Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Christoph Hennersperger

Personal Image of Christoph Dr. Christoph Hennersperger
Affiliated senior research scientist and lecturer

Chair for Computer Aided Medical Procedures & Augmented Reality
Fakultät für Informatik
Technische Universität München
Boltzmannstr. 3
85748 Garching bei München
Room: 03.13.043
Phone: +49 89 289 19403

Klinikum Rechts der Isar
Interdisziplinäres Forschungslabor
Ismaninger Str. 22
81675 München
Room: Building 501 - 01.3a-c
Phone: +49 89 4140 6457

Short Curriculum Vitae

  • since 03/2017 - Reserach fellow at Trinity College Dublin, Ireland
  • since 06/2016 - Research manager of EU Project EDEN2020 and director of MedInnovate innovation fellowship
  • 08/2015 - 05/2016 - Fellow at BioInnovate Ireland, a innovation program in MedTech affiliated to Stanford BioDesign
  • 08/2011 - 08/2015 - Research scientist at CAMP, Dr. rer. nat. obtained 05/2015
  • 08/2011 - 11/2013 - Researcher for 3D freehand Ultrasound at Curefab GmbH, Munich
  • 10/2006 - 11/2011 - Studies in electrical enginering at TUM (Informationstechnik)
  • 09/1998 - 07/2006 - Abitur

Research Interests and Projects

  • 3D+T and 4D ultrasound, Tracked freehand ultrasound
  • Computer Assisted Neursorurgery
  • Robotic imaging
  • Interventional imaging
  • Physical modeling and its utilization in processing steps
  • Doppler ultrasound and reconstruction
  • Multi-modal image processing
  • Segmentation of medical data
  • New tracking technologies

Active Research Projects

Prostate Fusion Biopsy

Prostate Fusion Biopsy

Transrectal ultrasound (TRUS) guided biopsy remains the gold standard for diagnosis. However, it suffers from low sensitivity, leading to an elevated rate of false negative results. On the other hand, the recent advent of PET imaging using a novel dedicated radiotracer, Ga-labelled PSMA (Prostate Specific Membrane Antigen), combined with MR provides improved preinterventional identification of suspicious areas. Thus, MRI/TRUS fusion image-guided biopsy has evolved to be the method of choice to circumvent the limitations of TRUS-only biopsy. We propose a multimodal fusion image-guided biopsy framework that combines PET-MRI images with TRUS. Based on open-source software libraries, it is low cost, simple to use and has minimal overhead in clinical workflow. It is ideal as a research platform for the implementation and rapid bench to bedside translation of new image registration and visualization approaches.
Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)

Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)

This project aims at developing advanced methods for robotic image acquisitions, enabling more flexible, patient- and process-specific functional and anatomical imaging with the operating theater. Using robotic manipulations, co-registered and dynamic imaging can be provided to the surgeon, allowing for optimal implementation of preoperative planning. In particular, this projects is the first one developing concepts for intraoperative SPECT-CT, and introduces intraoperative robotic Ultrasound imaging based on CT trajectory planning, enabling registration with angiographic data. With distinguished partners from Bavarian industry, this project has a fundamental contribution in developing safe, reliable, flexible, and multi-modal imaging technologies for the operating room of the future.
SUPRA: Software Defined Ultrasound Processing for Real-Time Applications

SUPRA: Software Defined Ultrasound Processing for Real-Time Applications

SUPRA is an open-source pipeline for fully software defined ultrasound processing for real-time applications. Covering everything from beamforming to output of B-Mode images, SUPRA can help to improve the reproducibility of results and does allow for a full customization of the image acquisition workflow. Including all processing stages of a common ultrasound pipeline, it can be executed in 2D and 3D on consumer GPUs in real-time. Even on hardware as small as the CUDA enabled Jetson TX2, SUPRA allows for 2D imaging in real-time.

You can access the code on our github page:
Additional information can be found in our work on SUPRA
Göbl, R. and Navab, N. and Hennersperger, C., SUPRA: Open Source Software Defined Ultrasound Processing for Real-Time Applications, eprint arXiv:1711.06127, Nov 2017, under review for IPCAI2018
Inside-Out Tracking

Inside-Out Tracking

Current tracking solutions routinely used in a clinical, potentially surgically sterile, environment are limited to mechanical, electromagnetic or classic optical tracking. Main limitations of these technologies are respectively the size of the arm, the influence of ferromagnetic parts on the magnetic field and the line of sight between the cameras and tracking targets. These drawbacks limit the use of tracking in a clinical environment. The aim of this project is the development of so-called inside-out tracking, where one or more small cameras are fixed on clinical tools or robotic arms to provide tracking, both relative to other tools and static targets.
These developments are funded from the 1st of January 2016 to 31st of December 2017 by the ZIM project Inside-Out Tracking for Medical Applications (IOTMA).
EDEN2020: Enhanced Delivery Ecosystem for Neurosurgery

