dr. V. Groenhuis (Vincent)

Assistant Professor

About Me

Welcome! I am Vincent Groenhuis and postdoctoral researcher at the group of Robotics and Mechatronics, University of Twente. I completed my BSc in Computer Science (with 2nd propedeuse in Applied Physics), my MSc in Embedded Systems and my PhD in medical robotics, all cum laude and at University of Twente.

My research primarily focuses on image-guided medical robotics, for bladder cancer diagnosis (Next-gen in-vivo project) and MRI-guided breast biopsy (Sunram project). Additionally I research pneumatic and electric stepper motors with various properties which can get really interesting at times. I have several patents from which two spin-offs were launched: Machnet Medical Robotics and MultiMotor.

I also assist in certain courses. In 2021-2022: Optimal Estimation in Dynamic Systems (OEDS) and Surgical Navigation Technology (SNT). I also supervise individual students for their BSc, MSc and/or internship projects. Contact me if you are interested in doing a (medical) robotics or (stepper) motor-related project with me.

Visit the "Research" page to learn more about my scientific research projects!



Sunram5 breast biopsy robot

Sunram 5: MRI-guided breast biopsy robot


Three-axis MultiMotor

Three-axis stepper motor


Visit https://www.vincentgroenhuis.nl/wp/home/2022/09/04/vincents-research-videos/

Visit https://www.vincentgroenhuis.nl/wp/home/2022/09/04/vincents-research-videos/ to watch my research videos!


Engineering & Materials Science
Magnetic Resonance Imaging


My research focuses on medical robotics and stepper motor technology. Technological advances could improve diagnosis and treatment of e.g. cancer in the breast of bladder, while innovative pneumatic and electric stepper motors offer new ways of actuating various applications.

Sunram is an MRI-guided robotic system for breast biopsy. Being operated by pneumatic stepper motors it is safe to use inside an MRI scanner. The fifth generation is Sunram 5 (video), while new prototypes are being developed regularly.

The Next-gen in-vivo project focuses on bladder cancer diagnostics using a robotically-steered instrument with an optical coherence tomography sensor in its tip. In this project I primarily focus on the imaging side

Multi-axis electric stepper motors offer an innovative way of actuating multiple degrees of freedom using a singular stator which drives multiple rotors simultaneously (video), while sensorless absolute encoder motor technology offer a novel way of measuring the absolute position and torque in stepper motors.

Several pneumatic stepper motor designs are open source. See https://www.vincentgroenhuis.nl/wp/home/2019/10/11/stepper-motor-overview/ for an overview of the different variants of which many are directly downloadable. Contact me (v.groenhuis@utwente.nl) for the non-published designs, and any other questions.

Visit https://www.vincentgroenhuis.nl/wp/home/2022/09/04/vincents-research-videos/ for a list of my research videos!

Visit https://www.vincentgroenhuis.nl/wp/home/2022/09/04/vincents-research-videos/



