Ole Jacob Elle
Position: Associate professor, PhD
Phone: 23070112, 91171790

Section for Technology Research
Section Manager, Ole Jakob Elle, Associate professor, PhD

Research Groups

Medical Robotics, visualisation and navigation
Associate professor Ole Jakob Elle, PhD

Group members
Ole Jakob Elle, Section Manager – Technology Research/Associate Professor, PhD, 23070112, oelle@ous-hf.no
Frederic Courivaud, Senior Researcher, PhD, 23070148, frederic.courivaud@rr-research.no
Espen Remme, Senior Researcher, PhD, 23071413, espen.remme@medisin.uio.no
Laura Slaughter, Senior Researcher/Associate Professor, PhD, laura.slaughter@gmail.com
Hugues Fontenelle, Senior Researcher, PhD, Hugues.Fontenelle@rr-research.no
Phuong Nguyen, Postdoc, PhD, qtquocphuong@yahoo.com
Rafael Palomar, Researcher/Software developer, MSc
Rahul Kumar, PhD fellow, MSc, Rahul.Kumar@rr-research.no
Abubakr El Dirdiri, PhD fellow, MSc, abubakr.eldirdiri@gmail.com
Dilla Handini, PhD fellow, MSc, daffodilsky@gmail.com
Kim Mathiassen, PhD fellow, MSc, (also at ROBIN-group at IFI/UIO), kimmat@ifi.uio.no
Egil Utheim, Researcher, MSc, egil.utheim@mektron.no
Ralf Greisiger, PhD fellow, MSc, (also at ROBIN-group at IFI/UIO), Ralf.Greisiger@ous-hf.no

Research Profile
Most minimally invasive procedures restrict the access and direct vision to the regions which require surgery. Such procedures require intra-operative image modalities such as ultrasound or endoscopic images to be able to monitor the surgery real-time. In many cases this information is not sufficient to perform the procedure accurately and safely. Merging information acquired pre-operatively, mainly from for instance MRI, CT or PET, with intra-operative data can increase the basis for decisions and thereby improve the safety and accuracy of the procedure. The Medical Robotics, visualization and navigation group develops cutting edge technological solutions which support minimally invasive procedures. The research focus is on image processing methods that are key elements in any software system which supports minimally invasive procedures. In particular, we are focused on developing real-time image-segmentation and - registration methods where segmentation methods finds important anatomical structures such as tumors and vessel structures in images, while registration methods enables fusion of images. Visualization and navigation is required to present the medical images to the surgeon intra-operatively. We are developing visualization systems which use advanced techniques such as augmented reality and volume rendering for this purpose. Robotic surgery which so far primarily has been tele-manipulators like Da Vinci, will in the future in addition to use real-time sensors like force/torque, inertia (accelerometer/gyro) and 3D video be more and more cross-linked with medical image information and move toward automation of surgical procedures. The research group is doing research in all these fields of technology facilitating minimally invasive surgery.

Long term goals
The research group aims to be nationally and internationally leading research environment in technological solutions for image guided minimally invasive treatment. The group will strive to have competent personnel within the following technological areas:
Real-time Image-processing (image analysis, segmentation…)
Real-time volume visualisation
Navigation technology
Robotic technology
Real-time sensing
Technology support to Minimally Invasive Treatment in the hybrid OR’s in general
The research group want to further extend the national and international research networking by applying research grants as coordinator through NFR and EU- calls as well as participating in consortiums within EU initiatives.

The group will strive towards increasing the number of publications in peer reviewed journals and conferences of high standing.

The section is partly financed through the hospital (permanent staff), but to a great extent through projects funded by NFR and EU. We are currently participating in 3 EU-projects as well as several NFR-projects and projects financed by Innovasjon Norge.

