Research Focus

• Service robots for surgery and care
• Clinical networking and digitalisation 
• Clinical workflow optimization 

Finished Projects

AURORA

In the course of surgical interventions, the so-called "OR circulator" performs various tasks in the non-sterile area of the operating theatre. In clinical practice, however, this often leads to drastic delays in the procedure due to overworking of the personnel. Therefore, the aim of the project is the development of a context-sensitive mechatronic assistance system, which is able to navigate autonomously in the non-sterile area of the operating room and thereby relieves the OR circulator and the rest of the surgical team....

Publications

2026

• Schmailzl, S., Fuchtmann, J., Jell, A., Schorn, S., Bernhard, L., Wagner, L., Wegener, L., Friess, H., Wilhelm, D., Berlet, M. (2026). Technology-assisted visceral surgery: a model-based approach for quantifying translation and accessibility across populations and geographies. Int J CARS . doi.org/10.1007/s11548-026-03723-y
• Jurosch, F., Bernhard, L., Geissenberger, T., Wilhelm, D., & Piazza, C. (2026). Human-Inspired Finger Design With Pressure-Based Variable Stiffness Spherical Joints. IEEE/ASME Transactions on Mechatronics, https://doi.org/10.1109/TMECH.2026.3691246

2025

• Bernhard, L. (2025). Fleet Management for Mobile Service Robots Within the Operating Room Wing [Technische Universität München]. https://mediatum.ub.tum.de/1737368
• Bernhard, L., Baumann, O., Scheppach, C., Schwingenschlögl, P., Kössler, C., Haag, W., Müller, C., Feussner, H., Knoll, A., & Wilhelm, D. (2025). The Robotic Circulating Nurse. IEEE Robotics & Automation Magazine, 2–14. https://doi.org/10.1109/MRA.2025.3599719
• Geiger, A., Bernhard, L., Gassert, F., Feußner, H., Wilhelm, D., Friess, H., & Jell, A. (2025). Towards multimodal visualization of esophageal motility: Fusion of manometry, impedance, and videofluoroscopic image sequences. International Journal of Computer Assisted Radiology and Surgery. https://doi.org/10.1007/s11548-024-03265-1
• Rashid, S., Bernhard, L., Stabenow, S., Spicker, E., Haid, C., König, C., Kramer, H. L., Pischinger, S., Schade, D., Fottner, J., Wilhelm, D., & Berlet, M. (2025). Bridging the gap between models and reality: Development of a research environment for an object-oriented hospital information system to integrate artificial intelligence and robotics into clinical practice. International Journal of Computer Assisted Radiology and Surgery, 20(9), 1771–1783. https://doi.org/10.1007/s11548-025-03470-6

