Bodo Heimann

Publications of Bodo Heimann

• Rotationally acquired four-dimensional optical coherence tomography of embryonic chick hearts using retrospective gating on the common central A-scan.

  Authors: Christoph M Happel, Jan Thommes, Lars Thrane, Jrög Männer, Tobias Ortmaier, Bodo Heimann, Talat Mesud Yelbuz

  Journal of biomedical optics. 09/2011; 16(9):096007.

  We introduce a new method of rotational image acquisition for four-dimensional (4D) optical coherence tomography (OCT) of beating embryonic chick hearts. The rotational axis and the central A-scan ofWe introduce a new method of rotational image acquisition for four-dimensional (4D) optical coherence tomography (OCT) of beating embryonic chick hearts. The rotational axis and the central A-scan of the OCT are identical. An out-of-phase image sequence covering multiple heartbeats is acquired at every angle of an incremental rotation of the deflection mirrors of the OCT system. Image acquisition is accomplished after a rotation of 180°. Comparison of a displayed live M-mode of the central A-scan with a reference M-mode allows instant detection of translational movements of the embryo. For calculation of 4D data sets, we apply an image-based retrospective gating algorithm using the phase information of the common central A-scan present in all acquired images. This leads to cylindrical three-dimensional data sets for every time step of the cardiac cycle that can be used for 4D visualization. We demonstrate this approach and provide a video of a beating Hamburger and Hamilton stage 16 embryonic chick heart generated from a 4D OCT data set using rotational image acquisition.

• Experimental validation of the influence of kinematic redundancy on the pose accuracy of parallel kinematic machines.

  Authors: Jens Kotlarski, Bodo Heimann, Tobias Ortmaier

  IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011; 01/2011

• Improving the Pose Accuracy of Planar Parallel Robots using Mechanisms of Variable Geometry

  Authors: Jens Kotlarski, Bodo Heimann, Tobias Ortmaier

  04/2010;

  ISBN: 978-953-307-070-4

• An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery.

  Authors: Andreas Hussong, Thomas S Rau, Tobias Ortmaier, Bodo Heimann, Thomas Lenarz, Omid Majdani

  International journal of computer assisted radiology and surgery. 03/2010; 5(2):163-71.

  Atraumatic electrode insertion has been identified to be a crucial step for the preservation of residual hearing abilities, which allows hybrid electro-acoustic stimulation (EAS). The authors proposeAtraumatic electrode insertion has been identified to be a crucial step for the preservation of residual hearing abilities, which allows hybrid electro-acoustic stimulation (EAS). The authors propose a tool for automation of the insertion process to achieve this. General benefits as well as concept and design of an automated insertion tool are presented. Thirty insertions of Nucleus 24 Contour Advance Practice Electrodes in an artificial scala tympani model as well as 20 insertions in a human cochlea specimen were performed using the tool, implementing the AOS technique. For both studies, the achieved insertion depth angle was evaluated by photographic or X-ray documentation. The mean achieved insertion depth angle was 410 degrees for the lubricated model and 330 degrees for the human cochlea specimen. The automated insertion tool has proven its capability to perform electrode insertions with final insertion depth angles within the target range of a standard cochlear implant surgery. Additionally, to the knowledge of the authors, it represents the only possibility to automatically insert cochlear implant electrodes via minimally invasive approaches.

• Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

  Authors: Houssem Abdellatif, Jens Kotlarski, Tobias Ortmaier, Bodo Heimann

  02/2010;

  ISBN: 978-953-7619-78-7

• Optimization strategies for additional actuators of kinematically redundant parallel kinematic machines.

  Authors: Jens Kotlarski, Trung Do Thanh, Bodo Heimann, Tobias Ortmaier

  IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010; 01/2010

• A robot-guided minimally invasive approach for cochlear implant surgery: preliminary results of a temporal bone study.

  Authors: Omid Majdani, Thomas S Rau, Stephan Baron, Hubertus Eilers, Claas Baier, Bodo Heimann, Tobias Ortmaier, Sönke Bartling, Thomas Lenarz, Martin Leinung

  International journal of computer assisted radiology and surgery. 09/2009; 4(5):475-86.

  The aim of this study was to create an access canal to the inner ear, by drilling, and perform the cochleostomy for cochlear implant surgery using robot guidance. A robot, a surgical drill and anThe aim of this study was to create an access canal to the inner ear, by drilling, and perform the cochleostomy for cochlear implant surgery using robot guidance. A robot, a surgical drill and an Image-Guided Surgery (IGS) system were combined in a closed-loop setup. Ten temporal bones were scanned at the planning stages of the procedure. The robot guided the drill along the preplanned trajectory and created the approach. Postoperative scans were obtained. The cochleostomy was performed completely in nine out of ten cases. This did not prove possible for one of the specimens, the target site selected being in too superficial a location in relation to the round window. No violation of the facial nerve took place, although the chorda tympani nerve was violated in one case and the stapes in two. It was obvious during preoperative planning that these structures would be violated, but this was accepted in order to maintain a safety margin from the facial nerve. No other unforeseen damage occurred. This preliminary study suggests that robot-guided drilling of a minimally invasive approach to the cochlea might be feasible, but further improvements are necessary before any clinical application becomes possible. Where the width of the facial recess is less than 2.5 mm, the chorda tympani nerve and the ossicles are at risk.

