Charles Baur

Resume

Dr. Charles Baur received his Diploma in Microengineering and his Ph.D. in technical sciences from the Swiss Federal Institute of Technology (EPFL). He is currently the Director of the VRAI Group, which he created in 1993, and is Vice-President and Manager of Research and Development at Baur SA(Sauges, Switzerland).

His research interests include virtual reality, minimally invasive surgery, sensory feedback for autonomous systems, agent-based user interfaces, and micromechanical devices. He has published widely in the areas of multi-modal user interfaces, human-robot systems, and computer assisted surgery.

Publications

Journal Articles

M. Clogenson; J. M. Duff; M. Luethi; M. Levivier; R. Meuli et al. : A statistical shape model of the human second cervical vertebra; International Journal Of Computer Assisted Radiology And Surgery. 2015. DOI : 10.1007/s11548-014-1121-x.
S. Kostrzewski; J. M. Duff; C. Baur; M. Olszewski : Robotic system for cervical spine surgery; International Journal Of Medical Robotics And Computer Assisted Surgery. 2012. DOI : 10.1002/rcs.446.
J. Garcia Giraldez; M. Caversaccio; I. Pappas; J. Kowal; U. Rohrer et al. : Design and clinical evaluation of an image-guided surgical microscope with an integrated tracking system; International Journal of Computer Assisted Radiology and Surgery. 2007. DOI : 10.1007/s11548-006-0066-0.
M. Jobin; R. Foschia; S. Grange; C. Baur; G. Gremaud et al. : Versatile force-feedback manipulator for nanotechnology applications; Review of Scientific Instruments. 2005. DOI : 10.1063/1.1891346.
J. Lekki; S. Kumar; S. S. Parihar; S. Grange; C. Baur et al. : Data coding tools for color-coded vector nanolithography; Review of Scientific Instruments. 2004. DOI : 10.1063/1.1805014.
G. Marti; C. Baur; P. Zambelli : Optimal femoral head contour segmentation in CT images using dynamic programming; Technology Health Care.. 2004.
C. Graetzel; T. Fong; S. Grange; C. Baur : A Non-Contact Mouse for Surgeon-Computer Interaction; Technology and Health Care. 2004.
T. Fong; C. Thorpe; C. Baur : Robot, Asker of Questions; Robotics and Autonomous Systems. 2003.
T. Fong; C. Thorpe; C. Baur : Multi-Robot Remote Driving with Collaborative Control; Transactions on Industrial Electronics. 2003. DOI : 10.1109/TIE.2003.814768.
R. Clavel; P. Helmer; S. Bottinelli; S. Henein; C. Schmitt et al. : Contribution aux concepts de « micro et nanofactory »; Nano et Micro Technologies. 2001.
T. Fong; C. Thorpe; C. Baur : Advanced Interfaces for Vehicle Teleoperation: Collaborative Control, Sensor Fusion Displays, and Remote Driving Tools; Autonomous Robots. 2001.
T. Fong; C. Thorpe; C. Baur : Active Interfaces for Vehicle Teleoperation; Robotics and Machine Perception Working Group Newsletter. 2001.
R. Clavel; P. Helmer; S. Bottinelli; S. Henein; C. Schmitt et al. : Contribution to the Micro- and Nanofactory Concepts; Nano and Micro Technologies. 2001.
C. Baur : Environement Virtuel et Chirurgie Endoscopique; Flash Informatique. 1997.
R. Baumann; C. Baur; D. Glauser : The EPFL Laproscopic Surgery Simulator; Journees Microtechnique. 1996.