2024

• Amato, C. L., Yang, C., Badihi, N., Bernhard, L., Ratib, O., Seeliger, B., & Wilhelm, D. (2024). Central command suite: Futureproofing next-generation surgical environments to embrace the digital operating room. International Journal of Computer Assisted Radiology and Surgery. https://doi.org/10.1007/s11548-024-03278-w
• Berlet, M., Jell, A., Bernhard, L., Wagner, L., Reim, D., Martignoni, M., Demir, I. E., Feußner, H., Friess, H., Wilhelm, D., & Schorn, S. (2024). Geo:Surg—A R-framework to optimize regionalization of complex pancreatic surgery based on healthcare, geography and census-based data—A proof of concept. Pancreatology, 24, e45. https://doi.org/10.1016/j.pan.2024.05.105
• Berlet, M., Jell, A., Wagner, L., Bernhard, L., Fuchtmann, J., Wegener, L., Feussner, H., Friess, H., & Wilhelm, D. (2024). Model-based individual life-spanning documentation in visceral surgery: A proof of concept. International Journal of Computer Assisted Radiology and Surgery, 19(12), 2421–2431. https://doi.org/10.1007/s11548-024-03214-y
• Bernhard, L., Fuchtmann, J., Wagner, L., Wilhelm, D., & Feussner, H. (2024). Surgery 4.0 in the Operating Room. In K. Karcz, Z. Nawrat, & A. A. Gumbs (Eds.), Artificial Intelligence and the Perspective of Autonomous Surgery (pp. 253–263). Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-68574-3_19
• Bernhard, L., Schwingenschlögl, P., Hofmann, J., Wilhelm, D., & Knoll, A. (2024). Boosting the hospital by integrating mobile robotic assistance systems: A comprehensive classification of the risks to be addressed. Autonomous Robots, 48(1), Article 1. https://doi.org/10.1007/s10514-023-10154-0
• Kolb, S., Jurosch, F., Kröger, N., Mehmeti, F., Bernhard, L., Fuchtmann, J., Speidel, S., Kellerer, W., & Wilhelm, D. (2024). 6G in Clinical Applications: Integrating New Network Approaches in Healthcare. Current Directions in Biomedical Engineering, 10(2), 33–36. https://doi.org/10.1515/cdbme-2024-1060
• Kolb, S., Maden, A., Kröger, N., Mehmeti, F., Jurosch, F., Bernhard, L., Kellerer, W., & Wilhelm, D. (2024). 6G in Medical Robotics: Development of Network Allocation Strategies for a Telerobotic Examination System. International Journal of Computer Assisted Radiology and Surgery, 20, 167–178. https://doi.org/doi.org/10.1007/s11548-024-03260-6
• Pan, Y., Bernhard, L., Fan, C., Beckendorf, L., Wilhelm, D., Feußner, H., & Groh, G. (2024). Communication System Using Natural Language for Robotic Laparoscope Guidance. Current Directions in Biomedical Engineering, 10(2), 54–57. https://doi.org/10.1515/cdbme-2024-1066
• Wagner, L., Jourdan, S., Mayer, L., Müller, C., Bernhard, L., Kolb, S., Harb, F., Jell, A., Berlet, M., Feussner, H., Buxmann, P., Knoll, A., & Wilhelm, D. (2024). Robotic scrub nurse to anticipate surgical instruments based on real-time laparoscopic video analysis. Communications Medicine, 4(1), 156. https://doi.org/10.1038/s43856-024-00581-0

2023

• Völk, C., Bernhard, L., Völk, D., Weiten, M., Wilhelm, D., & Biberthaler, P. (2023). Mobiler C-Bogen – Strahlenbelastung und Workflow-Killer?: Potenzial eines innovativen Assistenzsystems für die intraoperative Positionierung. Die Unfallchirurgie, 126(12), Article 12. https://doi.org/10.1007/s00113-023-01380-3
• Wagner, L., Kolb, S., Leuchtenberger, P., Bernhard, L., Jell, A., & Wilhelm, D. (2023). Deep learning assisted intraoperative instrument cleaning station for robotic scrub nurse systems. At - Automatisierungstechnik, 71(7), Article 7. https://doi.org/10.1515/auto-2023-0062
• Wagner, L., Kolb, S., Looschen, C., Bernhard, L., Fuchtmann, J., Berlet, M., Fottner, J., Knoll, A., & Wilhelm, D. (2023). Versatile end effector for laparoscopic robotic scrub nurse. International Journal of Computer Assisted Radiology and Surgery, 18(9), Article 9. https://doi.org/10.1007/s11548-023-02892-4