EDEN2020: Enhanced Delivery Ecosystem for Neurosurgery

EDEN2020 (Enhanced Delivery Ecosystem for Neurosurgery) aims to develop the gold standard for one-stop diagnosis and treatment of brain disease by delivering an integrated technology platform for minimally invasive neurosurgery. A team of first-class industrial partners (Renishaw plc. and XoGraph ltd.), leading clinical oncological neurosurgery team (Università di Milano, San Raffaele and Politecnico di Milano) lead by Prof. Lorenzo Bello and the involvement of leading experts in shape sensing (Universitair Medisch Centrum Groningen) under supervision of Prof. Dr. Sarthak Misra The project is coordinated by Dr. Rodriguez y Baena, Imperial College London. His team provides the core technology for the envisioned system, the bendable robotic needle. During the course of EDEN2020 this interdisciplinary team will work on the integration of 5 key concepts, namely (1) pre-operative MRI and diffusion-MRI imaging, (2) intra-operative ultrasounds, (3) robotic assisted catheter steering, (4) brain diffusion modelling, and (5) a robotics assisted neurosurgical robotic product (the Neuromate), into a pre-commercial prototype which meets the pressing demand for better and less invasive neurosurgery. Our chair will be focusing on the imaging components (i.e. (1) and (2)), targeting the realtime compensation of tissue movement and accurate localization of the flexible catheters at hand. We will further extend the findings of FP7 ACTIVE, in which we successfully combined pre-operative MRI with intra-operative US through deformable 3D-2D registration, making us most qualified for this role.
BioInnovation: From clinical needs to solution concepts

BioInnovation: From clinical needs to solution concepts

Learn how to successfully identify unmet clinical needs within the clinical routine and work towards possible and realistic solutions to solve those needs. Students will get to know tools helping them to be successful innovators in medical technology. This will include all steps from needs finding and selection to defining appropriate solution concepts, including the development of first prototypes. Get introduced to necessary steps for successful idea and concept creation and realize your project in an interdisciplinary teams comprising of physicists, informations scientists and business majors. During the project phase, you are supported by coaches from both industry and medicine, in order to allow for direct and continuous exchange.
Computational Sonography

Computational Sonography

3D ultrasound imaging has high potential for various clinical applications, but often suffers from high operator-dependency and the directionality of the acquired data. State-of-the-art systems mostly perform compounding of the image data prior to further processing and visualization, resulting in 3D volumes of scalar intensities. This work presents computational sonography as a novel concept to represent 3D ultrasound as tensor instead of scalar fields, mapping a full and arbitrary 3D acquisition to the reconstructed data. The proposed representation compactly preserves significantly more information about the anatomy-specific and direction-depend acquisition, facilitating both targeted data processing and improved visualization. We show the potential of this paradigm on ultrasound phantom data as well as on clinically acquired data for acquisitions of the femoral, brachial and antebrachial bone. Further investigation will consider additional compact directional-dependent representations on the one hand and on the other hand modify Computational Sonography from working on B-Mode images to RF-envelope statistics, motivated by the statistical process of image formation. We will show the advantages of the proposed improvements on simulated ultrasound data, phantom and clinically acquired ultrasound data.

Student projects

We are continuously looking for motivated students in the fields of biomedical engineering, computer science, electrical and mechanical engineering, physics and all medical-related studies. If you are interested to start with a topic listed below or an individual project with CAMP, please do not hesitate to contact me directly.

DA/MA/BAInstrument Tracking for Safety and Surgical View Optimization in Laparoscopic Surgery
(Dr. Christoph Hennersperger, Dr Kushal Chummun, Prof. Dr. Nassir Navab)
DA/MA/BAAutomatic Detection of Probe Count and Size in Digital Pathology
(Dr. Christoph Hennersperger, Prof. Dr. Nassir Navab)
Master ThesisAutomatic acoustic coupling for robotic ultrasound imaging
(Christoph Hennersperger, Prof. Dr. Nassir Navab)

Master ThesisMulti-modal Deformable Registration in the Context of Neurosurgical Brain Shift
(Christoph Hennersperger, Julia Rackerseder, Dr. Benjamin Frisch, Prof. Dr. Nassir Navab)
DA/MA/BAOptimal planning and data acquisition for robotic ultrasound-guided spinal needle injection
(Dr. Christoph Hennersperger, Salvatore Virga, Javier Esteban, Prof. Dr. Nassir Navab)
DA/MA/BASensor System Development for Measuring and/or Characterizing Surgical Drain Fluid Output
(Christoph Hennersperger, Julia Rackerseder, Prof. Dr. Nassir Navab)
DA/MA/BASparse Data Reconstruction and its Application in Spherical Computational Sonography
(Christoph Hennersperger, Rüdiger Göbl, Prof. Dr. Nassir Navab)
DA/MA/BAFull color surgical 3D printed tractography
(Christoph Hennersperger, Prof. Dr. Nassir Navab)
DA/MA/BASeamless stitching for 4D opto-acoustic imaging
(Christoph Hennersperger; Daniel Razansky, Prof. Dr. Nassir Navab)