IIIOS (Integrated Intra-operative Imaging Operating System):
The scope of the IIIOS consortium is to provide technology and training for the integration of ultrasound and biophotonics based imaging guidance with magnetic resonance imaging (MRI), Computed Tomography (CT) and Positron Emission Tomography (PET) to define the specs of an Integrated Interventional Imaging Operating System (IIIOS) aimed at minimal invasive treatment of common life-threatening disorders, e.g., cancer, cardiovascular disease and structural heart defects.
SCath (Smart Catheterization):
SCATh aims to provide the interventionalist with visual and haptic tools for robust and accurate catheter guidance, which will be developed through novel approaches, by fusing preoperative patient-specific anatomical and mechanical models and intra-operative data streams from in situ sensors.
I-SUR (Intelligent Surgical Robotics):
This project addresses a very complex problem that can be expressed in a very simple form: is it possible to automate surgery? To explore the feasibility of a solution to this problem, in this project we develop general methods for cognitive surgical robots capable of combining sensing, dexterity and cognitive capabilities to carry out autonomously simple surgical actions, such as puncturing, cutting and suturing.

MUSIKK 2020 (Multidisciplinary skills for the Biomedical Engineers of 2020):
- Submittet application Nov. 2012 to Marie Curie EU-ITN-actions as Coordinator
Key to the success of platforms for selecting patients and informing optimal treatment is the development of novel biomedical engineering (BME) based technologies for diagnosis, minimally invasive therapy and monitoring. Musik2020 is a coordinated plan of individual research projects addressing two most significant health issues of our society: cardiovascular disease and cancer. Its main focus is the development of engineering and information technologies for improved management of these diseases, where the multi-disciplinary dialogue and work between clinicians and biomedical engineers is critical.

University of Dundee
University of St. Andrews
Norwegian University of Science and Technology
University of Homburg, SAAR
Delft University of Technology
MR Comp GmbH
University of Lubeck
Fakultni Nemocnice u sv. Anny v Brne
GE Medical Systems
Katholieke Universiteit Leuven, Leuven, Belgium
Oslo Universitetssykehus HF,Oslo, Norway
Zürcher Hochschule für Angewandte Wissenschaften, Winterthur, Switzerland
Imperial College London, London, United Kingdom
Institute of Biomechanics Center of Biomedical Engineering, Graz, Austria
Endosense SA, Geneva, Switzerland
Scuola Superiore Sant'Anna, Pisa, Italy
University of Verona
Oslo University Hospital
Tallin University
San Raffaele Hospital
Yeditepe University
ETH Zurich
King’s College London
University of Oxford
GE Vingmed
Sintef Medical Technology
Sheffield Hallam University
Universidad de Zaragoza
Universidad politecnica de Madrid


Author network for Ole Jacob Elle by COREMINE medical

Publications 2017

Krogh MR, Nghiem GM, Halvorsen PS, Elle OJ, Grymyr OJ, Hoff L, Remme EW (2017)
Gravity Compensation Method for Combined Accelerometer and Gyro Sensors Used in Cardiac Motion Measurements
Ann Biomed Eng, 45 (5), 1292-1304
PubMed 28116541

Mathiassen K, Dall'Alba D, Muradore R, Fiorini P, Elle OJ (2017)
Robust Real-Time Needle Tracking in 2-D Ultrasound Images Using Statistical Filtering
IEEE Trans. Control Syst. Technol., 25 (3), 966-978

Palomar R, Cheikh FA, Edwin B, Fretland Å, Beghdadi A, Elle OJ (2017)
A novel method for planning liver resections using deformable Bézier surfaces and distance maps
Comput Methods Programs Biomed, 144, 135-145
PubMed 28494998

Publications 2016

Mathiassen K, Glette K, Elle OJ (2016)
Visual Servoing of a Medical Ultrasound Probe for Needle Insertion

Miseikis J, Glette K, Elle OJ, Torresen J (2016)
Automatic Calibration of a Robot Manipulator and Multi 3D Camera System

Palomar R, Cheikh FA, Edwin B, Beghdadhi A, Elle OJ (2016)
Surface reconstruction for planning and navigation of liver resections
Comput Med Imaging Graph, 53, 30-42
PubMed 27490316