Conference Papers

S. K. Fifanski; J. Rivera; M. Clogenson; C. Baur; A. Bertholds et al. : VivoForce instrument for retinal microsurgery. 2017. Surgetical 2017, Strasbourg, France, November 20-22, 2017. p. 155-157.
S. K. Fifanski; J. L. Rivera Gutiérrez; M. Clogenson; C. Baur; A. Bertholds et al. : Flexure-based multi-degrees-of-freedom in-vivo force sensors for medical instruments. 2016. Euspen's 16th International Conference, Nottingham, Great Britain, May 30-Jun 03, 2016. p. 333-334.
M. Petter; V. Fragoso; M. Turk; C. Baur : Automatic text detection for mobile augmented reality translation. 2011. The Second IEEE International Workshop on Mobile Vision (in conjunction with ICCV'2011), Barcelona, Spain, November 7,2011. p. -.
A. vom Berg; M. Peterhans; B. Dagon; L.-P. Nolte; C. Baur et al. : Soft tissue navigation: an ex-vivo porcine liver model for multimodality imaging and simulation of deformations to validate techniques for image-guided liver surgery. 2009. p. 14S-14S.
M. Peterhans; B. Dagon; A. V. Berg; D. Inderbitzin; C. Baur et al. : A Porcine Liver Model for Validation of Registration Accuracy in Image-Guided Surgery. 2009. Bildverarbeitung für die Medizin 2009, Heidelberg, March 22-25, 2009. p. 361-365. DOI : 10.1007/978-3-540-93860-6.
M. Peterhans; B. Dagon; L.-P. Nolte; C. Baur; A. Vom Berg et al. : Soft tissue navigation: Transferring pre-operative planning data into the operation room. 2009. European Congress of Radiology, Vienne, March 6-10, 2009.
B. Dagon; C. Baur; V. Bettschart : Real-Time Update of 3D Deformable Models for Computer Aided Liver Surgery. 2009. 19th conference of the International Association for Pattern Recognition (IAPR), Tampa, Florida, USA, December 8-10, 2008. DOI : 10.1109/ICPR.2008.4761741.
S. Burion; F. Conti; A. Petrovskaya; C. Baur; O. Khatib : Identifying physical properties of deformable objects by using particle filters. 2008. IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008. p. 1112-1117.
C. Wengert; L. Bossard; C. Baur; G. Szekely; P. C. Cattin : Endoscopic navigation for minimally invasive suturing. 2008. 10th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, AUSTRALIA, Oct 29-Nov 02, 2007. p. 299-310. DOI : 10.1080/10929080802337914.
B. Dagon; C. Baur; V. Bettschart : A Framework for Intraoperative Update of 3D Deformable Models in Liver Surgery. 2008. 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Vancouver, CANADA, Aug 20-24, 2008. p. 3235-3238.
B. Dagon; C. Baur; V. Bettschart : Real-Time Update of 3D Deformable Models for Computer Aided Liver Surgery. 2008. 19th International Conference on Pattern Recognition (ICPR 2008), Tampa, FL, Dec 08-11, 2008. p. 2177-2180.
B. Dagon; C. Baur; V. Bettschart : A Framework for Intraoperative Update of 3D Deformable Models in Liver Surgery. 2008. 30th Annual International IEEE EMBS Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, August 20-24, 2008. DOI : 10.1109/IEMBS.2008.4649893.
B. Dagon; A. Brocard; C. Baur : Fast Wavelet based Ultrasound Image Segmentation for Liver Vessels Extraction. 2008. Computer Aided Surgery around the Head (CAS-H), Leipzig, February 6-9, 2008.
B. Dagon; C. Baur; V. Bettschart : Intraoperative update of liver surgery planning based on ultrasound images. 2007. SURGETICA, Chambéry, France, September 19-21, 2007. p. 419-423.
B. Dagon; C. Baur; V. Bettschart : 3D-3D non rigid registration of an organ model with intraoperative measured data in case of hepatectomy. 2007. ISCAS (International Society for Computer Aided Surgery), Berlin, Germany, June 27-30, 2007. p. 499.
D. Guzzoni; A. Cheyer; C. Baur : ACTIVE, A PLATFORM FOR BUILDING INTELLIGENT OPERATING ROOMS. 2007. SURGETICA 2007, Chambéry, September 19-21 2007. p. 191-198.
D. Guzzoni; C. Baur; A. Cheyer : Active, a Tool for Building Intelligent User Interfaces. 2007. ASC 2007, Palma de Mallorca, August 29-31 2007. p. 48-65.
D. Guzzoni; A. Cheyer; C. Baur : Modeling Human-Agent Interaction with Active Ontologies. 2007. AAAI Spring Symposium, Interaction Challenges for Intelligent Assistants, Stanford University, Palo Alto, California, March 26-28 2007. p. 52-59.
D. Guzzoni; A. Cheyer; C. Baur : Active : A unified platform for building intelligent web interaction assistants. 2006. Web Intelligence, WI-2006, Hong Kong, Dec 18-22 2006. p. 417-420.
D. Guzzoni; A. Cheyer; C. Baur : Active, a platform for building intelligent software. 2006. Computational Intelligence, CI-2006, San Francisco, California, USA, November 20 – 22, 2006. p. 121-125.