• Conception and design of an automated insertion tool for cochlear implants

  Authors: Andreas Hussong, Thomas Rau, Hubertus Eilers, Stephan Baron, Bodo Heimann, Martin Leinung, Thomas Lenarz, Omid Majdani

  Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE; 09/2008

  Cochlear implants (CI) are electronic devices incorporating an electrode inserted into the human cochlea for direct electric stimulation of the auditory nerve. The implantation has become theCochlear implants (CI) are electronic devices incorporating an electrode inserted into the human cochlea for direct electric stimulation of the auditory nerve. The implantation has become the standard treatment for patients with severe-to-profound sensorineural loss not aidable with conventional hearing aids. The state of the art operative technique is a facial recess approach to the middle ear, following the opening of the scala tympani (cochleostomy) and insertion of the electrode array. The facial recess approach is applicable only by experienced surgeons and optimal CI results primarily depend on optimal electrode placement and minimal traumatic insertion. This also requires a certain amount of experience. Additionally several groups work on minimally-invasive approaches to the cochlea, resulting in the necessity to insert the implant via a keyhole access, which is not applicable with current techniques. This paper presents a mechatronic device for an automated insertion of the electrode array of a cochlear implant system. Being designed especially for minimally-invasive approaches, the tool is also applicable for regular facial recess approaches. Moreover the device allows reliable and repeatable insertion studies at synthetic models or cadaver specimen. The functionality of the tool is proofed with first experiments on a synthetic model.

• Conception and design of an automated insertion tool for cochlear implants.

  Authors: Andreas Hussong, Thomas Rau, Hubertus Eilers, Stephan Baron, Bodo Heimann, Martin Leinung, Thomas Lenarz, Omid Majdani

  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference. 02/2008; 1:5593-5596.

  Cochlear implants (CI) are electronic devices incorporating an electrode inserted into the human cochlea for direct electric stimulation of the auditory nerve. The implantation has become theCochlear implants (CI) are electronic devices incorporating an electrode inserted into the human cochlea for direct electric stimulation of the auditory nerve. The implantation has become the standard treatment for patients with severe-to-profound sensorineural loss not aidable with conventional hearing aids. The state of the art operative technique is a facial recess approach to the middle ear, following the opening of the scala tympani (cochleostomy) and insertion of the electrode array. The facial recess approach is applicable only by experienced surgeons and optimal CI results primarily depend on optimal electrode placement and minimal traumatic insertion. This also requires a certain amount of experience. Additionally several groups work on minimally-invasive approaches to the cochlea, resulting in the necessity to insert the implant via a keyhole access, which is not applicable with current techniques. This paper presents a mechatronic device for an automated insertion of the electrode array of a cochlear implant system. Being designed especially for minimally-invasive approaches, the tool is also applicable for regular facial recess approaches. Moreover the device allows reliable and repeatable insertion studies at synthetic models or cadaver specimen. The functionality of the tool is proofed with first experiments on a synthetic model.

• Construction and establishment of a new environmental chamber to study real-time cardiac development.

  Authors: Gülay Orhan, Stephan Baron, Kambiz Norozi, Jörg Männer, Oliver Hornung, Holger Blume, Judith Misske, Bodo Heimann, Armin Wessel, T Mesud Yelbuz

  Microscopy and microanalysis : the official journal of Microscopy Society of America, Microbeam Analysis Society, Microscopical Society of Canada. 07/2007; 13(3):204-10.

  Heart development, especially the critical phase of cardiac looping, is a complex and intricate process that has not yet been visualized "live" over long periods of time. We have constructed andHeart development, especially the critical phase of cardiac looping, is a complex and intricate process that has not yet been visualized "live" over long periods of time. We have constructed and established a new environmental incubator chamber that provides stable conditions for embryonic development with regard to temperature, humidity, and oxygen levels. We have integrated a video microscope in the chamber to visualize the developing heart in real time and present the first "live" recordings of a chick embryo in shell-less culture acquired over a period of 2 days. The time-lapse images we show depict a significant time window that covers the most critical and typical morphogenetic events during normal cardiac looping. Our system is of interest to researchers in the field of embryogenesis, as it can be adapted to a variety of animal models for organogenesis studies including heart and limb development.

• Konstruktion und Etablierung einer Klimakammer für die Untersuchung der embryonalen Herzentwicklung.

  Authors: Stephan Baron, Gülay Orhan, Oliver Hornung, Holger Blume, Judith Misske, Kambiz Norozi, Armin Wessel, Talât Mesud Yelbuz, Bodo Heimann

  Bildverarbeitung für die Medizin 2006, Algorithmen, Systeme, Anwendungen, Proceedings des Workshops vom 19. - 21. März 2006 in Hamburg; 01/2006