Ševo I, Avramović A, Balasingham I, Elle OJ, Bergsland J, Aabakken L (2016)
Edge density based automatic detection of inflammation in colonoscopy videos
Comput Biol Med, 72, 138-50
PubMed 27043856

Publications 2015

Greisiger R, Shallop JK, Hol PK, Elle OJ, Jablonski GE (2015)
Cochlear implantees: Analysis of behavioral and objective measures for a clinical population of various age groups
Cochlear Implants Int, 16 Suppl 4, 1-19
PubMed 26642899

Kaiser M, Detert M, Rube MA, El-Tahir A, Elle OJ, Melzer A, Schmidt B, Rose GH (2015)
Resonant marker design and fabrication techniques for device visualization during interventional magnetic resonance imaging
Biomed Tech (Berl), 60 (2), 89-103
PubMed 25460277

Kumar RP, Albregtsen F, Reimers M, Edwin B, Lango T, Elle OJ (2015)
Blood Vessel Segmentation and Centerline Tracking Using Local Structure Analysis
IFMBE PROC, 45, 122-+

Muradore R, Fiorini P, Akgun G, Barkana DE, Bonfe M, Borierol F, Caprara A, De Rossi G, Dodi R, Elle OJ, Ferraguti F, Gasperottil L, Gassert R, Mathiassen K, Handini D, Lambercy O, Lil L, Kruusmaal M, Manurung AO, Meruzzi G, Nguyen HQP, Freda N, Riolfo G, Ristolainen A, Sanna A et al. (2015)
Development of a Cognitive Robotic System for Simple Surgical Tasks
Int. J. Adv. Robot. Syst., 12, 37

Publications 2014

Bergsland J, Elle OJ, Fosse E (2014)
Barriers to medical device innovation
Med Devices (Auckl), 7, 205-9
PubMed 24966699

Grymyr OJ, Remme EW, Espinoza A, Skulstad H, Elle OJ, Fosse E, Halvorsen PS (2014)
Assessment of 3D motion increases the applicability of accelerometers for monitoring left ventricular function
Interact Cardiovasc Thorac Surg, 20 (3), 329-37
PubMed 25472979

Kumar RP, Albregtsen F, Reimers M, Edwin B, Langø T, Elle OJ (2014)
Three-Dimensional Blood Vessel Segmentation and Centerline Extraction based on Two-Dimensional Cross-Section Analysis
Ann Biomed Eng, 43 (5), 1223-34
PubMed 25398332

Publications 2013

Eldirdiri A, Courivaud F, Palomar R, Hol PK, Elle OJ (2013)
Catheter tip tracking for MR-guided interventions using discrete Kalman filter and mean shift localization
Int J Comput Assist Radiol Surg, 9 (2), 313-22
PubMed 23974979

Kumar RP, Albregtsen F, Reimers M, Lango T, Edwin B, Elle OJ (2013)
3D multiscale vessel enhancement based centerline extraction of blood vessels
PROC SPIE, 8669, 86691X

Kumar RP, Rijkhorst EJ, Geier O, Barratt D, Elle OJ (2013)

Mathiassen K, Dall'Alba D, Muradore R, Fiorini P, Elle OJ (2013)
Real-time biopsy needle tip estimation in 2D ultrasound images
IEEE ICRA, 2013, 4363-4369
PublikaID 206

Mathiassen K, Dall'Alba D, Muradore R, Fiorini P, Elle OJ (2013)
Real-Time Biopsy Needle Tip Estimation in 2D Ultrasound Images

Publications 2012

Ho QPN, Kang HJ, Suh YS, Elle OJ (2012)
A Platform Stabilization Algorithm Based on Feedforward Visual-Inertial Servoing
Int. J. Precis. Eng. Manuf., 13 (4), 517-526

Naerum E, Elle OJ, Hannaford B (2012)
The Effect of Interaction Force Estimation on Performance in Bilateral Teleoperation
IEEE Trans Haptics, 5 (2), 160-71
PubMed 26964072

Remme EW, Hoff L, Halvorsen PS, Opdahl A, Fosse E, Elle OJ (2012)
Simulation model of cardiac three dimensional accelerometer measurements
Med Eng Phys, 34 (7), 990-8
PubMed 22633656

