University Lübeck - Institute for Robotics  -  Institute - Staff - Ernst, Floris
Institute

Prof. Dr. rer. nat. habil. Floris Ernst


Professor

Ratzeburger Allee 160
23562 Lübeck
Building 64, Room 95 (GF)

Phone: +49 451 31015208
Fax: +49 451 31015204
Email:
ernst(at)rob.uni-luebeck.de
Floris Ernst

Short Biography

Floris Ernst received the Dipl.-Math. degree (equivalent to M.Sc. in Mathematics) from Friedrich-Alexander-University Erlangen/Nuremberg (Germany) in 2006 and a postgraduate diploma in sciences from the University of Otago (Dunedin/New Zealand) in 2004. In 2006, he joined the Institute of Robotics and Cognitive Systems at the University of Lübeck, where he completed his PhD focussing on motion prediction and correlation algorithms for robotic radiosurgery. From 2011 to 2012, he worked as a software engineer at an engineering consultancy, specialising on applications in medicine and life sciences. In 2013, he returned to the Institute of Robotics and Cognitive Systems at the University of Lübeck as a senior research associate where he was appointed Professor for Medical Robotics in 2017.

Research Interests

  • Signal processing and analysis for medical purposes
  • Sensors for robotics
  • Motion tracking in clinical applications
  • Augmented reality for surgical tasks

Memberships

  • IEEE Senior Member
  • IEEE EMB and RAS Societies
  • VDE, DGBMT, DEGUM and CURAC
  • Steering Committee of the Graduate School "Computing in Medicine and Life Sciences" of the University of Lübeck

Publications

2020

Felix von Haxthausen, Svenja Ipsen, Holger Schwegmann, Ralf Bruder, Floris Ernst and Verónica García-Vázquez, A 3D Slicer module for calibration of spatially tracked 3D ultrasound probes, in: International Journal of Computer Assisted Radiology and Surgery, Munich, pages S14-S16, 2020
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Svenja Ipsen, Sven Böttger, Holger Schwegmann and Floris Ernst, Tracking Performance of 4D Ultrasound Systems with Real-Time Streaming Interfaces - A Robotic Phantom Study, in: Medical Physics, Annual Meeting of the American Association of Physicists in Medicine (AAPM), 2020
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Maria-Lisa Wilhelm, Mark K. H. Chan, Benedikt Abel, Florian Cremers, Frank-Andre Siebert, Stefan Wurster, David Krug, Robert Wolff, Jürgen Dunst, Guido Hildebrandt, Achim Schweikard, Dirk Rades, Floris Ernst and Oliver Blanck, Tumor-dose-rate variations during robotic radiosurgery of oligo and multiple brain metastases (2020), in: Springer
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Felix von Haxthausen, Till Aust, Holger Schwegmann, Sven Böttger, Floris Ernst, Verónica García-Vázquez, Markus Kleemann and Mark Kaschwich, Visual servoing for semi-automated 2D ultrasound scanning of peripheral arteries, Infinite Science Publishing GmbH, 2020
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2019