S. Grange; C. Baur : Robust Method for Real-time, Continuous, 3D Detection of Obstructed Faces in Indoors Environments. 2006. IEEE International Conference on Automatic Face and Gesture Recognition, Southampton, UK, April 2006. p. 169-176.
S. Grange; T. Fong; C. Baur : M/ORIS: A Medical/Operating room interaction system. 2004.
G. Marti; V. Bettschart; J.-S. Billiard; C. Baur : Hybrid method for both calibration and registration of an endoscope with an active optical tracker. 2004.
E. Hagmann; P. Rouiller; P. Helmer; S. Grange; C. Baur : A haptic guidance tool for CT-directed percutaneous interventions. 2004.
A. Avedisyan; D. Wettergreen; T. Fong; C. Baur : Far-field terrain evaluation using geometric and toposemantic vision. 2004.
F. Conti; O. Khatib; C. Baur : Interactive Rendering Of Deformable Objects Based On A Filling Sphere Modeling Approach. 2003.
G. Marti; P.-Y. Zambelli; C. Baur : Optimal Femoral Head Contour Segmentation in CT Images Using Dynamic Programming. 2003.
G. Marti; P. Rouiller; S. Grange; C. Baur : Biopsy Navigator: A Smart Haptic Interface for Interventional Radiological Gestures. 2003.
P.-Y. Zambelli; S. Dewarrat; C. Bregand; G. Marti; C. Baur et al. : Digital electro mechanical arm: An alternative to the classical opto-tracking system. 2003.
P.-Y. Zambelli; C. Bregand; S. Dewarrat; G. Marti; C. Baur et al. : Planning and navigation solution in resurfacing hip surgery: A way to reduce the surgical approach. 2003.
G. Marti; P.-Y. Zambelli; C. Baur : Optimal Femoral Head Contour Segmentation in CT Images Using Dynamic Programming. 2003.
N. Cauche; A. Delchambre; P. Rouiller; P. Helmer; C. Baur et al. : Rotational Force Feedback Wrist. 2003.
C. Graetzel; S. Grange; T. Fong; C. Baur : A Non-Contact Mouse for Surgeon-Computer Interaction. 2003.
S. Grange; T. Fong; C. Baur : TLIB: A Real-Time Computer Vision Library for HCI Applications. 2003. p. 1017-1026.
S. Grange; E. Casanova; T. Fong; C. Baur : Vision-based Sensor Fusion for Human-Computer Interaction. 2002.
T. Fong; N. Cabrol; C. Thorpe; C. Baur : A Personal User Interface for Collaborative Human-Robot Exploration. 2001.
S. Grange; F. Conti; P. Helmer; P. Rouiller; C. Baur : Overview of the Delta Haptic Device. 2001.
S. Grange; F. Conti; P. Helmer; P. Rouiller; C. Baur : Overview of the Delta Haptic Device (Poster). 2001.
T. Fong; C. Thorpe; C. Baur : A Safeguarded Teleoperation Controller. 2001.
T. Fong; S. Grange; C. Thorpe; C. Baur : Multi-robot Remote Driving with Collaborative Control. 2001.
T. Fong; C. Thorpe; C. Baur : Collaboration, Dialogue, and Human-Robot Interaction. 2001.
S. Grange; F. Conti; P. Helmer; P. Rouiller; C. Baur : The Delta Haptic Device as a Nanomanipulator. 2001.
S. Grange; T. Fong; C. Baur : Effective Vehicle Teleoperation on the World Wide Web. 2000.
G. Terrien; T. Fong; C. Thorpe; C. Baur : Remote Driving with a Multisensor User Interface. 2000. 30th ICES, Toulouse, France, July.
T. Fong; C. Thorpe; C. Baur : Advanced Interfaces for Vehicle Teleoperation: Collaborative Control, Sensor Fusion Displays, and Web-based Tools. 2000.
T. Fong; F. Conti; S. Grange; C. Baur : Novel Interfaces for Remote Driving: Gesture, Haptic and PDA. 2000.
T. Fong; C. Thorpe; C. Baur : Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation. 1999.
R. Meier; T. Fong; C. Thorpe; C. Baur : Sensor Fusion Based User Interface for Vehicle Teleoperation. 1999.
L. Flückiger; C. Baur; R. Clavel; G. Schweitzer; R. Siegwart et al. : Cinegen: a Rapid Prototyping Tool for Robot Manipulators. 1998. p. 129-134.
C. Baur; D. Guzzoni; O. Georg; D. Strendney; J. Westwood et al. : A Virtual Reality and Force Feedback Based Endoscopic Surgery Simulator. 1998. p. 110-116.
L. Flückiger; L. Piguet; C. Baur : Generic Robotic Kinematic Generator for Virtual Environment Interfaces. 1996. p. 186-195.
A. Sulzmann; C. Baur : A virtual reality based environment for microtelemanipulation. 1995. Stuttgart.
A. Braunschweiler; P. Llosas; A. Bertholds; C. Baur : Optical position sensor for automatic microassembling operations. 1995.
E. Natonek; L. Flückiger; T. Zimmerman; C. Baur : Virtual Reality; an intuitive approach to Robotics. 1994.
E. Natonek; C. Baur : Recognition of 3D objects on complex background using model based vision and range images. 1994.
A. Sulzmann; C. Baur : A virtual reality based interface for microtelemanipulation. 1994.
E. Natonek; C. Baur : Model-based 3D object recognition using intensity and range images. 1994.
E. Natonek; C. Baur : Recognition of 3-D Objects on Complex Backgrounds Using Model-Based Vision and Range Images. 1994.
E. Natonek; L. Flückiger; T. Zimmerman; C. Baur : Virtual Reality: an Intuitive Approach to Robotics. 1994. p. 260-270.