Publications 2011

Bergsland J, Mujanovic E, Elle OJ, Mirtaheri P, Fosse E (2011)
Minimally invasive repair of the mitral valve: technological and clinical developments
Minim Invasive Ther Allied Technol, 20 (2), 72-7
PubMed 21417839

Greisiger R, Tvete O, Shallop J, Elle OJ, Hol PK, Jablonski GE (2011)
Cochlear implant-evoked electrical auditory brainstem responses during surgery in patients with auditory neuropathy spectrum disorder
Cochlear Implants Int, 12 Suppl 1, S58-60
PubMed 21756475

Publications 2010

Lamata P, Lamata F, Sojar V, Makowski P, Massoptier L, Casciaro S, Ali W, Stüdeli T, Declerck J, Elle OJ, Edwin B (2010)
Use of the Resection Map system as guidance during hepatectomy
Surg Endosc, 24 (9), 2327-37
PubMed 20177937

Publications 2009

Halvorsen PS, Remme EW, Espinoza A, Skulstad H, Lundblad R, Bergsland J, Hoff L, Imenes K, Edvardsen T, Elle OJ, Fosse E (2009)
Automatic real-time detection of myocardial ischemia by epicardial accelerometer
J Thorac Cardiovasc Surg, 139 (4), 1026-32
PubMed 19717169

Lowrie C, Desmulliez MPY, Hoff L, Elle OJ, Fosse E (2009)
MEMS Three-Axis Accelerometer: Design, Fabrication and Application of Measuring Heart Wall Motion

Lowrie C, Desmulliez MPY, Hoff L, Elle OJ, Fosse E (2009)
Fabrication of a MEMS accelerometer to detect heart bypass surgery complications
Sens. Rev., 29 (4), 319-325

Morvan T, Martinsen M, Reimers M, Samset E, Elle OJ (2009)
Collision detection and untangling for surgical robotic manipulators
Int J Med Robot, 5 (3), 233-42
PubMed 19367614

Remme EW, Hoff L, Halvorsen PS, Naerum E, Skulstad H, Fleischer LA, Elle OJ, Fosse E (2009)
Validation of cardiac accelerometer sensor measurements
Physiol Meas, 30 (12), 1429-44
PubMed 19907074

Sette MM, Furtado H, Studeli T, Morita T, Elle OJ, Van Brussel H, Sloten JV (2009)
Physiological Parameters Based Control Scheme for Automatic Intravascular Balloon Inflation
IFMBE PROC, 25, 333-+

Publications 2008

Cornella J, Elle OJ, Ali W, Samset E (2008)
Improving Cartesian Position Accuracy of a Telesurgical Robot

Cornella J, Elle OJ, Ali W, Samset E (2008)
Intraoperative Navigation of an Optically Tracked Surgical Robot
LECT NOTES COMPUT SC, 5242, 587-594

Cornellà J, Elle OJ, Ali W, Samset E (2008)
Intraoperative navigation of an optically tracked surgical robot
Med Image Comput Comput Assist Interv, 11 (Pt 2), 587-94
PubMed 18982652

Fleischer LA, Halvorsen PS, Hoff L, Fosse E, Elle OJ (2008)
Epicardial Acceleration Signal Measured Using a Single Chip 3-axis Accelerometer
IFMBE PROC, 20, 221-+

Halvorsen PS, Espinoza A, Fleischer LA, Elle OJ, Hoff L, Lundblad R, Skulstad H, Edvardsen T, Ihlen H, Fosse E (2008)
Feasibility of a three-axis epicardial accelerometer in detecting myocardial ischemia in cardiac surgical patients
J Thorac Cardiovasc Surg, 136 (6), 1496-502
PubMed 19114197

Halvorsen PS, Fleischer LA, Espinoza A, Elle OJ, Hoff L, Skulstad H, Edvardsen T, Fosse E (2008)
Detection of myocardial ischaemia by epicardial accelerometers in the pig
Br J Anaesth, 102 (1), 29-37
PubMed 19022793

