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Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing

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Robotic Navigation Autonomy for Subretinal Injection via Int...

IEEE International Conference on robotics and Automation (ICRA)

作者： Shervin Dehghani Michael Sommersperger Peiyao Zhang Alejandro Martin-Gomez Benjamin Busam Peter Gehlbach Nassir Navab M. Ali Nasseri Iulian Iordachita Department of Computer Science Technische Universität München München Germany Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Wilmer Eye Institute Johns Hopkins Hospital Baltimore MD USA Computer Aided Medical Procedures & Augmented Reality Technical University of Munich Munich Germany Whiting School of Engineering Johns Hopkins University Baltimore MD USA Augenklinik und Poliklinik Klinikum rechts der Isar der Technische Universität München München Germany

In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated intraoperative Optical Coherent Tomography (iOCT) with high-resolution 3D imaging at near video rate. The combination of robotics and semantic understanding enables task autonomy in robotic retinal surgery, such as for subretinal injection. This procedure requires precise needle insertion for best treatment outcomes. However, merging robotic systems with iOCT intro-duces new challenges. These include, but are not limited to high demands on data processing rates and dynamic registration of these systems during the procedure. In this work, we propose a framework for autonomous robotic navigation for subretinal injection, based on intelligent real-time processing of iOCT volumes. Our method consists of an instrument pose estimation method, an online registration between the robotic and the iOCT system, and trajectory planning tailored for navigation to an injection target. We also introduce intelligent virtual B-scans, a volume slicing approach for rapid instrument pose estimation, which is enabled by Convolutional Neural Networks (CNNs). Our experiments on ex-vivo porcine eyes demonstrate the precision and repeatability of the method. Finally, we discuss identified challenges in this work and suggest potential solutions to further the development of such systems.

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Regulated Pure Pursuit for Robot Path Tracking

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arXiv 2023年

作者： Macenski, Steve Singh, Shrijit Martín, Francisco Ginés, Jonatan R&D Innovations Samsung Research America Clyde Ave Mountain ViewCA94043 United States Department of Computer Science Manipal Institute of Technology Udupi - Karkala Rd Eshwar Nagar Karnataka Manipal576104 India Intelligent Robotics Lab. Rey Juan Carlos University Camino del Molino Fuenlabrada Madrid28943 Spain

The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While most formulations of Dynamic Window Approach and Model Predictive Control can progress along paths and optimize for additional criteria, the use of pure path tracking algorithms is still commonplace. Decades later, Pure Pursuit and its variants continues to be one of the most commonly utilized classes of local trajectory planners. However, few Pure Pursuit variants have been proposed with schema for variable linear velocities - they either assume a constant velocity or fails to address the point at all. This paper presents a variant of Pure Pursuit designed with additional heuristics to regulate linear velocities, built atop the existing Adaptive variant. The Regulated Pure Pursuit algorithm makes incremental improvements on state of the art by adjusting linear velocities with particular focus on safety in constrained and partially observable spaces commonly negotiated by deployed robots. We present experiments with the Regulated Pure Pursuit algorithm on industrial-grade service robots. We also provide a high-quality reference implementation that is freely included ROS 2 Nav2 framework at https://***/ros-planning/navigation2 for fast evaluation. © 2023, CC BY.

关键词： Motion planning

Design and Experimental Evaluation of a Haptic Robot-Assisted System for Femur Fracture Surgery

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arXiv 2023年

作者： Alruwaili, Fayez H. Clancy, Michael P. Saeedi-Hosseiny, Marzieh S. Logar, Jacob A. Papachristou, Charalampos Haydel, Christopher Parvizi, Javad Iordachita, Iulian I. Abedin-Nasab, Mohammad H. The Biomedical Engineering Department Rowan University GlassboroNJ08028 United States The Electrical and Computer Engineering Department Rowan University GlassboroNJ08028 United States The College of Science & Mathematics Rowan University GlassboroNJ08028 United States Virtua Health MoorestownNJ08057 United States Rothman Orthopedic Institute Thomas Jefferson University Hospital PhiladelphiaPA United States The Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States