Open Projects

  • Robotic servoing and calibration for ultrasound applications
  • Defining the quality of ultrasound imaging
  • Time domain features in computer vision
  • Brainshift detection with application to brain surgery
  • Ultrasonic diffusion modeling


  • If you are interested, please contact me any time!
  • Enhanced 3D-Ultrasound Visualization via Structure-Geometrical Ray Casting(MSc, finished)
  • 3-D Segmentation of the Head and Neck Lymph Nodes Using the Level Set Methods in Ultrasound (MSc, finished)
  • Deformable Vessel Registration for 3D Freehand Doppler Ultrasound (BSc, finished)
  • Deformation Estimation and Correction by Biomechanical Modeling (MSc, finished)
  • Automatic Extraction of Useful Structures for Ultrasound-Guided Femoral Nerve Blocks (MSc, finished)
  • Segmentation of Musculus Puborectalis in 4D OB/GYN ultrasound data (BSc, finished)
  • Autonomous Robotic Ultrasound for Screening Applications (MSc, finished)
  • Multi-modal Deformable Registration in the Context of Neurosurgical Brain Shift (MSc, ongoing)
  • Seamless stitching of 4D optoacoustic data (MSc, ongoing)
  • Information regression on spherical ultrasound models (MSc, ongoing)


  • Tensor-Graph based segmentation of ultrasound images (finished)
  • 3D velocity field reconstruction from ultrasound doppler data (finished)
  • Optimization of a quadratic energy minimization framework for arbitrarily sampled ray data (finished)
  • Implementation of a force-impedance controller for ROS and KUKA LBR 4+ (finished)