Lowrie C, Desmulliez MPY, Hoff L, Elle OJ, Fosse E (2008)
Design and fabrication of an implantable three-axis accelerometer for post-surgery monitoring of heart wall motion

Naerum E, Cornella J, Elle OJ (2008)
Contact Force Estimation for Backdrivable Robotic Manipulators with Coupled Friction

Naerum E, Cornella J, Elle OJ (2008)
Wavelet networks for estimation of coupled friction in robotic manipulators

Publications 2007

Imenes K, Aasmundtveit K, Husa EM, Høgetveit JO, Halvorsen S, Elle OJ, Mirtaheri P, Fosse E, Hoff L (2007)
Assembly and packaging of a three-axis micro accelerometer used for detection of heart infarction
Biomed Microdevices, 9 (6), 951-7
PubMed 17492383

Risholm P, Narum E, Elle OJ, Samset E (2007)
An inexpensive and portable system for improving EM tracking accuracy
Int. J. Comput. Assist. Radiol. Surg., 2 1, S181-S182

Publications 2006

Halvorsen FH, Elle OJ, Dalinin VV, Mørk BE, Sørhus V, Røtnes JS, Fosse E (2006)
Virtual reality simulator training equals mechanical robotic training in improving robot-assisted basic suturing skills
Surg Endosc, 20 (10), 1565-9
PubMed 16902750

Naerum E, Elle OJ, Egeland O (2006)
Heartbeat tracking using the AESOP 3000DS Endoscope Positioner
Int. J. Comput. Assist. Radiol. Surg., 1 1, 267-269

Risholm P, Sauter A, Bosse G, Elle OJ, Samset E (2006)
Registration free MRI-US fusion for identification of infraclavicular parts of plexus brachialis
Int. J. Comput. Assist. Radiol. Surg., 1 1, 57-59

Publications 2005

Elle OJ, Halvorsen S, Gulbrandsen MG, Aurdal L, Bakken A, Samset E, Dugstad H, Fosse E (2005)
Early recognition of regional cardiac ischemia using a 3-axis accelerometer sensor
Physiol Meas, 26 (4), 429-40
PubMed 15886438

Halvorsen FH, Elle OJ, Fosse E (2005)
Simulators in surgery
Minim Invasive Ther Allied Technol, 14 (4), 214-23
PubMed 16754167

Publications 2004

Hoff L, Elle OJ, Grimnes MJ, Halvorsen S, Alker HJ, Fosse E (2004)
Measurements of heart motion using accelerometers
Conf Proc IEEE Eng Med Biol Soc, 3, 2049-51
PubMed 17272122

Publications 2002

Røtnes JS, Kaasa J, Westgaard G, Eriksen EM, Hvidsten PO, Strøm K, Sørhus V, Halbwachs Y, Haug E, Grimnes M, Fontenelle H, Ekeberg T, Thomassen JB, Elle OJ, Fosse E (2002)
A tutorial platform suitable for surgical simulator training (SimMentor)
Stud Health Technol Inform, 85, 419-25
PubMed 15458125

Samset E, Talsma A, Kintel M, Elle OJ, Aurdal L, Hirschberg H, Fosse E (2002)
A virtual environment for surgical image guidance in intraoperative MRI
Comput Aided Surg, 7 (4), 187-96
PubMed 12454891

Publications 2001

Røtnes JS, Kaasa J, Westgaard G, Eriksen EM, Hvidsten PØ, Strøm K, Sørhus V, Halbwachs Y, Elle OJ, Fosse E (2001)
Digital trainer developed for robotic assisted cardiac surgery
Stud Health Technol Inform, 81, 424-30
PubMed 11317783

Publications 2000

Fosse E, Elle OJ, Samset E, Johansen M, Røtnes JS, Tønnessen TI, Edwin B (2000)
[Image guided and robotic treatment--the advance of cybernetics in clinical medicine]
Tidsskr Nor Laegeforen, 120 (1), 65-9
PubMed 10815485