Felix von Haxthausen, Sonja Jäckle, Juljan Bouchagiar, Florian Matysiak, Mark Kaschwich, Jan Peter Goltz, Erik Stahlberg, Markus Kleemann, Floris Ernst and Verónica García-Vázquez, An augmented reality guidance system for endovascular aortic repair: first steps in reducing radiation exposure, in: Proceedings of the 33rd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS'19), 2019
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Svenja Ipsen, Ralf Bruder, Verónica García-Vázquez, Achim Schweikard and Floris Ernst, Assessment of 4D Ultrasound Systems for Image-guided Radiation Therapy – Image Quality, Framerates and CT Artifacts, German Society for Biomedical Engineering, 2019
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Mark Kaschwich, Florian Matysiak, Juljan Bouchagiar, Marco Horn, Verónica García-Vázquez, Felix von Haxthausen, Sonja Jäckle, Tim Eixmann, Jan Peter Goltz, Floris Ernst and Markus Kleemann, Augmented Reality navigierte endovaskuläre Chirurgie – das NavEVAR-Projekt, in: 35. Jahrestagung der Deutschen Gesellschaft für Gefäßchirurgie und Gefäßmedizin, 2019
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Felix von Haxthausen, Sonja Jäckle, Jan Strehlow, Floris Ernst and Verónica García-Vázquez, Catheter pose-dependent virtual angioscopy images visualized on augmented reality glasses (2019), in: Current Directions in Biomedical Engineering, 5:1(289-291)
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Jannis Hagenah, Kenneth Kühl, Michael Scharfschwerdt and Floris Ernst, Cluster Analysis in Latent Space: Identifying Personalized Aortic Valve Prosthesis Shapes using Deep Representations (2019), in: Proceedings of Machine Learning Research, 102(236--249)
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Stamatis Risto, Yenjung Chen, Felix von Haxthausen, Florian Matysiak, Floris Ernst and Verónica García-Vázquez, Development of HoloLens Mount for Third-Person Perspective and Augmented Reality Application for Endovascular Aortic Repair Procedures, in: Student Conference on Medical Engineering Science, Medical Informatics, Biomedical Engineering and Auditory Technology 2019, Lübeck (Germany), pages 47-50, Infinite Science Publishing GmbH, 2019
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Sven Böttger, Markus Kleemann and Floris Ernst, Ergebnisse einer Akzeptanzumfrage zur Roboter-assistierten Ultraschalldiagnostik unter Gefäßmedizinern, Deutsche Gesellschaft für Chirurgie, 2019
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Marco Horn, Sonja Jäckle, Felix von Haxthausen, Tim Eixmann, Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, Juljan Bouchagiar, Florian Matysiak, Mark Kaschwich, Markus Kleemann, Floris Ernst, Verónica García-Vázquez and Torben Pätz, First steps into catheter guidance including shape sensing for endovascular aneurysm repair procedures, in: European Journal of Vascular and Endovascular Surgery (Book of Abstracts - The European Society for Vascular Surgery 33rd Annual Meeting 2019), Hamburg (Germany), pages e610-e611, 2019
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Maximilian Wattenberg, Jannis Hagenah, Constantin Schareck, Floris Ernst and Martin A. Koch, Head Movement Detection from Radial k-Space Lines using Convolutional Neural Networks - A Digital Phantom Study (2019), in: Annual Meeting of the International Society of Magnetic Resonance in Medicine
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Yenjung Chen, Stamatis Risto, Felix von Haxthausen, Floris Ernst and Verónica García-Vázquez, HoloLens: Third-person Perspective, in: Student Conference on Medical Engineering Science, Medical Informatics, Biomedical Engineering and Auditory Technology 2019, Lübeck (Germany), pages 51-54, Infinite Science Publishing GmbH, 2019
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Jirapong Manit, Luise Preusse, Achim Schweikard and Floris Ernst, Human Forehead Recognition: A Novel Biometric Modality based on NIR Laser Backscattering Feature Image using Deep Transfer Learning (2019), in: IET Biometrics, online first
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Judit Boda-Heggemann, Anika Jahnke, Mark K. H. Chan, Floris Ernst, Ardekani Leila Ghaderi, Ulrike Attenberger, Peter Hunold, Jost Philipp Schäfer, Stefan Wurster, Dirk Rades, Guido Hildebrandt, Frank Lohr, Jürgen Dunst, Frederik Wenz and Oliver Blanck, In-vivo treatment accuracy analysis of active motion-compensated liver SBRT through registration of plan dose to post-therapeutic MRI-morphologic alterations (2019), in: Radiotherapy and Oncology, 134(158-165)
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Jannis Hagenah, Sascha Leymann and Floris Ernst, Integrating Label Uncertainty in Ultrasound Image Classification using Weighted Support Vector Machines (2019), in: Current Directions in Biomedical Engineering, 5:1(285 - 287)
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Svenja Ipsen, Ivo Kuhlemann, Achim Schweikard and Floris Ernst, MO-K-303-3: Continuous long-term imaging with robotic 4D ultrasound for motion compensation in radiotherapy and beyond, in: Medical Physics, Annual Meeting of the American Association of Physicists in Medicine (AAPM), pages E287-E288, 2019
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Sven Böttger, Felix von Haxthausen, Markus Kleemann, Floris Ernst and Achim Schweikard, Robotics from the bench – Research for ultrasound automation with augmented reality visualization, MIC 2019 - 17. Dreiländertreffen für Minimal-invasive Chirurgie, 2019
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Daniel Wulff, Ivo Kuhlemann, Floris Ernst, Achim Schweikard and Svenja Ipsen, Robust motion tracking of deformable targets in the liver using binary feature libraries in 4D ultrasound, German Society for Biomedical Engineering, 2019
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Svenja Ipsen, Floris Ernst, Verónica García-Vázquez and Achim Schweikard, SU-F-303-3: Assessment of CT artefacts caused by matrix array transducers for intra-modality registration in 4D ultrasound-guided radiotherapy, in: Medical Physics, Annual Meeting of the American Association of Physicists in Medicine (AAPM), pages E132-E133, 2019
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2018