In the face of challenges encountered during femur fracture surgery, such as the high rates of malalignment and X-ray exposure to operating personnel, robot-assisted surgery has emerged as an alternative to conventional state-of-the-art surgical methods. This paper introduces the development of Robossis, a haptic system for robot-assisted femur fracture surgery. Robossis comprises a 7-DOF haptic controller and a 6-DOF surgical robot. A unilateral control architecture is developed to address the kinematic mismatch and the motion transfer between the haptic controller and the Robossis surgical robot. A real-time motion control pipeline is designed to address the motion transfer and evaluated through experimental testing. The analysis illustrates that the Robossis surgical robot can adhere to the desired trajectory from the haptic controller with an average translational error of 0.32 mm and a rotational error of 0.07°. Additionally, a haptic rendering pipeline is developed to resolve the kinematic mismatch by constraining the haptic controller’s (user’s hand) movement within the permissible joint limits of the Robossis surgical robot. Lastly, in a cadaveric lab test, the Robossis system assisted surgeons during a mock femur fracture surgery. The result shows that Robossis can provide an intuitive solution for surgeons to perform femur fracture surgery. Copyright © 2023, The Authors. All rights reserved.

关键词： Robotic surgery

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Sets clustering

arXiv 2020年

作者： Jubran, Ibrahim Tukan, Murad Maalouf, Alaa Feldman, Dan Robotics and Big Data Lab Department of Computer Science University of Haifa Israel

The input to the sets-k-means problem is an integer k ≥ 1 and a set P = {P1;Pn} of sets in Rd. The goal is to compute a set C of k centers (points) in Rd that minimizes the sum Σ P2P minp2P;c2C p - c2 of squared distances to these sets. An ϵ-core-set for this problem is a weighted subset of P that approximates this sum up to 1 ± ϵ factor, for every set C of k centers in Rd. We prove that such a core-set of O(log2 n) sets always exists, and can be computed in O(n log n) time, for every input P and every fixed d;k ≥ 1 and ϵ 2 (0;1). The result easily generalized for any metric space, distances to the power of z > 0, and M-estimators that handle outliers. Applying an inefficient but optimal algorithm on this coreset allows us to obtain the first PTAS (1 + ϵ approximation) for the sets-k- means problem that takes time near linear in n. This is the first result even for sets-mean on the plane (k = 1, d = 2). Open source code and experimental results for document classification and facility locations are also provided. Copyright © 2020, The Authors. All rights reserved.

关键词： Open systems

Fully implantable and battery-free wireless optoelectronic system for modulable cancer therapy and real-time monitoring

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npj Flexible Electronics 2023年第1期7卷 119-130页

作者： Kiho Kim In Sik Min Tae Hee Kim Do Hyeon Kim Seungwon Hwang Kyowon Kang Kyubeen Kim Sangun Park Jongmin Lee Young Uk Cho Jung Woo Lee Woon-Hong Yeo Young Min Song Youngmee Jung Ki Jun Yu Functional Bio-integrated Electronics and Energy Management Lab School of Electrical and Electronic EngineeringYonsei University50 Yonsei-roSeodaemun-guSeoul 03722Republic of Korea Center for Biomaterials Biomedical Research InstituteKorea Institute of Science and Technology(KIST)Seoul 02792Republic of Korea Department of Fusion Research and Collaboration Biomedical Research InstituteSeoul National University HospitalSeoul 03080Republic of Korea School of Electrical Engineering and Computer Science(EECS) Gwangju Institute of Science and Technology(GIST)Gwangju 61005Republic of Korea PA1 Foundry BusinessSamsung Electronics1 Samsungjeonja-roHwaseong-siGyeonggi-doRepublic of Korea R&D Center DNA Lab PharmaresearchSeongnam 13486Republic of Korea KU-KIST Graduate School of Converging Science and Technology Korea UniversitySeoul 136-705Republic of Korea School of Materials Science and Engineering Energy Materials for Soft Electronics LaboratoryPusan National UniversityBusan 46241Republic of Korea IEN Center for Human-Centric Interfaces and Engineering and George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Robotics and Intelligent Machines Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for MaterialsNeural Engineering CenterGeorgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Electronic Engineering YU-Korea Institute of Science and Technology(KIST)InstituteYonsei University50Yonsei-roSeodaemun-guSeoul 03722Republic of Korea

