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Cutting Skill Assessment by Motion Analysis Using Deep Learning and Spatial Marker Tracking

IEEE Transactions on Biomedical Engineering 2025年第6期72卷 1963-1972页

作者： Su, Bai-Quan Ma, Xu-Dong Li, Weihan Kuang, Zi-Ao Gong, Yi Wang, Gang Zhang, Qingqian Liu, Wenyong Li, Changsheng Gao, Li Wang, Junchen Beijing University of Posts and Telecommunications Medical Robotics Laboratory School of Automation Beijing100876 China University of Tokyo School of Mechanical Engineering Tokyo113-0033 Japan Beijing University of Posts and Telecommunications School of Computer Science Beijing100876 China Peking University General Surgery Department Beijing100191 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Peking University Department of Periodontology National Stomatological Center School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Engineering Research Center of Oral Biomaterials and Digital Medical Devices Beijing100081 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China

The assessment of surgical skill is crucial for indicating a surgeon's proficiency. While motion analysis of surgical tools is widely used in endoscopic surgery, it is not commonly applied to open surgery. Instead, open surgery skill assessment relies on observing the trajectory of surgical tools on tissue. This observation-based method often lacks clear standards, leading to inaccurate assessments. This paper presents a method for evaluating cutting skill in open surgery through scalpel motion analysis. A 3D multiple-facet ArUco code cube is designed, and a dataset of tip coordinate system poses for various scalpels in the ArUco code coordinate system (ACS) is established using the pivot calibration method. The YOLOv8 model and an image dataset of different scalpels are used to identify the scalpel type and select its tip position. The tip position is then transformed from ACS to a binocular camera coordinate system (BCS), representing the incision curve made by the scalpel. Five assessment metrics are proposed to quantify the surgeon's cutting skill: average incision curvature deviation, incision length difference, incision endpoint deviation, average incision deviation, and average cutting jerk. Experiments involving twenty expert and novice surgeons performing four common incisions (straight line, polyline, semicircle, and cross line) demonstrate the metrics' effectiveness. The metrics provide a clear, objective display of individual cutting skills, and a combined ranking reveals comparative skill levels. This study offers a precise method for evaluating surgeons' cutting skills with a scalpel in open surgery. © 1964-2012 IEEE.

关键词： Surgery

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Diffusion Trajectory-guided Policy for Long-horizon Robot Manipulation

arXiv

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arXiv 2025年

作者： Fan, Shichao Yang, Quantao Liu, Yajie Wu, Kun Che, Zhengping Liu, Qingjie Wan, Min School of Mechanical Engineering and Automation BeiHang University China School of Computer Science and Engineering BeiHang University China Beijing Innovation Center of Humanoid Robotics China KTH Royal Institute of Technology Sweden

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution scenarios, especially for long-horizon tasks. A key challenge is how to mitigate compounding errors in imitation learning, which lead to cascading failures over extended trajectories. To address these challenges, we propose the Diffusion Trajectory-guided Policy (DTP) framework, which generates 2D trajectories through a diffusion model to guide policy learning for long-horizon tasks. By leveraging task-relevant trajectories, DTP provides trajectory-level guidance to reduce error accumulation. Our two-stage approach first trains a generative vision-language model to create diffusion-based trajectories, then refines the imitation policy using them. Experiments on the CALVIN benchmark show that DTP outperforms state-of-the-art baselines by 25% in success rate, starting from scratch without external pretraining. Moreover, DTP significantly improves real-world robot performance. All source code and experiment videos will be released upon acceptance. Copyright © 2025, The Authors. All rights reserved.

关键词： Visual languages

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Minimizing Long-Term Energy Consumption in RIS-Assisted UAV-Enabled MEC Network

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IEEE Internet of Things Journal 2025年

作者： Yao, Zheng Zhu, Qiwu Zhang, Yanhui Huang, Haibo Luo, Min Hubei University of Automotive Technology School of Robotics and Automation Shiyan442002 China Hong Kong Polytechnic University National Rail Transit Electrification and Automation Engineering Technology Research Center Hong Kong Branch Hongkong999077 Hong Kong Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen517085 China

In recent years, Unmanned Aerial Vehicles (UAVs) are increasingly becoming flight-based communicative and computing platforms, but the scarcity of communication resources can significantly hinder their performance and scalability. Therefore, this paper proposes a Reconfigurable Intelligent Surface (RIS)-assisted UAV-enabled Mobile Edge Computing (MEC) network, aiming to reduce long-term energy consumption while maintaining system stability by jointly optimizing computing resources, time slot allocation, transmit power, RIS phase angles, and UAV trajectory. By applying the Lyapunov method, we transform the long-term stochastic optimization problem into manageable deterministic online subproblems, and obtain approximate optimal solutions using successive convex approximation, penalty functions, and convex optimization techniques. Simulation results show that compared to the baseline scheme, the proposed scheme approximately reduces energy consumption by 10%, improves system stability by approximately 16%, and maintains computational efficiency. © 2014 IEEE.