Svenja Ipsen, Ralf Bruder, Ivo Kuhlemann, Philipp Jauer, Laura Motisi, Florian Cremers, Floris Ernst and Achim Schweikard, A visual probe positioning tool for 4D ultrasound-guided radiotherapy, IEEE Engineering in Medicine and Biology Society (EMBS), 2018
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Jannis Hagenah, Tizian Evers, Michael Scharfschwerdt, Achim Schweikard and Floris Ernst, An SVR-based Data-driven Leaflet Modeling Approach for Personalized Aortic Valve Prosthesis Development (2018), in: Computing in Cardiology, 45
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Jannis Hagenah, Mattias Heinrich and Floris Ernst, Deep transfer learning for aortic root dilation identification in 3D ultrasound images (2018), in: Current Directions in Biomedical Engineering, 4:1(71-74)
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Philipp Jauer, Ivo Kuhlemann, Ralf Bruder, Achim Schweikard and Floris Ernst, Efficient Registration of High-Resolution Feature Enhanced Point Clouds (2018), in: IEEE Transactions on Pattern Analysis and Machine Intelligence, 41:5(1102-1115)
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Jannis Hagenah, Maximilian Hillemanns, Gereon Hüttmann, Floris Ernst and Achim Schweikard, Image-based analysis of individual movement patterns of C. elegans (2018), in: International Conference on Systems Biology 2018
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Martin A. Koch, Jannis Hagenah, Maximilian Wattenberg and Floris Ernst, Learning motion artefacts in non - Cartesian magnetic resonance imaging (2018), in: Biomedical Technology/Biomedizinische Technik 2018
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Verónica García-Vázquez, Felix von Haxthausen, Sonja Jäckle, Christian Schumann, Ivo Kuhlemann, Juljan Bouchagiar, Anna-Catharina Höfer, Florian Matysiak, Gereon Hüttmann, Jan Peter Goltz, Markus Kleemann, Floris Ernst and Marco Horn, Navigation and visualisation with HoloLens in endovascular aortic repair (2018), in: Innovative Surgical Sciences
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Felix von Haxthausen, Floris Ernst, Ralf Bruder and Verónica García-Vázquez, Real-Time Streaming of 3D Ultrasound Data to HoloLens, in: 52nd Annual Conference of the German Society for Biomedical Engineering (BMT 2018), Aachen (Germany), 2018
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Jirapong Manit, Floris Ernst and Achim Schweikard, Relationship between NIR laser power and the human forehead tissue backscattering image features, in: Biophotonics: Photonic Solutions for Better Health Care VI, Strasbourg (France), pages 136, SPIE, 2018
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Sven Böttger, Markus Kleemann, Mohammed Al-Badri, Svenja Ipsen, Ivo Kuhlemann, Ralf Bruder and Floris Ernst, Robotergestützte Ultraschall-Plattform für die Automatisierung und Standardisierung von Screening-Verfahren (2018), in: 135. Kongress der Deutschen Gesellschaft für Chirurgie(161)
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Sven Böttger, Markus Kleemann, Svenja Ipsen, Ivo Kuhlemann, Ralf Bruder and Floris Ernst, Robotic ultrasound platform for automation and standardization of the screening process, European Society for Vascular Surgery, 2018
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Felix von Haxthausen, Floris Ernst, Ralf Bruder and Verónica García-Vázquez, Streaming of 3D Data from Ultrasound Systems to Augmented Reality Glasses (HoloLens), in: Tagungsgband der 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig (Germany), pages 2-3, Thomas Neumuth, Andreas Melzer, Claire Chalopin, 2018
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Jannis Hagenah, Michael Scharfschwerdt and Floris Ernst, Towards personalized aortic valve prostheses - A sparse representation of the individual leaflet shape (2018), in: Computing in Cardiology, 45
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Sonja Jäckle, Felix von Haxthausen, Verónica García-Vázquez, Christian Schumann, Markus Kleemann, Floris Ernst and Nils Papenberg, Visuelle Unterstützung bei endovaskulären Eingriffen durch Darstellung einer virtuellen Angioskopie auf der HoloLens, in: 34. Jahrestagung der Deutschen Gesellschaft für Gefäßchirurgie und Gefäßmedizin (DGG), Bonn (Germany), 2018
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Svenja Ipsen, Ralf Bruder, Floris Ernst and Achim Schweikard, WE-HI-KDBRB1-02: Characterization of 4D ultrasound systems with streaming interfaces for real-time motion compensation in radiotherapy, in: Medical Physics, Annual Meeting of the American Association of Physicists in Medicine (AAPM), pages E644, 2018
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2017

Ivo Kuhlemann and Floris Ernst, A safety module for active joint limit avoidance and intuitive hand guidance of a robotic ultrasound system, in: International Journal of Computer Assisted Radiology and Surgery, CARS 2017, pages 38-39, Springer, 2017
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Jirapong Manit, Achim Schweikard and Floris Ernst, Deep Convolutional Neural Network Approach for Forehead Tissue Thickness Estimation from NIR Laser Backscattering Images, in: Proceedings of the 51st DGBMT Annual Conference, Dresden, Germany, pages submitted, 2017
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Marco Horn, Jan Peter Goltz, Erik Stahlberg, Nils Papenberg, Floris Ernst and Markus Kleemann, Endovascular interventions proceeded under contrast agent and radiation sparing using navigation and imaging techniques for holographic visualisation, European Symposium on Vascular Biomaterials, Strasbourg (France), pages 173-180, 2017
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Sven Böttger, Svenja Ipsen, Mohammed Al-Badri, Floris Ernst and Achim Schweikard, Force sensitive robotics for automated ultrasonic diagnostics and therapy, Joint conference of the German, Austrian and Swiss Societies for Biomedical Engineering, Dresden, pages s103-s108, De Gruyter, 2017
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Stefan Gerlach, Ivo Kuhlemann, Floris Ernst, Christoph Fürweger and Alexander Schlaefer, Impact of robotic ultrasound image guidance on plan quality in SBRT of the prostate (2017), in: The British Journal of Radiology, 90:1078(20160926)
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Jirapong Manit, Christina Bremer, Achim Schweikard and Floris Ernst, Patient identification using a near-infrared laser scanner, in: Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, SPIE, Orlando, FL, pages 101352L, SPIE, 2017
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Mohammed Al-Badri, Svenja Ipsen, Sven Böttger and Floris Ernst, Robotic 4D ultrasound solution for real-time visualization and teleoperation (2017), in: Current Directions in Biomedical Engineering, 3:2(559-561)
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Ivo Kuhlemann, Markus Kleemann, Philipp Jauer, Achim Schweikard and Floris Ernst, Towards X-ray free endovascular interventions - Using HoloLens for on-line holographic visualization (2017), in: Healthcare Technology Letters, 4:5(184-187)
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2016