Ranjan, H., Hilten, M. V. , Groenhuis, V., Verde, J., Garcia, A., Perretta, S. , Veltman, J. , Siepel, F. J. , & Stramigioli, S. (2023). Sunram 7: An MR Safe Robotic System for Breast Biopsy. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 10281-10288). Article 10342425 IEEE. https://doi.org/10.1109/IROS55552.2023.10342425
Groenhuis, V. , de Groot, A. G., Cornel, E. B. , Stramigioli, S. , & Siepel, F. J. (Accepted/In press). 3-D Visualization and Inter-Session Comparison for Robotic Assisted Bladder Cancer Screening. Abstract from Hamlyn Symposium on Medical Robotics, HSMR 2023, London, United Kingdom.
Groenhuis, V., Rolff, G., Bosman, K. , Abelmann, L. , & Stramigioli, S. (2022). Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) https://doi.org/10.1109/IROS47612.2022.9981190
Welleweerd, M. K. , de Groot, A. G. , Groenhuis, V. , Siepel, F. J. , & Stramigioli, S. (2021). Out-of-Plane Corrections for Autonomous Robotic Breast Ultrasound Acquisitions. In 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 (pp. 12515-12521). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2021). IEEE. https://doi.org/10.1109/ICRA48506.2021.9560865
Groenhuis, V., Rolff, G., Bosman, K. , Abelmann, L. , & Stramigioli, S. (2021). Multi-Axis Electric Stepper Motor. IEEE Robotics and automation letters, 6(4), 7201-7208. Article 9484841. https://doi.org/10.1109/LRA.2021.3097077
Nikolaev, A., de Jong, L., Weijers, G. G. C. , Groenhuis, V. , Siepel, F. J. , Stramigioli, S., Hansen, H. H. G. , & de Korte, C. L. (2021). Automated Cone-Based Breast Ultrasound Scanner For Screening And Biopsy. In Proceedings of the 8th Dutch Bio-Medical Engineering Conference
Pilon, A. J. M., van der Woude, R., Venix, L. P. J., Koot, E. , Groenhuis, V., Verhamme, L. M., & Meulstee, J. W. (2021). Robotic transfer of a preoperative plan for open reconstructive craniosynostosis surgery: A pilot study. In Proceedings of the 8th Dutch Bio-Medical Engineering Conference 2021 BME.
Nikolaev, A. V., de Jong, L., Weijers, G. , Groenhuis, V., Mann, R. M. , Siepel, F. J., Maris, B. M. , Stramigioli, S., Hansen, H. H. G. , & de Korte, C. L. (2021). Quantitative Evaluation of an Automated Cone-based Breast Ultrasound Scanner for MRI - 3D US Image Fusion. IEEE transactions on medical imaging, 40(4), 1229-1239. Article 9319185. https://doi.org/10.1109/TMI.2021.3050525
Groenhuis, V., Nikolaev, A., Nies, S. , Welleweerd, M. K., de Jong, L., Hansen, H. H. G. , Siepel, F. J. , de Korte, C. L. , & Stramigioli, S. (2021). 3-D Ultrasound Elastography Reconstruction Using Acoustically Transparent Pressure Sensor on Robotic Arm. IEEE Transactions on Medical Robotics and Bionics, 3(1), 265-268. Article 9286770. https://doi.org/10.1109/TMRB.2020.3042982
Bluiminck, M. , Groenhuis, V. , Siepel, F. J. , & Stramigioli, S. (2021). Design of 3D Printed Needle Insertion Device and Control Using Mobile Phone Application. In Proceedings of the 8th Dutch Bio-Medical Engineering Conference 2021 BME.
Maris, B. M., Fiorini, P., Calanca, A., Tenga, C. , Siepel, F. J. , Groenhuis, V. , & Stramigioli, S. (2020). Increasing the precision of the biopsy with robots: two case studies. In Proceedings of the I-RIM Conference 2020 (pp. 1-4)
Nikolaev, A. V., De Jong, L. , Groenhuis, V. , Welleweerd, M. K. , Siepel, F. J. , Stramigioli, S., Hansen, H. H. G. , & De Korte, C. L. (2020). Quantitative evaluation of automated robot-assisted volumetric breast ultrasound. In IUS 2020 - International Ultrasonics Symposium, Proceedings Article 9251310 (IEEE International Ultrasonics Symposium, IUS; Vol. 2020). IEEE. https://doi.org/10.1109/IUS46767.2020.9251310
Groenhuis, V., Tagliabue, E. , Welleweerd, M. K. , Siepel, F. J., Munoz Osorio, J. D., Maris, B. M., Dall'Alba, D., Zimmermann, U., Fiorini, P. , & Stramigioli, S. (2020). Deformation Compensation in Robotically-Assisted Breast Biopsy. Abstract from 11th International Conference on Information Processing in Computer-Assisted Interventions, IPCAI 2020, Munich, Bavaria, Germany.
Abdelaziz, M. E. M. K., Kundrat, D., Pupillo, M., Kwok, T. M. Y., Chi, W. , Groenhuis, V. , Siepel, F. J., Riga, C. , Stramigioli, S., Yang, G.-Z. , & Dagnino, G. (2020). Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 5411-5418). Article 8968237 IEEE. https://doi.org/10.1109/IROS40897.2019.8968237
Groenhuis, V. , Siepel, F. J. , & Stramigioli, S. (2020). Miniaturization of MR Safe Pneumatic Rotational Stepper Motors. 7150-7156. Paper presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Macau, China. https://doi.org/10.1109/IROS40897.2019.8968262
Nikolaev, A., Hansen, H. H. G., De Jong, L., Mann, R., Tagliabue, E., Maris, B. , Groenhuis, V. , Siepel, F., Caballo, M., Sechopoulos, I. , & De Korte, C. L. (2019). Ultrasound-guided breast biopsy of ultrasound occult lesions using multimodality image co-registration and tissue displacement tracking. In B. C. Byram, & N. V. Ruiter (Eds.), Medical Imaging 2019: Ultrasonic Imaging and Tomography Article 109550W (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 10955). SPIE. https://doi.org/10.1117/12.2513630

UT Research Information System

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2021-2022: Assistant in the following courses: Optimal Estimation in Dynamic Systems (OEDS) and Surgical Navigation Technology (SNT)

I also regularly supervise BSc/MSc/internship/project students. Mostly individually, but small groups are also possible.

Some available BSc/MSc assignments are listed on https://www.ram.eemcs.utwente.nl/education/assignments, but you can also propose an interesting idea (robotics, imaging or stepper motor related) yourself and contact me to discuss the possibilities.


Courses Academic Year  2023/2024

Courses in the current academic year are added at the moment they are finalised in the Osiris system. Therefore it is possible that the list is not yet complete for the whole academic year.

Courses Academic Year  2022/2023

Contact Details

Visiting Address

University of Twente
Drienerlolaan 5
7522 NB Enschede
The Netherlands

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Mailing Address

University of Twente
P.O. Box 217
7500 AE Enschede
The Netherlands

Additional Contact Information

Just e-mail me: v.groenhuis@utwente.nl


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