关键词： Aircraft communication

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Visual-Lidar Odometry with Orientation Correction towards Millimeter-Level Localization for Indoor Construction Robots

Visual-Lidar Odometry with Orientation Correction towards Mi...

引用

IEEE/SICE International Symposium on System Integration

作者： Hiroki Hisatsugu Hisahiro Koshizuka Moritoyo Hori Kenjiro Yamamoto Robotics Research Department Connective Automation Innovation Center Center for Sustainability Hitachi Ltd. Japan Sales Department Channel Business Promotion Center Hitachi Channel Solutions Corp. Japan Products Development Department Channel Business Promotion Center Hitachi Channel Solutions Corp. Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

We propose a high-precision odometry method that fuses visual-lidar odometry with orientation information estimated by ceiling line features, aiming to achieve millimeter-level localization required at construction sites. Visual-Lidar Odometry and Mapping has demonstrated top-class accuracy with an error of 50 mm in benchmarks. However, when evaluated in environments with large open walls, such as indoor construction sites with few shape and image features, the method was found to be less accurate primarily due to errors in the orientation estimation. To address this issue, we propose a method that combines the use of ceiling line features to estimate the robot’s orientation angle, thereby improving the accuracy of the odometry position estimates. We evaluated the accuracy using a real robot in an environment similar to a construction site and achieved an average error of 6.2 mm (straight-line route), 7.6 mm (rectangular route), surpassing the accuracy of conventional methods. These results confirm the effectiveness of utilizing orientation correction from ceiling line features.

关键词： Location awareness Accuracy Shape Fuses Estimation System integration Benchmark testing Odometry Robots

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Value Stream Mapping for Smart Pharmaceutical Management in a Thai Hospital 6

Value Stream Mapping for Smart Pharmaceutical Management in ...

引用

6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Boonsothonsatit, Ganda Silapunt, Rardchawadee Vongbunyong, Supachai Kaemarungsi, Kamol Chanpuypetch, Wirachchaya Chonsawat, Nilubon Graduate School of Management and Innovation King Mongkut's University of Technology Thonburi Thailand Electronic and Telecommunication Engineering King Mongkut's University of Technology Thonburi Thailand Hospital Automation Research Center Institute of Field Robotics King Mongkut's University of Technology Thonburi Thailand National Electronics and Computer Technology Center National Science and Technology Development Agency Thailand Faculty of Agro-Industry Chiang Mai University Thailand Department of Agricultural Economy and Developement Faculty of Agriculture Chiang Mai University Thailand

The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical management systems in large and medium-sized hospitals in Thailand into smart systems using Value Stream Mapping (VSM) as a guiding tool. Traditional systems often face challenges such as inefficiencies and medication errors. VSM, rooted in lean management principles, offers a structured approach to visualize and optimize processes. Additionally, smart technologies like automated inventory systems and electronic health records enhance pharmaceutical management effectiveness. Through a comprehensive research methodology encompassing case studies, data collection, and VSM analysis, this study identifies inefficiencies and proposes evidence-based strategies for improvement. Results from a case study highlight the benefits of VSM implementation in enhancing pharmacy operations, emphasizing improved patient care and operational efficiency. The implementation of a smart medication dispensing system shows promising results in reducing workload and accommodating increased patient arrivals. Continued evaluation and refinement are crucial for maximizing benefits and addressing emerging challenges effectively. © 2025 Elsevier B.V.. All rights reserved.

