphs (later CEO of Pepperl+Fuchs) at Professor Henning Tolle's (ISRA AG) for real-time motion planning of a KUKA robot, it was possible to transform the potential obstacles into the Cartesian configuration space (Klaus Hoermann). We were able to show that motion planning is possible under geometric constraints in Cartesian configuration space and thus without simulation.

Other important research teams at that time: Hartmut Weule and Dieter Spath, University of Karlsruhe, Peter Adolphs and Henning Tolle, Technical University of Darmstadt

Selection of our publications:

• Lueth, T.C.; , “Automated planning of robot workcell layouts,” Robotics and Automation, 1992. Proceedings., ICRA 1992 IEEE International Conference on , vol., no., pp.1103-1108 vol.2, May 12-14, 1992
• Näger, G.; Lueth, T.C. (1994): Development of an Integrated Domain Representation for Configuration, Action Planning, and Layout Planning of Assembly Systems, ISPE/IFAC Int.´l Conf. on CAD/CAM, Robotics and Factories of the Future, Ottawa, August, 21-24, 1994, pp. 87-92.
• T. Lueth, U. Osmers, D. Spath, U. Rembold: “Information Infrastructure and Information Processing in Distributed Controlled Production Cells,” FAIM'96, 6th Int'l. Conf. on Flexible Automation & Intelligent Manufacturing, Atlanta, Georgia, May 13-15, 1996

Method & System: Impact Point Calculation for the Control of a Table Tennis Game Robot with Neural Networks

Participating scientists: Kurt Siedenburg, Joachim Wietzke, Rüdiger Bien, Tim Lueth, Wolfgang Hilberg 

Objective: The aim of Tim Lüth's work was to determine the point of impact of a flying table tennis ball with the help of neural networks from several position data of two PSD elements (simple 2D cameras).

Results: Based on the methods of Joachim Schürmann, the trajectory was approximated using polynomial classifiers and the quick-and-dirty rule (multi-layer perceptron) from a sequence of 2D position information of a pair of PSD element doubles and the impact point of the club (planar loudspeaker) was calculated. In the thesis, the estimated impact position was compared with the theoretically calculated impact position. The comparison with the real trajectory could not be completed.

Other important research teams at this time: Joachim Schürmann, Daimler Benz Research, Helge Ritter, Bielefeld University

Selection of our publications:

• Tim Lueth, Joachim Wietzke, Rüdiger Bien:Neural networks play table tennis [Neural-Net controlled robot plays Ping Pong] . DAGMSymposium1991: Proceeding pattern recognition 1991, 13th DAGM-Symposium, Springer-Verlag 82-87