Photodynamic therapy(PDT)is attracting attention as a next-generation cancer treatment that can selectively destroy malignant tissues,exhibit fewer side effects,and lack pain during *** PDT systems have recently been developed to resolve the issues of bulky and expensive conventional PDT systems and to implement continuous and repetitive *** implantable PDT systems,however,are not able to perform multiple functions simultaneously,such as modulating light intensity,measuring,and transmitting tumor-related data,resulting in the complexity of cancer ***,we introduce a flexible and fully implantable wireless optoelectronic system capable of continuous and effective cancer treatment by fusing PDT and hyperthermia and enabling tumor size monitoring in *** system exploits micro inorganic light-emitting diodes(μ-LED)that emit light with a wavelength of 624 nm,designed not to affect surrounding normal tissues by utilizing a fully programmable light intensity ofμ-LED and precisely monitoring the tumor size by Si phototransistor during a long-term implantation(2–3 weeks).The superiority of simultaneous cancer treatment and tumor size monitoring capabilities of our system operated by wireless power and data transmissions with a cell phone was confirmed through in vitro experiments,ray-tracing simulation results,and a tumor xenograft mouse model in *** all-in-one single system for cancer treatment offers opportunities to not only enable effective treatment of tumors located deep in the tissue but also enable precise and continuous monitoring of tumor size in real-time.

关键词： optoelectronic enable battery

Automatic detection of lung nodule in CT scan slices using CNN segmentation schemes: A study

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Procedia computer science 2023年 218卷 2786-2794页

作者： Seifedine Kadry Enrique Herrera-Viedma Rubén González Crespo Sujatha Krishnamoorthy Venkatesan Rajinikanth Faculty of Applied Computing and Technology Noroff University College Kristiansand 94612 Norway Research Institute in Data Science and Computational Intelligence University of Granada Granada Andalusian Spain Computer Science Department School of Engineering and Technology Universidad Internacional de La Rioja 26006 Spain Zhejiang Bioinformatics International Science and Technology Cooperation Center Wenzhou-Kean University Zhejiang Province China Wenzhou Municipal Key Lab of Applied Biomedical and Biopharmaceutical Informatics Wenzhou-Kean University Zhejiang Province China Department of Electronics and Instrumentation Engineering St. Joseph's College of Engineering OMR Chennai 600119 Tamil Nadu India

The lung is one of the prime respiratory organs in human physiology, and its abnormality will severely disrupt the respiratory system. Lung Nodule (LN) is one of the abnormalities, and early screening and treatment are necessary to reduce its harshness. The proposed work aims to implement the Convolutional-Neural-Network (CNN) segmentation methodology to extract the LN in various lung CT slices, such as axial, coronal, and sagittal planes. This work consists of the following phases; (i) Image collection and pre-processing, (ii) Ground-truth generation, (iii) CNN-supported segmentation, and (iv) Performance evaluation and validation. In this work, the merit of pre-trained CNN segmentation schemes is verified using (i) One-fold training and (ii) Two-fold training methods. The test images for this study are collected from The Cancer Imaging Archive (TCIA) database. The experimental investigation is executed using Python®, and the outcome of this study confirms that the VGG-SegNet helps to get better values of Jaccard (>88%), Dice (>93%), and Accuracy (>96%) compared to other CNN methods.

关键词： Lung nodule CT scan CNN segmentation VGG-SegNet Accuracy Detection

A novel design framework of synthetic radial aperture focusing for volumetric transrectal ultrasound imaging

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TechRxiv

TechRxiv 2021年

作者： Song, Hyunwoo Kang, Jeeun Boctor, Emad M. Department of Computer Science Whiting School of Engineering The Johns Hopkins University BaltimoreMD21218 United States Laboratory for Computational Sensing and Robotics Whiting School of Engineering The Johns Hopkins University BaltimoreMD21218 United States

In this paper, we present a novel design framework of synthetic radial aperture focusing for 3-dimensional (3-D) transrectal ultrasound imaging (TRUS-rSAF), in which multiple transmittance/reception events at different scanning angles are synthesized to reconstruct a radial plane in the target volume, securing high spatial resolution and texture uniformity. A theory-based design approach has not been available to push the envelope of the 3-D rSAF technique. Herein, a closed-form analytical description of the TRUS-rSAF method is presented for the first time, effectively delineating spatial resolution and grating lobe positions in the radial dimension of a TRUS transducer. We demonstrate a solid optimization workflow based on the theoretical foundation to improve its spatiotemporal resolution, grating lobe artifacts, and signal-to-noise ratio (SNR). A specific design criterion was considered to outperform a clinical 3-D TRUS imaging (TRUS-REF), where each radial plane is reconstructed with a single transmittance/reception event using a motorized actuator. The optimized TRUS-rSAF method significantly enhanced spatial resolution up to 50 % over the TRUS-REF method while providing clinically-effective temporal resolution (2-8 volumes per second) with negligible grating lobe artifacts. The results indicate that the proposed design approach would enable a novel TRUS imaging solution in clinics. © , CC BY-NC-SA.