关键词： Electronic health record

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Switching-Like Event-Based Formation Control for Multi-Agent Systems Against Denial of Service Attacks

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IEEE Transactions on Control of Network Systems 2025年

作者： Ru, Tingting Cai, Chenxiao Lin, Hong Rudas, Imre Shi, Peng Nanjing University of Science and Technology School of Automation Nanjing210094 China Shenzhen Polytechnic University Institute of Intelligence Science and Engineering Shenzhen518055 China University Research Innovation and Service Center Óbuda University Antal Bejczy Center for Intelligent Robotics Budapest1034 Hungary University of Adelaide School of Electrical and Mechanical Engineering AdelaideSA5005 Australia

This paper studies formation control for multi-agent systems in the presence of denial-of-service (DoS) attacks. The challenge is to address secure formation tracking and communication bandwidth-saving issues simultaneously. To tackle this, we propose a switching- like event-triggered mechanism that reduces excessive bandwidth consumption during interactions among multiple followers under DoS attacks. The triggering condition is allowed to be switched during the intervals when attacks are activated, ensuring that triggering can normally occur throughout the overall time interval by introducing an auxiliary variable depending on the success of the latest trigger moment. Based on this approach, we construct an event-based time-varying formation control scheme. Additionally, we establish sufficient conditions that reveal the relationship between exponential stability and the frequency/duration of the DoS attacks. Unlike other single-leader methods, a significant feature of the formation control scheme is its ability to achieve the desired formation tracking for multi-agent systems with multiple leaders. Finally, the validity of the proposed method is demonstrated through simulation and experimental results. © 2014 IEEE.

关键词： Multi agent systems

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Supervision policies can shape long-term risk management in general-purpose AI models

arXiv

引用

arXiv 2025年

作者： Cebrian, Manuel Gómez, Emilia Llorca, David Fernández Department of Statistics Universidad Carlos III de Madrid Spain Center for Automation and Robotics Spanish National Research Council Madrid Spain European Commission Joint Research Centre Seville Spain Computer Engineering Department University of Alcalá Alcalá de Henares Spain

The rapid proliferation and deployment of General-Purpose AI (GPAI) models, including large language models (LLMs), present unprecedented challenges for AI supervisory entities. We hypothesise that these entities will need to navigate an emergent ecosystem of risk and incident reporting, likely to exceed their supervision capacity. To investigate this, we develop a simulation framework parametrised by features extracted from the diverse landscape of risk, incident or hazard reporting ecosystems—including community-driven platforms, crowdsourcing initiatives, and expert assessments. We evaluate four supervision policies: non-prioritised (first-come, first-served), random selection, priority-based (addressing the highest-priority risks first), and diversity-prioritised (balancing high-priority risks with comprehensive coverage across risk types). Our results indicate that while priority-based and diversity-prioritised policies are more effective at mitigating high-impact risks—particularly those identified by experts—they may inadvertently neglect systemic issues reported by the broader community. This oversight can create feedback loops that amplify certain types of reporting while discouraging others, leading to a skewed perception of the overall risk landscape. We validate our simulation results with several real-world datasets, including one with over a million ChatGPT interactions, including more than 150K conversations identified as risky. This validation underscores the complex trade-offs inherent in AI risk supervision and highlights how the choice of risk management policies can shape the future landscape of AI risks across diverse GPAI models used in society. © 2025, CC BY.

关键词： Digital elevation model

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INTELLIGENT MANUFACTURING

引用

IEEE SPECTRUM 1993年第9期30卷 82-84页

作者： HAYASHI, H IMS Promotion Center International Robotics and Factory Automation Center Tokyo

A description is given of a feasibility study launched by the international manufacturing community to establish a framework for an international, collaborative program focusing on such developments as an intelligent manufacturing system (IMS) or next-generation advanced manufacturing technologies. A second goal is to determine whether an international collaborative program in this area can be created and structured equitably and beneficially.< >

关键词： Globalization Intelligent manufacturing systems Manufacturing industries Environmental economics Research and development Production systems Technological innovation International collaboration Manufacturing systems Mass production

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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RULE-BASED CONTROL OF SLOWLY VARYING SYSTEMS USING COMPENSATOR SEGMENTATION DETERMINED BY SIMULATED ANNEALING

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1992年第4期39卷 359-367页

作者： KOKATE, PY DAS, M LOH, RNK Center for Robotics and Advanced Automation Oakland University Rochester MI USA

This paper presents a novel compensator segmentation scheme for rule-based control of a linear system characterized by structured uncertainties. To start with, it is assumed that the design of a segmented compensator becomes necessary because the parameter variation region is too wide to be handled by a single robust compensator. The segmentation scheme is based on the simulated annealing technique. Starting with an initial estimate of the number of segments, the off-line segmentation scheme attempts to minimize it while assuring coverage of the entire parameter variation region. The information about the segment boundaries and the appropriate compensators is then utilized as the database of a rule-based switching controller. The paper includes the results of simulation studies that demonstrate the performance of the proposed scheme.

关键词： Simulated annealing Linear systems Uncertainty Databases Robust control Control systems Robustness Robust stability System performance Design automation

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