Theses

B. Dagon : Fast 3D Model Update for the Compensation of Soft Tissue Deformation in Image Guided Liver Surgery. Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4682.
D. Guzzoni : Active: a unified platform for building intelligent applications. Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-3990.
G. Marti : Segmentation fémorale par modèle déformable et programmation dynamique. Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3833.
S. Grange : M/ORIS - Medical / Operating Room Interaction System. Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3798.
C. Baur : Un système de vision fondé sur les modèles utilisant l'imagerie de synthèse et la corrélation normalisée (MBVS). Lausanne, EPFL, 1992. DOI : 10.5075/epfl-thesis-998.

Book Chapters

T. Fong; C. Thorpe; C. Baur; A. C. Schultz; L. E. Parker : Robot as Partner: Vehicle Teleoperation with Collaborative Control; Multi-Robot Systems: From Swarms to Intelligent Automata; Kluwer Academic Publishers, 2002.

Reports

R. Clavel; C. Baur; R. Baumann; D. Guzzoni; W. Maeder : Project Virforce: Laparoscopic Surgery Training System. 1997.

Posters

S. Fifanski; J. Rivera; C. Baur : Force sensitive hook for epiretinal membrane peeling in eye surgery ; Swiss MedTech Day, Berne, Switzerland, June 7, 2016.
M. Clogenson; J. M. Duff; M. Luethi; S. Kostrzewski; C. Baur : The value of Statistical Shape Models to Spine Surgery ; Shape 2014 : Symposium on Statistical Shape Models & Applications, Delémont, Suisse, June 11-13, 2014.
B. Dagon; S. Burion; C. Baur : Porte-outils semi-actif pour la pose de vis transarticulaires.
B. Dagon; S. Burion; C. Baur : Laser Positioning System.

Talks

M. Clogenson; C. Baur : Statistical Shape Model for robotic spine surgery ; Winter Slicer Porject Week 2014 (NA-MIC), Salt Lake City, Utah, USA, January 6-10,2014.

Patents

P. Berard; S. Kostrzewski; M. Sigrist; C. Baur ; Small active medical robot and passive holding structure. WO2012131658 . 2012.
S. Kostrzewski; P. Berard; C. Baur; J. Duff; K. Sandu ; Robotic system for spinal and other surgeries. US2018008353 ; US9833292 ; US9308050 ; US2016038238 ; US9125680 ; US2015045813 ; US2014121676 ; WO2012131660 . 2012.
M. Felber; I. Pappas; M. Caversaccio; C. Baur ; Surgical navigation system. WO2005067807 . 2005.

Student Projects

C. Baur; C. Rosat : Avenir des bâtiments ruraux désaffectés: renaissance d'un hameau ; 2015.
M. Sigrist; P. Helmer; C. Baur; R. Clavel : Partie active d'un porte trocart: Neuroglide ; 2007.
M. Weibel; P. Helmer; C. Baur; R. Clavel : Porte endoscope à lames flexibles: Trilame ; 2007.
P.-O. Latour; F. Conti; C. Baur; R. Siegwart; O. Khatib : Automatic Calibration of a Structured Light System for Generation and Registration of 3D Surface Models ; 2003.
C. Baur : Un système de vision fondé sur les modèles utilisant l'imagerie de synthèse et la correlation normalisée (MBVS) ; 1992.