2022

• Amato, C., McCanne, L., Yang, C., Ostler, D., Ratib, O., Wilhelm, D., & Bernhard, L. (2022). The hospital of the future: Rethinking architectural design to enable new patient-centered treatment concepts. International Journal of Computer Assisted Radiology and Surgery, 17(6), Article 6. https://doi.org/10.1007/s11548-021-02540-9
• Amato, C., Yang, C., Bernhard, L., Giulianotti, P. C., Kondrat, P., Ratib, O., & Wilhelm, D. (2022). Towards the OR of the future: Introducing an adaptive and technology-embracing OR wing layout. International Journal of Computer Assisted Radiology and Surgery, 18(2), Article 2. https://doi.org/10.1007/s11548-022-02760-7
• Baumann, O., Lenz, A., Hartl, J., Bernhard, L., & Knoll, A. C. (2022). Intuitive teaching of medical device operation to clinical assistance robots. International Journal of Computer Assisted Radiology and Surgery, 18(5), Article 5. https://doi.org/10.1007/s11548-022-02802-0
• Berlet, M., Fuchtmann, J., Bernhard, L., Jell, A., Weber, M.-C., Neumann, P.-A., Friess, H., Kranzfelder, M., Feussner, H., & Wilhelm, D. (2022). Laparoscopic Cholecystectomy – A Proper Model Surgery for AI based Prediction of Adverse Events?: Analysis of possible predictive values on the basis of the German reimbursement statistics. Current Directions in Biomedical Engineering, 8(1), Article 1. https://doi.org/10.1515/cdbme-2022-0002
• Bernhard, L., Amalanesan, A. F., Baumann, O., Rothmeyer, F., Hafner, Y., Berlet, M., Wilhelm, D., & Knoll, A. (2022). Mobile service robots for the operating room wing: Balancing cost and performance by optimizing robotic fleet size and composition. International Journal of Computer Assisted Radiology and Surgery, 18(2), Article 2. https://doi.org/10.1007/s11548-022-02735-8
• Bernhard, L., Krumpholz, R., Krieger, Y., Czempiel, T., Meining, A., Navab, N., Lüth, T., & Wilhelm, D. (2022). PLAFOKON: A new concept for a patient-individual and intervention-specific flexible surgical platform. Surgical Endoscopy, 36(7), Article 7. https://doi.org/10.1007/s00464-021-08908-x
• Bernhard, L., Völk, C., Völk, D., Rothmeyer, F., Xu, Z., Ostler, D., Biberthaler, P., & Wilhelm, D. (2022). RAY-POS: A LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids. International Journal of Computer Assisted Radiology and Surgery, 17(4), Article 4. https://doi.org/10.1007/s11548-022-02571-w
• Jell, A., Fuchtmann, J., Xiao, M., Bernhard, L., Berlet, M., Feussner, H., & Wilhelm, D. (2022). Robotic Endoscope Control—State of the Art of Voice Control and Other Options for Laparoscopic Camera Robot Guidance. Surgical Technology International, 40, 17–24. https://doi.org/10.52198/22.STI.40.SO1545
• Müller, C., Bernhard, L., & Wilhelm, D. (2022). Usage of a graph database for the selection of sterile items in the OR. International Journal of Computer Assisted Radiology and Surgery, 18(5), Article 5. https://doi.org/10.1007/s11548-022-02795-w
• Ostler, D., Steger, J., Bernhard, L., Yu, K., Hartwig, R., Feussner, H., & Wilhelm, D. (2022). “Hybrid” scientific conference: Lessons learned from the digital annual meeting of the CARS international conference during the Covid-19 pandemic. Innovative Surgical Sciences, 6(3), Article 3. https://doi.org/10.1515/iss-2021-0012
• Wagner, L., Bernhard, L., Fuchtmann, J., Asim Karaoglu, M., Ladikos, A., Feußner, H., & Wilhelm, D. (2022). Integrating 3D cameras into sterile surgical environments: A comparison of different protective materials regarding scan accuracy: Development of a sterile camera enclosure for the detection of laparoscopic instruments. Current Directions in Biomedical Engineering, 8(1), Article 1. https://doi.org/10.1515/cdbme-2022-0007

2021

• Bernhard, L., Gassert, F., Fingerle, A., Feußner, H., & Jell, A. (2021). Cinemanography – Challenges and potentials of fusing manometric and fluoroscopic imaging. Clinical Neurophysiology, 132(8), e4. https://doi.org/10.1016/j.clinph.2021.02.332