Svenja Ipsen, Ralf Bruder, Philipp Jauer, Floris Ernst, Oliver Blanck and Achim Schweikard, An improved tracking framework for ultrasound probe localization in image-guided radiosurgery (2016), in: Current Directions in Biomedical Engineering, 2:1(409-413)
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Mark Chan, Melanie Grehn, Florian Cremers, Frank-Andre Siebert, Stefan Wurster, Stefan Huttenlocher, Jürgen Dunst, Guido Hildebrandt, Achim Schweikard, Dirk Rades, Floris Ernst and Oliver Blanck, Dosimetric Implications of Residual Tracking Errors during Robotic SBRT of Liver Metastases (2016), in: International Journal of Radiation Oncology • Biology • Physics(accepted)
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder, Christian Erdmann, Christin-Sophie Deutz, Benjamin Sack, Jirapong Manit, Achim Schweikard and Floris Ernst, Enhanced Optical Head Tracking for Cranial Radiotherapy: Supporting Surface Registration by Cutaneous Structures (2016), in: International Journal of Radiation Oncology, Biology, Physics, 95:2(810-817)
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Stefan Gerlach, Ivo Kuhlemann, Philipp Jauer, Ralf Bruder, Floris Ernst, Christoph Fürweger and Alexander Schlaefer, Feasibility of robotic ultrasound guided SBRT of the prostate, in: CARS 2016, 30th International Congress and Exhibition, Heidelberg, 2016
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Philipp Jauer, Ivo Kuhlemann, Floris Ernst and Achim Schweikard, GPU-based real-time 3D workspace generation of arbitrary serial manipulators, in: IEEE 2016 2nd International Conference on Control, Automation and Robotics (ICCAR), pages 56-61, 2016
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Jannis Hagenah, Erik Werrmann, Michael Scharfschwerdt, Floris Ernst and Christoph Metzner, Prediction of Individual Prosthesis Size for Valve-Sparing Aortic Root Reconstruction Based on Geometric Features, in: 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '16), EMBS, Orlando, FL, USA, pages 3273-3276, IEEE, 2016
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Stefan Gerlach, Ivo Kuhlemann, Philipp Jauer, Ralf Bruder, Floris Ernst, Christoph Fürweger and Alexander Schlaefer, Robotic ultrasound-guided SBRT of the prostate: feasibility with respect to plan quality (2016), in: International Journal of Computer Assisted Radiology and Surgery(1--11)
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Ivo Kuhlemann, Philipp Jauer, Floris Ernst and Achim Schweikard, Robots with seven degrees of freedom: Is the additional DoF worth it?, in: IEEE 2016 2nd International Conference on Control, Automation and Robotics (ICCAR), pages 80-84, 2016
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Ivo Kuhlemann, Achim Schweikard, Philipp Jauer and Floris Ernst, Robust inverse kinematics by configuration control for redundant manipulators with seven DoF, in: IEEE 2016 2nd International Conference on Control, Automation and Robotics (ICCAR), pages 49-55, 2016
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S Gerlach, Ivo Kuhlemann, Floris Ernst, C Fuerweger and A Schlaefer, SU-G-JeP3-03: Effect of Robot Pose On Beam Blocking for Ultrasound Guided SBRT of the Prostate (2016), in: Medical Physics, 43:6(3670-3671)
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Ivo Kuhlemann, P Jauer, Achim Schweikard and Floris Ernst, SU-G-JeP3-08: Robotic System for Ultrasound Tracking in Radiation Therapy (2016), in: Medical Physics, 43:6(3672-3672)
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2015