关键词： Beamforming

Deep and handcrafted feature supported diabetic retinopathy detection: A study

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Procedia computer science 2023年 218卷 2675-2683页

作者： Seifedine Kadry Rubén González Crespo Enrique Herrera-Viedma Sujatha Krishnamoorthy Venkatesan Rajinikanth Faculty of Applied Computing and Technology Noroff University College Kristiansand 94612 Norway Computer Science Department School of Engineering and Technology Universidad Internacional de La Rioja 26006 Andalusian Spain Research Institute in Data Science and Computational Intelligence University of Granada Granada Spain Zhejiang Bioinformatics International Science and Technology Cooperation Center Wenzhou-Kean University Zhejiang Province China Wenzhou Municipal Key Lab of Applied Biomedical and Biopharmaceutical Informatics Wenzhou-Kean University Zhejiang Province China Department of Electronics and Instrumentation Engineering St. Joseph's College of Engineering OMR Chennai 600119 Tamil Nadu India

The eye is the prime sensory organ in physiology, and the abnormality in the eye severely influences the vision system. Therefore, eye irregularity is commonly assessed using imaging schemes, and Fundus Retinal Image (FRI) supported eye screening is one of the ophthalmological practices. This work proposed a Deep-Learning Procedure (DLP) to recognize Diabetic Retinopathy (DR) in FI. The proposed work presents the experimental work with different DLP methods found in the literature. This work is executed with two modes; (i) DR detection using conventional deep-features and (ii) DR discovery using deep ensemble features. To demonstrate this work, 1800 fundus images (900 regular and 900 DR class) are considered for the assessment, and the advantage of proposed plan is confirmed using various performance metrics. The experimental outcome of this study confirms that the AlexNet-based detection provides a better detection (>96%), and the deep ensemble features of AlexNet, VGG16, and ResNet18 provide a detection accuracy of >98% on the chosen FRI database.

关键词： Eye abnormality Diabetic retinopathy Fundus imaging Deep-Learning Classification

No One Left Behind: Real-World Federated Class-Incremental Learning

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arXiv 2023年

作者： Dong, Jiahua Li, Hongliu Cong, Yang Sun, Gan Zhang, Yulun Van Gool, Luc The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China The University of Chinese Academy of Sciences Beijing100049 China The Department of Civil and Environmental Engineering Hong Kong Polytechnic University Hong Kong The College of Automation Science and Engineering South China University of Technology Guangzhou510640 China The Computer Vision Lab ETH Zürich Zürich8092 Switzerland

Federated learning (FL) is a hot collaborative training framework via aggregating model parameters of decentralized local clients. However, most FL methods unreasonably assume data categories of FL framework are known and fixed in advance. Moreover, some new local clients that collect novel categories unseen by other clients may be introduced to FL training irregularly. These issues render global model to undergo catastrophic forgetting on old categories, when local clients receive new categories consecutively under limited memory of storing old categories. To tackle the above issues, we propose a novel Local-Global Anti-forgetting (LGA) model. It ensures no local clients are left behind as they learn new classes continually, by addressing local and global catastrophic forgetting. Specifically, considering tackling class imbalance of local client to surmount local forgetting, we develop a category-balanced gradient-adaptive compensation loss and a category gradient-induced semantic distillation loss. They can balance heterogeneous forgetting speeds of hard-to-forget and easy-to-forget old categories, while ensure consistent class-relations within different tasks. Moreover, a proxy server is designed to tackle global forgetting caused by Non-IID class imbalance between different clients. It augments perturbed prototype images of new categories collected from local clients via self-supervised prototype augmentation, thus improving robustness to choose the best old global model for local-side semantic distillation loss. Experiments on representative datasets verify superior performance of our model against comparison methods. The code is available at https://***/JiahuaDong/LGA. Copyright © 2023, The Authors. All rights reserved.

关键词： Distillation