2020

• Bernhard, L., Ostler, D., Feußner, H., & Wilhelm, D. (2020). Integrating autonomously navigating assistance systems into the clinic: Guiding principles and the ANTS-OR approach. International Journal of Computer Assisted Radiology and Surgery, 15(6), Article 6. https://doi.org/10.1007/s11548-020-02137-8
• Jell, A., Bernhard, L., Shah, D., & Feußner, H. (2020). Cinemanography: Fusing manometric and cinematographic data to facilitate diagnostics of dysphagia. Current Directions in Biomedical Engineering, 6(1), Article 1. https://doi.org/10.1515/cdbme-2020-0011
• Ostler, D., Wilhelm, D., Bernhard, L., Fuchtmann, J., Kranzfelder, M., Vogel, T., & Feussner, H. (2020). Machine Learning in the OR: A Collaborative Environment for Surgical Interventions in Visceral Medicine. Surgical Technology International, 37, 16–21.

Expert Lectures

2022

• Viszeralmedizin 2022 (DGVS/DGAV): Presentation of the research project PLAFOKON
• Munich_I / AI.Society 2022: Presentation of the research project AURORA
• CARS 2022: Mobile service robots for the operating room wing: Balancing cost and performance by optimizing robotic fleet size and composition

2021

• Siemens Healthineers "InspireX Talk": AURORA – using robotics in medicine where they are urgently needed
• CTAC 2021: Der robotische Springer: Ziele und Herausforderungen des AURORA-Projekts
• CARS 2021: Task allocation using wearable devices for managing mixed human robot teams within the OR wing
• CARS 2021: The Hospital of the Future
• Chirurgische Forschungstage 2021: Workshop: Medizinrobotik
• CURAC 2021: Integrating autonomous mobile robotic fleets into the OR wing – a technical or an ethical challenge?
• CURAC 2021: RAY-POS: Ein LIDAR-basiertes Assistenz-System für die Intraoperative C-Bogen-Repositionierung
• D-NOTES 2021: Evaluation eines Automaten für die endoskopische Instrumentensteuerung
• CURAC Academy: Vorstellung des Forschungsprojekts AURORA
• Vorlesung "Trends in Medical Engineering" (TUM): Gastvortrag: Surgical Robotics

2020

• CARS 2020: Integrating autonomously navigating assistance systems into the clinic: guiding principles and the ANTS-OR approach
• CURAC 2020: ANTS: Eine dynamische Scheduling-Plattform für die Orchestrierung von autonomen selbst-navigierenden robotischen Assistenzsystemen in der Klinik
• CURAC 2020: Technische Module: PLAFOKON
• CURAC 2020: Cinemanography: fusing manometric and cinematographic data to facilitate diagnostics of dysphagia

2019

• DGE-BV 2019: Sprachverstehendes System als zentrale Mensch-Maschine-Schnittstelle - Integration von Sprachinteraktion in den kognitiven Operationssaal
• CURAC 2019: Intuitive Orchestrierung kontext-adaptiver chirurgischer Assistenzsysteme
• electronica Medical Electronics Conference (eMEC) 2019: Intuitive orchestration of context-sensitive surgical assistance systems

Student Research Projects

2021

• Master's Thesis: Simulation-based Evaluation of Fleet Management Approaches for Autonomous Self-Driving Robotic Systems in the Hospital
• Master's Thesis: Development of a LiDAR-based support system for intraoperative C-arm repositioning
• HiWi: Implementation of a voice interaction interface for mobile service robots for the OR wing

2020

• Master's Thesis: Development of a workflow-adaptive instrument management system for a surgical single-port robot
• Semester Thesis: Determination of the Forces Occurring During the Manipulation of Tissues Throughout Laparoscopic and Endoscopic Surgery
• Semester Thesis: Further development of an intraoperative force measurement sensor including a standardized calibration process for determining the forces occurring during laparoscopic surgery
• HiWi: Cinemanography - Assisting diagnosis of dysphagia through fusion of manometric and cinematographic data