Ralf Bruder, Floris Ernst, Oliver Blanck, Jürgen Dunst and Achim Schweikard, 4D Ultrasound Image Guidance for Cardiac Radiosurgery, in: International Workshop on Ultrasound Guidance in Radiotherapy, Cookham, UK, 2015
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Kenneth Poels, Jennifer Dhont, Dirk Verellen, Oliver Blanck, Floris Ernst, Jef Vandemeulebroucke, Tom Depuydt, Guy Storme and Mark De Ridder, A comparison of two clinical correlation models used for real-time tumor tracking of semi-periodic motion: A focus on geometrical accuracy in lung and liver cancer patients (2015), in: Radiotherapy and Oncology, 115:3(419-424)
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Jirapong Manit, Tobias Wissel, Patrick Stüber, Achim Schweikard and Floris Ernst, A Study of Gaussian Noise Effects on Skin Thickness Measurement, in: Proceedings of the 49th DGBMT Annual Conference, Lübeck, Germany, pages S190, 2015
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Patrick Stüber, Benjamin Wagner, Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, An Approach to Improve Accuracy of Optical Tracking Systems in Cranial Radiation Therapy (2015), in: Cureus, 7:1(e239)
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Floris Ernst, Achim Schweikard, Patrick Stüber, Ralf Bruder, Benjamin Wagner and Tobias Wissel, Analysis of feature stability for laser-based determination of tissue thickness, in: Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XIII, San Francisco, CA, pages 93130Q, 2015
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S. Lüdtke, Benjamin Wagner, Ralf Bruder, Patrick Stüber, Floris Ernst, Achim Schweikard and Tobias Wissel, Calibration of galvanometric laser scanners using statistical learning methods, in: Bildverarbeitung für die Medizin, Berlin, Heidelberg, New York, pages 467-472, Springer, 2015
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Tobias Wissel, Benjamin Wagner, Patrick Stüber, Achim Schweikard and Floris Ernst, Data-driven Learning for Calibrating Galvanometric Laser Scanners (2015), in: IEEE Sensors Journal, 15:10(5709-5717)
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Oliver Blanck, Melanie Grehn, S Wurster, Guido Hildebrandt, Jürgen Dunst, F A Siebert, Achim Schweikard and Floris Ernst, Dosimetrischer Einfluss von residualen Trackingfehlern in der robotergestützten Radiochirurgie von Lebertumoren, in: 21. Jahrestagung der Deutschen Gesellschaft für Radioonkologie (DEGRO), Deutsche Gesellschaft für Radioonkologie (DEGRO), Hamburg, Germany, 2015
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Achim Schweikard and Floris Ernst, Efficient Estimation of Tissue Thicknesses using Sparse Approximation for Gaussian Processes, in: 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '15), EMBS, Milano, Italy, pages 7015-7018, IEEE, 2015
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, Enhanced Tissue Thickness Computation by Exploiting Local Neighborhoods, in: Proceedings of the 29th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS'15), Barcelona, Spain, 2015
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, Enriching 3D optical surface scans with prior knowledge: tissue thickness computation by exploiting local neighborhoods (2015), in: International Journal of Computer Assisted Radiology and Surgery, 11:4(569-579)
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Philipp Jauer, Franziska Hainer and Floris Ernst, GPU-based Real-Time Generation of Large Ultrasound Volumes from Freehand 3D Sweeps, in: Proceedings of the 49th DGBMT Annual Conference, Lübeck, Germany, pages S213, 2015
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Philipp Jauer, Franziska Hainer and Floris Ernst, GPU-based real-time generation of large ultrasound volumes from freehand 3D sweeps (2015), in: Current Directions in Biomedical Engineering, 1:1(286-289)
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Achim Schweikard and Floris Ernst, Medical Robotics, Springer, 2015
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Floris Ernst, Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder and Achim Schweikard, Optical localization of the human skull for cranial radiation therapy, in: Varian Research Partnership Symposium, Varian Medical, 2015
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Ivo Kuhlemann, Philipp Jauer, Achim Schweikard and Floris Ernst, Patient localization for robotized ultrasound-guided radiation therapy, in: Imaging and Computer Assistance in Radiation Therapy, ICART 2015, 18th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI, pages 105-112, 2015
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Benjamin Wagner, Patrick Stüber, Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, Ray Interpolation for Generic Triangulation Based on a Galvanometric Laser Scanning System, in: 2015 IEEE International Symposium on Biomedical Imaging, New York, pages 1419-1422, IEEE, 2015
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Floris Ernst and Philipp Saß, Respiratory Motion Tracking using Microsoft's Kinect v2 Camera, in: Proceedings of the 49th DGBMT Annual Conference, Lübeck, Germany, pages S174, 2015
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Floris Ernst and Philipp Saß, Respiratory motion tracking using Microsoft's Kinect v2 camera (2015), in: Current Directions in Biomedical Engineering, 1:1(192-195)
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Achim Schweikard and Floris Ernst, Tissue Segmentation from Head MRI: A Ground Truth Validation for Feature-Enhanced Tracking, in: Proceedings of the 49th DGBMT Annual Conference, Lübeck, Germany, pages S184, 2015
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Achim Schweikard and Floris Ernst, Tissue segmentation from head MRI: a ground truth validation for feature-enhanced tracking (2015), in: Current Directions in Biomedical Engineering, 1:1(228-231)
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2014

