Michael Merscher, Ralf Gundling, Markus Schwarz, Jürgen Hesser, Peter Pott, Robert Boesecke, Jens Brodersen, Vitor Vieira, Eugen Lisiak, Am Tuong Nguyen.
Roboter zum Halten und zur Handhabung medizinischer Instrumente / Gerätschaften,
Partners: Ruprecht-Karls-Universität Heidelberg and PRECISIS AG
Ullrich & Naumann Patent number 6024/P/1003-DE of 24. June 2011.


Vitor M. M. Vieira
Zero Force Coupling for Medical Robotics,
Doctor scientiarum humanarum dissertation
From the Medical Faculty Heidelberg
Ruprecht-Karls University of Heidelberg

available for download as PDF:
 Complete dissertation
 Summary in English (16Kb)
 Summary in Portuguese / Sumário (18Kb)
 Summary in German / Zusammenfassung (21Kb)
 Chapter 1: Introduction (46Kb)
 Chapter 2: Methods and Materials (5Mb)
 Chapter 3: Results (978Kb)
 Chapter 4: Discussion (58Kb)
 Chapter 6: Bibliography (78Kb)
 Chapter 7: Appendix (387Kb)
 Chapter 9: Acknowledgements (15Kb)

Vitor M. M. Vieira, Gavin J. Kane, Horia Ionesco, Jörg Raszkowsky, Robert Boesecke, Georg Eggers.
Light-weight Robot Stability for Orthognathic Surgery. Phantom and Animal cadavar trials.,
Tagungsband der 9. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., Dusseldorf, Germany 2010.


V. M. M. Vieira, G. Eggers, T. Ortmaier.
Roboter und Verfahren zum Befestigen eines Werkzeugs an einen Roboter,
Partner: KUKA Roboter Gmbh – Patent Nr: 09008273.6 – 2316
European Patent Office.


V. M. M. Vieira , G. Kane, R. Marmulla, J. Raszkowsky, G. Eggers.
Error analysis of a sub-millimeter real-time target recognition system with a moving camera,
Advances in Neuro-Information Processing: Proceedings of the 15th International Conference on Neuro-Information Processing, November 25-28, 2008, Auckland, New Zealand, Springer LNCS Part II 5507.

V. M. M. Vieira, G. Eggers, T. Ortmaier, G. Kane, R. Marmulla.
Method for Optically-Controlled Semi-Automatic Coupling of a Robot Arm with a Surgical Tool while maintaining Sterile Conditions,
Tagungsband der 7. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., Leipzig, Germany ISBN 978-3-00-025798-8: 127-130, 2008.


J. Burgner, M. Toma, V. Vieira, G. Eggers, J. Raczkowsky, J. Mühling, R. Marmulla, H. Wörn.
System for robot assisted orthognathic surgery,
International Journal of Computer Assisted Radiology and Surgery,
Proceedings of the 21st International Congress and Exhibition, Berlin, Germany ISSN:
1861-6410 (Print) 1861-6429.



SPARTA stands for “Software Platform for Adaptive Multimodal Radio and Particle Therapy with Autarkic Extendibility.” In this research project, scientists from ten different fields develop novel, adaptive, expandable software systems to support clinicians during planning and application of radiation therapy. The overarching aim of SPARTA is to make radiation therapy more efficient, safe, and effective using these novel systems. The project goals include: Accurately Measuring Variations, Precisely Estimating Dosage, Intelligently Adapting the Radiation Plan, Analyzing the Tumor in Detail. The project is funded by the German Federal Ministry of Education and Research with a contribution of almost eight million euro. It commences on April 1, 2013 and will run for three years.
The consortium consists of ten partners, including research institutes, medical technology companies, and university hospitals:


ASCAS. The goal of the project is the development of a desktop-device for an automated assembling the catheters with radioactive seeds and distance pieces. The device is placed into the OR during the surgery and assemblies the catheters automatically just-in-time on demand of the surgeon. A full functional model of an Automated Seed-Catheter Assembly System (ASCAS) will be developed in the project as evaluation system for a successive product development. Funded by Eurostars.
The consortium consists of:


iDeepBrain. The project – scheduled for 3 years – is conducted with Precisis’ research partners from the Medical Faculty of Mannheim / Heidelberg University, the University of Applied Sciences in Mannheim and the scientific advisor Dr. Donatus Cyron, senior physician from the Neurosurgical Department of Municipal Hospital of Karlsruhe, teaching hospital of the University of Freiburg. Funded by AIF.
iDeepBrain incorporates a total redesign of the previous PraezisPlus 3, a surgery planning software owned and distributed by Precisis AG since 2002 for that purpose. In addition to the completely redesigned and fully automated Brachytherapy capabilities, the new development will furthermore add Diffusion Tensor Imaging DTI features (also known as Fibertracking imaging techniques), capable of high-resolution display of nerve fibers in the brain. This will be of major assistance to Neurosurgeons in the field of Deep brain stimulation to precisely locate the very core of the targeted area in the brain.


Echord AssRob Tool Instrumentor, together with the Orthopedic Clinic of Mannheim (Biomechanical and experimental laboratory) / Universitätsklinikum Heidelberg and funded by ECHROD.
The main objective is to create a semi-autonomous two-arm assistant bone lever holding robot system and to demonstrate that it can take over the tiring lever holding and handing over task from a human assistant.


Assistant Robot, together with the Orthopedic Clinic of Mannheim (Biomechanical and experimental laboratory) / Universitätsklinikum Heidelberg and funded by AIF.
The objective of this project is to design a robotic system to assist in Orthopedic surgeries.


Compusurge project, supported by the European Union program: Marie Curie – Early Stage Training, at the Medical University of Heidelberg. The CompuSurge subproject – Bone Repositioning System – aims towards a robotic solution for bone repositioning interventions in craniomaxillofacial surgery and is based on the first navigated repositioning osteotomy surgeries developed in Heidelberg.
With this challenge in mind, a robotic device with patient tracking is required to allow an accurate final positioning of the bone pieces during fixation with mini plates and screws.
Innovation: Cooperating surgery robots; Accurate planning transfer.
Keywords: Articulated arms with pneumatic brakes Surgical robots; Simulation with collision warning; Accurate planning transfer.