M. Riva, C. Hennersperger, F. Milletari, A. Katouzian, F. Pessina, B. Gutierrez-Becker, A. Castellano, N. Navab, L. Bello
3D intra-operative ultrasound and MR image-guidance: pursuing an ultrasound-based management of brainshift to enhance neuronavigation
International Journal of Computer Assisted Radiology and Surgery, in press. (bib)
R. Göbl, S. Virga, J. Rackerseder, B. Frisch, N. Navab, C. Hennersperger
Acoustic window planning for ultrasound acquisition
International Journal of Computer Assisted Radiology and Surgery / 8th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, Spain, June 2017.
The original publication is available online at
O. Zettinig, B. Frisch, S. Virga, M. Esposito, A. Rienmüller, B. Meyer, C. Hennersperger, Y.-M. Ryang , N. Navab
3D Ultrasound Registration-based Visual Servoing for Neurosurgical Navigation
International Journal of Computer Assisted Radiology and Surgery, in press, 2017.
The original publication is available online at
B. Frisch, O. Zettinig, B. Fuerst, S. Virga, C. Hennersperger, N. Navab
Collaborative Robotic Ultrasound: Towards Clinical Application
Radiological Society of North America Annual Meeting, Chicago, USA, 2016 (bib)
C. Hennersperger, B. Fuerst, S. Virga, O. Zettinig, B. Frisch, T. Neff, N. Navab
Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study
IEEE Transactions on Medical Imaging, vol. 36, iss. 2, 2017
The original publication (open access) is available online at
S. Virga, O. Zettinig, M. Esposito, K. Pfister, B. Frisch, T. Neff, N. Navab, C. Hennersperger
Automatic Force-Compliant Robotic Ultrasound Screening of Abdominal Aortic Aneurysms
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, October 2016.
The original publication is available online at
M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, N. Navab, B. Frisch
Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies
International Journal of Computer Assisted Radiology and Surgery (bib)
N. Navab, C. Hennersperger, B. Frisch, B. Fuerst
Personalized, Relevance-based Multimodal Robotic Imaging and Augmented Reality for Computer Assisted Interventions
Medical Image Analysis (bib)
C. Hennersperger, J. Manus, N. Navab
Mobile Laserprojection in Computer Assisted Neurosurgery
LNCS 9805, Medical Imaging and Augmented Reality 2016 (MIAR 2016) (bib)
C. Graumann, B. Fuerst, C. Hennersperger, F. Bork, N. Navab
Robotic Ultrasound Trajectory Planning for Volume of Interest Coverage
In Proceedings ICRA 2016: IEEE International Conference on Robotics and Automation (bib)
K. Pfister, W. Schierling, EM. Jung, H. Apfelbeck, C. Hennersperger, P. Kasprzak
Standardized 2D ultrasound versus3D/4D ultrasound and image fusion for measurement of aortic aneurysm diameter in follow-up after EVAR
Clinical Hemorheology and Microcirculation, 2015 (bib)
C. Schulte zu Berge, D. Declara, C. Hennersperger, M. Baust, N. Navab
Real-time Uncertainty Visualization for B-Mode Ultrasound
Proceedings Scientific Visualization 2015, Chicago IL, U.S.A, October 2015 (bib)
F. Milletari, A. Ahmadi, C. Kroll, C. Hennersperger, F. Tombari, A. Shah, A. Plate, K. Bötzel, N. Navab
Robust Segmentation of Various Anatomies in 3D Ultrasound Using Hough Forests and Learned Data Representations
MICCAI 2015, the 18th International Conference on Medical Image Computing and Computer Assisted Intervention (bib)
C. Hennersperger, M. Baust, D. Mateus, N. Navab
Computational Sonography
MICCAI 2015, the 18th International Conference on Medical Image Computing and Computer Assisted Intervention (bib)
M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, A. Lu, N. Navab, B. Frisch
Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy
Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 (bib)
O. Zettinig, A. Shah, C. Hennersperger, M. Eiber, C. Kroll, H. Kübler, T. Maurer, F. Milletari, J. Rackerseder, C. Schulte zu Berge, E. Storz, B. Frisch, N. Navab
Multimodal Image-Guided Prostate Fusion Biopsy based on Automatic Deformable Registration
International Journal of Computer Assisted Radiology and Surgery / 6th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, June 2015.
The original publication is available online at
C. Hennersperger, M. Baust, P. Waelkens, A. Karamalis, A. Ahmadi, N. Navab
Multi-Scale Tubular Structure Detection in Ultrasound Imaging
Medical Imaging, IEEE Transactions on (34:1), Jan 2015 (bib)
O. Zettinig, C. Hennersperger, C. Schulte zu Berge, M. Baust, N. Navab
3D Velocity Field and Flow Profile Reconstruction from Arbitrarily Sampled Doppler Ultrasound Data
Proceedings of the 17th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Boston, USA, September 2014.
The original publication is available online at
A. Okur, C. Hennersperger, J.B. Runyan, J. Gardiazabal, M. Keicher, S. Paepke, T. Wendler, N. Navab
fhSPECT-US Guided Needle Biopsy of Sentinel Lymph Nodes in the Axilla: Is it Feasible?
Medical Image Computing and Computer-Assisted Intervention, MICCAI 2014, Lecture Notes in Computer Science Volume 8673, 2014, pp 577-584 (bib)
C. Hennersperger, D. Mateus, M. Baust, N. Navab
A Quadratic Energy Minimization Framework for Signal Loss Estimation from Arbitrarily Sampled Ultrasound Data
Medical Image Computing and Computer-Assisted Intervention, MICCAI 2014, Lecture Notes in Computer Science Volume 8674, 2014, pp 373-380 (bib)
C. Hennersperger, A. Karamalis, N. Navab
Vascular 3D+T Freehand Ultrasound using Correlation of Doppler and Pulse-Oximetry Data
Information Processing in Computer-Assisted Interventions, Lecture Notes in Computer Science Volume 8498, 2014, pp 68-77 (bib)
N. Rieke, C. Hennersperger, D. Mateus, N. Navab
Ultrasound Interactive Segmentation with Tensor-Graph Methods
IEEE International Symposium on Biomedical Imaging (ISBI), Beijing, China, April 2014 (bib)
R. Feurer, C. Hennersperger, J.B. Runyan, C.F. Seifert, J. Pongratz, M. Wilhelm, J. Pelisek, N. Navab, E. Bartels, H. Poppert
Reliability of a freehand three-dimensional ultrasonic device allowing anatomical orientation “at a glance”: Study protocol for 3D measurements with Curefab CS®
Journal of Biomedical Graphics and Computing, Vol. 2:2 (bib)

Title: Dr.
Circumference of your head (in cm):  
Firstname: Christoph
Lastname: Hennersperger
Picture: img_hec_s.jpg
Birthday: 1987/02/22
Nationality: Bavaria
Languages: English, German
Groups: Registration/Visualization, Segmentation, Reconstruction, Medical Imaging, Sensing, IFL, Ultrasound
Expertise: Registration/Visualization, Segmentation, Medical Imaging, Computer-Aided Surgery, Sensing
Position: Scientific Staff
Status: Active
Emailbefore: christoph.hennersperger
Room: MI 03.13.043
Telephone: +49 89 289 19403
Alumniactivity: Fellow at BioInnovate Ireland - affiliated with Stanford BioDesign
Defensedate: 19 June 2015
Thesistitle: Domain-Specific Modeling for Vascular Freehand Ultrasound

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