Patrick Stüber, Tobias Wissel, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, A comparison of different hardware design approaches for feature-supported optical tracking with respect to angular dependencies, in: 56th Annual Meeting of the AAPM, pages 204, 2014
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Robert Dürichen, Tobias Wissel, Floris Ernst, Marco A. F. Pimentel, David A. Clifton and Achim Schweikard, A Unified Approach For Respiratory Motion Prediction and Correlation with Multi-Task Gaussian Processes, in: IEEE International Workshop on Machine Learning for Signal Processing, Reims, France, pages 1--6, 2014
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Benjamin Wagner, Patrick Stüber, Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, Accuracy analysis for triangulation and tracking based on time-multiplexed structured light (2014), in: Medical Physics, 41:8(082701)
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, Angle influence and compensation for marker-less head tracking based on laser scanners, in: Proceedings of the 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS'14), Fukuoka, Japan, pages 62-63, 2014
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Jan Graßhof, Ralf Bruder, Achim Schweikard and Floris Ernst, Kalman Filter based Head Tracking for Cranial Radiation Therapy with low-cost Range-Imaging Cameras, in: Bildverarbeitung für die Medizin 2014, Aachen, Germany, pages 324-329, Springer, 2014
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Floris Ernst, Ralf Bruder, Tobias Wissel, Patrick Stüber, Benjamin Wagner and Achim Schweikard, Measuring cranial soft tissue thickness with MRI or pressure-compensated tracked ultrasound (2014), in: British Journal of Medicine and Medical Research, 4:4(937-948)
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Robert Dürichen, Tobias Wissel, Floris Ernst, Alexander Schlaefer and Achim Schweikard, Multivariate respiratory motion prediction (2014), in: Physics in Medicine and Biology, 59:20(6043)
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Robert Dürichen, Ralf Bruder, Achim Schweikard and Floris Ernst, Tissue Thickness Estimation for High Precision Head-Tracking using a Galvanometric Laser Scanner - A Case Study, in: 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '14), EMBS, Chicago, IL, pages 3106-3109, IEEE, 2014
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Ivo Kuhlemann, Ralf Bruder, Floris Ernst and Achim Schweikard, WE-G-BRF-09: Force- and Image-Adaptive Strategies for Robotised Placement of 4D Ultrasound Probes, in: 56th Annual Meeting of the AAPM, pages 523, 2014
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2013

Benjamin Wagner, Patrick Stüber, Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, Accuracy of object tracking based on time-multiplexed structured light, in: 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), CURAC, Innsbruck, Austria, pages 139-142, 2013
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Patrick Stüber, Tobias Wissel, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, An improvement for the scanning process in high accuracy head tracking, in: 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), CURAC, Innsbruck, Austria, pages 179-182, 2013
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Robert Dürichen, Ralf Bruder, Lucas Davenport, Tobias Wissel, Floris Ernst and Achim Schweikard, Correlation and variation of a multi-modal sensor setup for respiratory motion prediction and correlation, in: 55th Annual Meeting & Exhibition of AAPM, American Association of Physicists in Medicine (AAPM), Indianapolis, USA, pages 186, 2013
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Patrick Stüber, Tobias Wissel, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, Design and evaluation of a highly accurate optical setup for backscatter analysis, in: 44. Jahrestagung der DGMP, DGMP, Cologne, Germany, pages 181-186, 2013
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Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, Estimating soft tissue thickness from light-tissue interactions\textemdash a simulation study (2013), in: Biomedical Optics Express, 4:7(1176-1187)
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Floris Ernst, Robert Dürichen, Alexander Schlaefer and Achim Schweikard, Evaluating and comparing algorithms for respiratory motion prediction (2013), in: Physics in Medicine and Biology, 58:11(3911-3929)
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Robert Dürichen, Lucas Davenport, Ralf Bruder, Tobias Wissel, Floris Ernst and Achim Schweikard, Evaluation of the potential of multi-modal sensors for respiratory motion prediction and correlation, in: 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 13), Osaka, Japan, pages 5678 - 5681, 2013
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Ralf Bruder, Svenja Ipsen, Philipp Jauer, Floris Ernst, Oliver Blanck and Achim Schweikard, MO-D-144-02: Ultrasound Transducer Localization Using the CyberKnife's X-Ray System, in: 55th Annual Meeting of the AAPM, pages 405, 2013
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Birgit Stender, Floris Ernst, Bo Wang, Z. X. Zhang and Alexander Schlaefer, Motion compensation of optical mapping signals from isolated beating rat hearts, in: Applications of Digital Image Processing XXXVI, SPIE, San Diego, CA, pages 88561C-1 - 88561C-6, SPIE, 2013
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Robert Dürichen, Tobias Wissel, Floris Ernst and Achim Schweikard, Multi-modal respiratory motion prediction using sequential forward selection method, in: 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), CURAC, pages 183-187, 2013
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Oliver Blanck, Philipp Jauer, Floris Ernst, Ralf Bruder and Achim Schweikard, Pilot-Phantomtest zur ultraschall-geführten robotergestützten Radiochirurgie, in: 44. Jahrestagung der DGMP, DGMP, Cologne, Germany, pages 122-123, 2013
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Tobias Wissel, Patrick Stüber, Benjamin Wagner, Ralf Bruder, Achim Schweikard and Floris Ernst, Preliminary Study on Optical Feature Detection for Head Tracking in Radiation Therapy, in: 13th IEEE International Conference on BioInformatics and BioEngineering (BIBE), IEEE, Chania, Greece, pages 1-5, 2013
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Floris Ernst, Ralf Bruder, Tobias Wissel, Patrick Stüber, Benjamin Wagner and Achim Schweikard, Real time contact-free and non-invasive tracking of the human skull\textemdash first light and initial validation, in: Applications of Digital Image Processing XXXVI, San Diego, CA, pages 88561G-1 - 88561G-8, 2013
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Robert Dürichen, Tobias Wissel, Floris Ernst and Achim Schweikard, Respiratory Motion Compensation with Relevance Vector Machines, in: MICCAI 2013, Part II, MICCAI, Nagoya, Japan, pages 108-115, Springer, 2013
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Benjamin Wagner, Patrick Stüber, Tobias Wissel, Ralf Bruder, Achim Schweikard and Floris Ernst, Time-multiplexed structured light for head tracking, in: 44. Jahrestagung der DGMP, DGMP, Cologne, Germany, pages 199-202, 2013
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2012

