The aim of the project is an advancement of the minimally-invasive surgical platform "Single-Port Overtube" (SPOT) and its seamless integration into clinical workflows. This is to be achieved by a holistic examination of the surgical treatment pathway from referral to discharge.

Patient data collected in the context of the so-called patient characterization as well as a continuously growing archive of interventions performed in the past serve as a basis for planning upcoming surgeries. On this basis, predictions can be made regarding the complexity of the intervention, the expected duration of the operation, the required instruments, etc. Similarly, the SPOT platform can be customized for individual patients and procedures. With the help of 3D printing processes, it is possible to produce the desired manipulator within the shortest possible time and make it available for surgical use. The surgical team is supported intraoperatively by so-called workflow recognition technology. This involves analyzing available signals from the operating room infrastructure - such as the laparoscopic video image, device statuses and sensor data streams - using machine learning to automatically recognize the current situation in the operating room. This forms the basis for the execution of context-dependent assistance functions, such as the display of situational information on the OR monitor or the semi-autonomous control of medical equipment. Other assistance functions such as semi-autonomous tracking of the endoscopic camera and collision avoidance between the SPOT platform and persons are also part of the concept. Postoperatively, all complications and incidents that occurred during treatment are included in the final report and archived. This in turn serves as a basis for future cases.

Lukas Bernhard, M.Sc.