Floris Ernst, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Correlation between external and internal respiratory motion: a validation study (2012), in: International Journal of Computer Assisted Radiology and Surgery, 7:3(483-492)
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Robert Dürichen, Oliver Blanck, Floris Ernst and Achim Schweikard, Evaluation of a wavelet-based least mean square algorithm for prediction of respiratory movements, The Radiosurgery Society, Carlsbad, CA, USA, pages accepted for publication, 2012
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Oliver Blanck, Robert Dürichen, Floris Ernst, Jürgen Dunst, Dirk Rades, Guido Hildebrandt and Achim Schweikard, Evaluation of a wavelet-based least mean square motion prediction algorithm for lung and liver patients, in: ESTRO 31, Barcelona, Spain, pages S12-S13, 2012
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Floris Ernst, Lars Richter, Lars Matthäus, Volker Martens, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Non-orthogonal Tool/Flange and Robot/World Calibration for Realistic Tracking Scenarios (2012), in: International Journal of Medical Robotics and Computer Assisted Surgery, 8:4(407--420)
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2011

Ralf Bruder, Floris Ernst, Alexander Schlaefer and Achim Schweikard, A Framework for Real-Time Target Tracking in Radiosurgery using Three-dimensional Ultrasound, in: Proceedings of the 25th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'11), Berlin, Germany, pages S306-S307, 2011
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Floris Ernst and Achim Schweikard, Adaptive Motion Compensation in Radiotherapy, chapter Robotic LINAC tracking based on correlation and prediction, pages 47-63, Taylor & Francis, Imaging in Medical Diagnosis and Therapy, 2011
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Floris Ernst, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Forecasting Pulsatory Motion for Non-invasive Cardiac Radiosurgery (2011), in: International Journal of Computer Assisted Radiology and Surgery, 6:1(93-101)
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Ralf Bruder, Florian Griese, Floris Ernst and Achim Schweikard, High-accuracy ultrasound target localization for hand-eye calibration between optical tracking systems and three-dimensional ultrasound, in: Bildverarbeitung für die Medizin 2011, pages 179-183, Springer, 2011
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Birgit Stender, Michael Scharfschwerdt, Floris Ernst, Ralf Bruder, Hamid Hadjar and Alexander Schlaefer, Optical Imaging of Cardiac Function: System setup and calibration, in: Proceedings of the 25th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'11), Berlin, Germany, pages S42-S43, 2011
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Floris Ernst, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Performance Measures and Pre-Processing for Respiratory Motion Prediction, in: 53rd Annual Meeting of the AAPM, pages 3857, 2011
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Floris Ernst, Alexander Schlaefer and Achim Schweikard, Predicting the Outcome of Respiratory Motion Prediction (2011), in: Medical Physics, 38:10(5569-5582)
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Ralf Bruder, Philipp Jauer, Floris Ernst, Lars Richter and Achim Schweikard, Real-time 4D ultrasound visualization with the Voreen framework, in: ACM SIGGRAPH 2011 Posters, Vancouver, BC, Canada, pages 74:1, ACM, 2011
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Lars Richter, Floris Ernst, Alexander Schlaefer and Achim Schweikard, Robust robot-camera calibration for robotized Transcranial Magnetic Stimulation (2011), in: International Journal of Medical Robotics and Computer Assisted Surgery, 7:4(414-422)
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Ralf Bruder, Floris Ernst and Achim Schweikard, SU‐D‐220‐02: Optimal transducer positions for 4D ultrasound guidance in cardiac IGRT, in: 53rd Annual Meeting of the AAPM, pages 3390, 2011
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Floris Ernst, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Validating an SVR-based Correlation Algorithm on Human Volumetric Ultrasound Data, in: Proceedings of the 25th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'11), Berlin, Germany, pages S59-S60, 2011
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2010

Floris Ernst, Christoph Koch and Achim Schweikard, A Novel Recording Tool for Education and Quality Assurance in Digital Angiography, in: 2010 Annual Meeting of the RSNA, Chicago, IL/USA, 2010
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Lars Richter, Floris Ernst, Volker Martens, Lars Matthäus and Achim Schweikard, Client/Server Framework for robot control in medical assistance systems, in: Proceedings of the 24th International Congress and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'10), Geneva, Switzerland, pages 306--307, 2010
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Floris Ernst, Ralf Bruder, Alexander Schlaefer and Achim Schweikard, Improving the Quality of Biomedical Signal Tracking using Prediction Algorithms, in: UKACC International Conference on CONTROL 2010, United Kingdom Automatic Control Council, Coventry, United Kingdom, pages 301-305, 2010
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Floris Ernst, Ralf Bruder, Melanie Pohl, Alexander Schlaefer and Achim Schweikard, Prediction of Cardiac Motion, in: Proceedings of the 24th International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'10), pages 273--274, 2010
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Floris Ernst, Alexander Schlaefer and Achim Schweikard, Processing of Respiratory Motion Traces for Motion-Compensated Radiotherapy (2010), in: Medical Physics, 37:1(282-294)
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Floris Ernst, Birgit Stender, Alexander Schlaefer and Achim Schweikard, Using ECG in Motion Prediction for Radiosurgery of the Beating Heart, in: The Hamlyn Symposium on Medical Robotics, The Royal Society, London, pages 37--38, 2010
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2009