Project-related Publications

  • Brecht, S.; Hein, C.; Krieger, Y. S.; Lüth, T. C. (2017): Patientenindividuelle Medizinprodukte aus dem 3D-Drucker. In: Medizintechnik in Bayern.
  • Czempiel, Tobias; Paschali, Magdalini; Ostler, Daniel; Kim, Seong Tae; Busam, Benjamin; Navab, Nassir (2021): OperA: Attention-Regularized Transformers for Surgical Phase Recognition. Online verfügbar unter
  • Elsherbiny, Ahmed; Koller, Sebastian; Kohn, Nils; Ostler, Daniel; Schneider, Armin; Friess, Thomas Vogel Dirk Wilhelm Helmut et al. (2000): Evaluation of Eye-Tracking vs Color-code Tracking for Robotic Camera Assistance in Minimally Invasive Surgery. In: Journal of Surgery & Clinical Practice 1 (1), S. 1–4.
  • Feussner, Hubertus; Krieger, Yannick; Wilhelm, Dirk; Brunner, Stephan; Ostler, Daniel; Meining, Alexander; Lueth, Tim (2019): Mechatronic Support System for NOTES and Monoport Surgery - A New Approach. In: Surgical technology international 34, S. 23–29.
  • Kohn, Nils; Ostler, Daniel; Koller, Sebastian; Marahrens, Nils; Samm, Nicole; Kranzfelder, Michael et al. (2018): Telephone call management in the cognitive operating room. In: [13th Russian-German Conference on Biomedical Engineering (RGC), RGC, 2018-05-23 - 2018-05-25, Aachen, Germany]. 13th Russian-German Conference on Biomedical Engineering (RGC), Aachen (Germany), 23 May 2018 - 25 May 2018. Online verfügbar unter
  • Koller, S.; Krieger, Y. S.; Marahrens, N.; Brecht, S. V.; Ostler, D.; Vogel, T. et al. (2018): Neues zu mechatronischen Assistenzsystemen und Telemanipulatoren. In: coloproctology 40 (2), S. 119–126. DOI: 10.1007/s00053-017-0226-4.
  • Krieger, Y. S.; Lueth, T. C. (2017): Automated Design of Manipulators for Minimally Invasive Surgery. In: DGR Days 2017 (Deutsche Gesellschaft für Robotik).
  • Krieger, Yannick S.; Kuball, Clara-Maria; Rumschoettel, Dominik; Dietz, Christian; Pfeiffer, Jonas H.; Roppenecker, Daniel B.; Lueth, Tim C. (92017): Fatigue strength of laser sintered flexure hinge structures for soft robotic applications. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, BC, 24.09.2017 - 28.09.2017: IEEE, S. 1230–1235.
  • Krieger, Yannick S.; Ostler, Daniel; Rzepka, Korbinian; Meining, Alexander; Feussner, Hubertus; Wilhelm, Dirk; Lueth, Tim C. (2020): Evaluation of long-term stability of monolithic 3D-printed robotic manipulator structures for minimally invasive surgery. In: International journal of computer assisted radiology and surgery 15 (10), S. 1693–1697.
  • Krieger, Yannick S.; Roppenecker, Daniel B.; Kuru, Ismail; Lueth, Tim C. (2017 - 2017): Multi-arm snake-like robot. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). 2017 IEEE International Conference on Robotics and Automation (ICRA). Singapore, Singapore, 29.05.2017 - 03.06.2017: IEEE, S. 2490–2495.
  • Krieger, Yannick S.; Schiele, Simon; Detzel, Samuel; Dietz, Christian; Lueth, Tim C. (2019): Shape memory structures-automated design of monolithic soft robot structures with pre-defined end poses. In: 2019 International Conference on Robotics and Automation (ICRA). IEEE, S. 9357–9362.
  • Krieger, Yannick S.; Walter, Benjamin M.; Pfeiffer, Jonas H.; Thalhofer, Thomas; Meining, Alexander; Lueth, Tim C. (122018): Electronic Control Concept for Surgical Manipulators Generated Using an Automated Design Process. In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). Kuala Lumpur, Malaysia, 12.12.2018 - 15.12.2018: IEEE, S. 2226–2231.
  • Krieger Y.S., Schiele S., Lueth T.C.: 3D-printed monolithic ”Shape Memory” soft robotic structures. In: Soft Robotics Journal 2019 (Vol. 6, Number 2).
  • Maier-Hein, Lena; Vedula, Swaroop S.; Speidel, Stefanie; Navab, Nassir; Kikinis, Ron; Park, Adrian et al. (2017): Surgical data science for next-generation interventions. In: Nature Biomedical Engineering 1 (9), S. 691–696. DOI: 10.1038/s41551-017-0132-7.
  • Miehle, Juliana; Ostler, Daniel; Gerstenlauer, Nadine; Minker, Wolfgang (2017): The next step: intelligent digital assistance for clinical operating rooms. In: Innovative Surgical Sciences 2 (3), S. 159–161. DOI: 10.1515/iss-2017-0034.
  • Okur, Asli; Stauder, Ralf; Feussner, Hubertus; Navab, Nassir (2017): Quantitative Characterization of Components of Computer Assisted Interventions. Online verfügbar unter
  • Ostler, D.; Krieger, Y.; Lueth, T. C.; Wilhelm, D. (2019): Neue Werkzeuge für die Monoport-Laparoskopie und NOTES. In: Chirurgische Allgemeine Zeitung (CHAZ) (6. Heft).
  • Ostler, Daniel; Wilhelm, Dirk; Bernhard, Lukas; Fuchtmann, Jonas; Kranzfelder, Michael; Vogel, Thomas; Feussner, Hubertus (2020): Machine Learning in the OR: A Collaborative Environment for Surgical Interventions in Visceral Medicine. In: Surgical technology international 37, S. 16–21.
  • Schmid, Quirin T.; Hein, Christina M.; Kleine, Kyra; Struebig, Konstantin; Krieger, Yannick S.; Lueth, Tim C. (2019): Towards a digital process chain for the automated manufacturing of pediatric orthoses. In: Transactions on Additive Manufacturing Meets Medicine 1 (1).
  • Stauder, Ralf; Kayis, Ergün; Navab, Nassir (2017): Learning-based Surgical Workflow Detection from Intra-Operative Signals. Online verfügbar unter
  • Stauder, Ralf; Ostler, Daniel; Kranzfelder, Michael; Koller, Sebastian; Feußner, Hubertus; Navab, Nassir (2016): The TUM LapChole dataset for the M2CAI 2016 workflow challenge. Online verfügbar unter
  • Stauder, Ralf; Ostler, Daniel; Vogel, Thomas; Wilhelm, Dirk; Koller, Sebastian; Kranzfelder, Michael; Navab, Nassir (2017): Surgical data processing for smart intraoperative assistance systems. In: Innovative Surgical Sciences 2 (3), S. 145–152. DOI: 10.1515/iss-2017-0035.
  • Walter, B.; Krieger, Y.; Lueth, T. C.; Feussner, H.; Meining, A. (2019): Improved bi-manual endoscopic resection using a customizable manipulator system de-signed as an overtube for standard endoscopes. In: United European Gastroenterology (UEGW).
  • Walter, Benjamin; Schmidbaur, Simone; Krieger, Yannick; Meining, Alexander (2019): Improved endoscopic resection of large flat lesions and early cancers using an external additional working channel (AWC): a case series. In: Endoscopy International Open 7 (2), E298.
  • Walter B., Krieger Y.S., Wilhelm D., Feussner H., Lueth T.C., Meining A. (2021): Evaluation of improved bi-manual endoscopic resection using a customizable 3D-printed manipulator system designed for use with standard endoscopes: a feasibility study using a porcine ex-vivo model. In: Endoscopy International Open (09).
  • Zizer, Eugen; Roppenecker, Daniel; Helmes, Felix; Hafner, Sebastian; Krieger, Yannick; Lüth, Tim; Meining, Alexander (2016): A new 3D-printed overtube system for endoscopic submucosal dissection: first results of a randomized study in a porcine model. In: Endoscopy 48 (08), S. 762–765.

Project-related Presentations

  • 01.10.2016, CURAC/Bern: Plattformkonzept für mikroinvasive viszeralmedizinische Eingriffe (B. Walter, A. Meining, T. Lüth)
  • 01.10.2016, CURAC/Bern: Workflowintegration einer OP-Plattform (N. Navab, R. Stauder)
  • 21.03.2017: Chirurgenkongress/München: Flexible endoskopische Plattformen (A. Meining)
  • 07.04.2017: DGE-BV/Berlin: Individualisierte endoluminale Endoskopie: Eine neue Plattform für die Monoport- und endoskopische Intervention (B. Walter, Y. Krieger)
  • 07.04.2017: DGE-BV/Berlin: Integration eines mechatronischen Assistenzsystems in den kognitiven OP (R. Stauder)
  • 06.10.2017: CURAC/Hannover: Skalierbare Operationsplattform für die Viszeralmedizin (Y. Krieger, B. Walter, S. Koller, A. Meining, T. Lüth)
  • 06.10.2017: CURAC/Hannover: Sichere Mensch-Roboter Interaktion in intraoperativen Stresssituationen (R. Stauder, T. Vogel, D. Ostler, N. Navab, S. Koller, H. Feußner)
  • 17.03.2018: DGE-BV/München: Mensch-Roboter-Interaktion unter besonderer Berücksichtigung von intraoperativen Sondersituationen (R. Stauder)
  • 17.03.2018: DGE-BV/München: „Lernende“ mechatronische Assistenzsysteme (N. Marahrens)
  • 17.03.2018: DGE-BV/München: Die SPOT-Plattform für die individualisierte viszeralmedizinische Intervention (Y. Krieger, B. Walter)
  • 17.03.2018: DGE-BV/München: Einsatzszenarien und erste Erfahrungen mit SPOT – aus gastroenterologischer Sicht (A. Meining)
  • 17.03.2018: DGE-BV/München: Einsatzszenarien und erste Erfahrungen mit SPOT – aus chirurgischer Sicht (D. Wilhelm)
  • 30.03.2019: DGE-BV/Stuttgart: Anforderung an flexible Plattformen für endoskopische Interventionen in schwer zugänglichen Abschnitten (proximaler Magen, Coecum) (A. Meining)
  • 30.03.2019: DGE-BV/Stuttgart: Konstruktive Umsetzung der klinischen Anforderungen (Y. Krieger)
  • 30.03.2019: DGE-BV/Stuttgart: Teilautonome OP-Dokumentation: Der automatische OP-Bericht (T. Vogel)
  • 30.03.2019: DGE-BV/Stuttgart: Telefonmanagement: Ein workflowadaptiertes Supportsystem im OP (N. Samm)
  • 30.03.2019: DGE-BV/Stuttgart: Von PLAFOKON inspiriert: „Surgineering“ (D. Wilhelm)
  • 19.09.2020: CURAC/Hamburg: Technische Module: PLAFOKON (L. Bernhard)
  • 19.09.2020: CURAC/Hamburg: TeCNO: Surgical Phase Recognition with Multi-Stage Temporal Convolutional Networks (T. Czempiel)