Ralf Bruder, T. Cai, Floris Ernst and Achim Schweikard, 3D ultrasound-guided motion compensation for intravascular radiation therapy, in: Proceedings of the 23rd International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'09), pages 25--26, 2009
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Floris Ernst and Achim Schweikard, A Survey of Algorithms for Respiratory Motion Prediction in Robotic Radiosurgery, in: 39. GI Jahrestagung, GI, Lübeck, Germany, pages 1035--1043, Bonner Köllen, 2009
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Floris Ernst, Volker Martens, Stefan Schlichting, Armin Beširević, Markus Kleemann, Christoph Koch, Dirk Petersen and Achim Schweikard, Correlating Chest Surface Motion to Motion of the Liver using $\varepsilon$-{SVR} -- a Porcine Study, in: MICCAI 2009, Part II, MICCAI, London, United Kingdom, pages 356--364, Springer, 2009
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Floris Ernst and Achim Schweikard, Forecasting Respiratory Motion with Accurate Online Support Vector Regression (SVRpred) (2009), in: International Journal of Computer Assisted Radiology and Surgery, 4:5(439--447)
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Floris Ernst, Motion Compensation in Radiosurgery, in: {RTMART} Workshop 2009, Institute for Robotics, University of Lübeck, 2009
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Floris Ernst and Achim Schweikard, Predicting Respiratory Motion Signals using Accurate Online Support Vector Regression (SVRpred), in: Proceedings of the 23rd International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'09), pages 255--256, 2009
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Ralf Bruder, Floris Ernst, Alexander Schlaefer and Achim Schweikard, TH-C-304A-07: Real-Time Tracking of the Pulmonary Veins in 3D Ultrasound of the Beating Heart, in: 51st Annual Meeting of the AAPM, pages 2804, 2009
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2008

Floris Ernst and Achim Schweikard, A family of linear algorithms for the prediction of respiratory motion in image-guided radiotherapy, in: Proceedings of the 22nd International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'08), CARS, pages 31-32, 2008
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Floris Ernst, Alexander Schlaefer, Sonja Dieterich and Achim Schweikard, A Fast Lane Approach to LMS Prediction of Respiratory Motion Signals (2008), in: Biomedical Signal Processing and Control, 3:4(291-299)
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Volker Martens, Floris Ernst, Thomas Fränkler, Lars Matthäus, Stefan Schlichting and Achim Schweikard, Ein Client-Server Framework für Trackingsysteme in medizinischen Assistenzsystemen, in: 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC, pages 7--10, 2008
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Matthias Knöpke and Floris Ernst, Flexible Markergeometrien zur Erfassung von Atmungs- und Herzbewegungen an der Körperoberfläche, in: 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC, pages 15--16, 2008
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Norman Rzezovski and Floris Ernst, Graphical Tool for the Prediction of Respiratory Motion Signals, in: 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC, pages 179--180, 2008
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Floris Ernst and Achim Schweikard, Predicting Respiratory Motion Signals for Image-Guided Radiotherapy using Multi-step Linear Methods (MULIN) (2008), in: International Journal of Computer Assisted Radiology and Surgery, 3:1--2(85--90)
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Floris Ernst and Achim Schweikard, Prediction of respiratory motion using a modified Recursive Least Squares algorithm, in: 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, CURAC, pages 157--160, 2008
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2007

Lukas Ramrath, Alexander Schlaefer, Floris Ernst, Sonja Dieterich and Achim Schweikard, Prediction of respiratory motion with a multi-frequency based Extended Kalman Filter, in: Proceedings of the 21st International Conference and Exhibition on Computer Assisted Radiology and Surgery ({CARS}'07), CARS, pages 56--58, 2007
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Floris Ernst, Alexander Schlaefer and Achim Schweikard, Prediction of Respiratory Motion with Wavelet-based Multiscale Autoregression, in: MICCAI 2007, Part II, MICCAI, Brisbane, Australia, pages 668--675, Springer, 2007
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Floris Ernst, Ralf Bruder and Alexander Schlaefer, Processing of Respiratory Signals from Tracking Systems for Motion Compensated IGRT, in: 49th Annual Meeting of the AAPM, pages 2565, 2007
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2006

Floris Ernst, Dedekind, Prüfer and Skolem Rings, Friedrich-Alexander-Universität Erlangen-Nürnberg, Mathematisches Institut, 2006
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2004

Floris Ernst, Multiplicative Ideal Theory, University of Otago, Department of Mathematics and Statistics, 2004
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