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Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery

Cyborg and Bionic Systems 2023年第1期4卷 121-135页

作者： Ling Li Xiaojian Li Bo Ouyang Hangjie Mo Hongliang Ren Shanlin Yang School of Management Hefei University of TechnologyHefeiChina Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of TechnologyHefeiChina Philosophy and Social Sciences Laboratory of Data Science and Smart Society Governance(Ministry of Education) Hefei University of TechnologyHefeiChina Department of Biomedical Engineering Faculty of EngineeringNational University of SingaporeSingaporeSingapore Department of Electronic Engineering Shun Hing Institute of Advanced EngineeringThe Chinese University of Hong KongHong KongChina National Engineering Laboratory for Big Data Distribution and Exchange Technologies ShanghaiChina

In the robot-assisted minimally invasive surgery,if a collision occurs,the robot system program could be damaged,and normal tissues could be *** avoid collisions during surgery,a 3-dimensional collision avoidance method is proposed in this *** proposed method is predicated on the design of 3 strategic vectors:the collision-with-instrument-avoidance(CI)vector,the collision-with-tissues-avoidance(CT)vector,and the constrained-control(CC)*** CI vector demarcates 3 specific directions to forestall collision among the surgical *** CT vector,on the other hand,comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget ***,the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position,ensuring precision in its movements,in alignment with the surgical *** results verify the proposed collision avoidance method for robot-assisted minimally invasive *** code and data are available at https://***/cynerelee/collision-avoidance.

关键词： collision desired verify

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A novel centralized cross-efficiency evaluation via explainable artificial intelligence in the context of big data

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European Journal of Operational Research 2025年

作者： Yang, Min Wang, Zixuan Liang, Liang Management School Hefei University of Technology Hefei230009 China Key Laboratory of Process Optimization and Intelligent Decision-Making Ministry of Education Hefei230009 China Intelligent Interconnection System Anhui Provincial Laboratory Hefei230009 China NSFC Fundamental Research Center on Smart Interconnected System Engineering Hefei230009 China

Cross-efficiency evaluation in data envelopment analysis (DEA) assumes that decision making units (DMUs) have full flexibility in choosing weights according to their individual preferences. However, this total autonomy may be inapplicable in some centralized organizational scenarios. To address this problem, this paper introduces a novel centralized cross-efficiency evaluation which considers both individual and organizational preferences with assistance of explainable artificial intelligence (XAI) in the context of big data. Specifically, XAI is first applied to approach the organizational efficiency function and then calculate the marginal contribution of each variable as the variable importance, which represents the organizational preference. Furthermore, we propose a centralized secondary goal model to select the unique optimal weight profile from the candidate weights that remain self-efficiency as Pareto-optimal, such that the deviation between individual and organizational preferences is minimized. In addition, a centralization factor is introduced to ensure that the model's centralization degree corresponds to the actual centralization level in organizational management. Finally, the proposed method is applied to evaluate the efficiency of DMUs within three different centralized organizations sequentially. The results verify that the proposed method yields more discriminative and robust efficiency scores within organizations compared to several previous cross-efficiency evaluation methods. © 2025 Elsevier B.V.

关键词： Risk perception

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Learning Adaptive Mapless Navigation Skills Through Evidential Deep Learning

Learning Adaptive Mapless Navigation Skills Through Evidenti...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Cancan Zhao Yufeng Yan Xuhao Liu Shuai Zhang Bo Ouyang School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of Technology Hefei China

Traditional navigation methods tend to design and train navigation skills based on the consideration of multi-scenario applicability and perform well in general scenarios. However, this results in sub-optimal navigation performance in some context-specific scenarios, such as navigating through open or crowded scenarios. While some existing navigation skills can achieve satisfactory performance in context-specific scenarios, e.g., using PID in open scenarios and reinforcement learning-based training methods in crowded scenarios. Most methods currently do without consideration of the integration of navigation skills and contextual understanding. To address this gap, we propose an adaptive mapless navigation method to utilize the optimal capabilities of each skill corresponding to the context-specific scenario. Specifically, we package several existing navigation skills and train a scenario classifier to enable the agent to automatically select the most appropriate skill based on the current scenario. Furthermore, we incorporate evidential deep learning (EDL) to assess classification uncertainty and ensure the safe switching of navigation skills. Our method was tested in both simulated and real scenarios, and the results of the experiments confirmed the effectiveness and generalization of our method. Moreover, the proposed method exhibits notably enhanced, context-sensitive efficiency within a hybrid multi-scenario setting, in comparison to a single navigation skill.

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3DGS-based Tracking of Articulated Instruments for Instruments-Tissue Interaction Estimation in Robot-assisted Minimally Invasive Surgery

3DGS-based Tracking of Articulated Instruments for Instrumen...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaojian Li Lili Shen Ling Li Hangjie Mo Xin Wang Xiang Ma Jieyu Zheng School of Management Hefei University of Technology Hefei China Key Laboratory of Process Optimization and Intelligent Decision-Making Hefei University of Technology Hefei China West China Hospital Sichuan University Sichuan China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

3D information of surgical scene potentially enhances the accuracy of surgical navigation and facilitate the automation of robot-assisted surgery. However, current research seldom considers the relative 3D position between instruments and tissue. In this paper, the instruments-tissue interaction estimation method is proposed to obtain the relative distance between instruments and tissue. The 3D Gaussian representation of instruments is established preoperatively, making the pose of instruments the only parameter to be learned and updated. Based on this, the instrument pose estimation method is proposed, which applies 3DGS (3D Gaussian Splatting) to the instrument Gaussian model to obtain rendered color images, projection masks, and depth maps. These are aligned with the input images, segmented masks and depth from stereo depth estimation to construct the target loss. By backpropagating through the target loss, the optimal instrument pose is obtained. The L1 loss and smooth loss based on TPS (the Thin Plate Spline) are used to complete the depth of tissue occluded by instruments. The instruments-tissue interaction is estimated by the nearest distance between instrument and tissue. The experimental results indicate an average error of 0.94 mm and an accuracy of 90.40% with an error less than 2mm in estimating relative 3D distance between instruments and tissue.

关键词： Solid modeling Three-dimensional displays Accuracy Minimally invasive surgery Navigation Instruments Pose estimation Real-time systems Splines (mathematics) Robots

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Pain Intensity Recognition from Masked Facial Expressions using Swin-Transformer

Pain Intensity Recognition from Masked Facial Expressions us...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Yuan Shuai Zhang Cancan Zhao Xian He Bo Ouyang Shanlin Yang Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) School of Management Hefei University of Technology Hefei China

ISBN: (纸本)9781665481106

Previous studies recognize pain expressions based on the entire face, for example, Prkachin and Solomon Pain intensity (PSPI). However, the patients face is often masked by instruments in an intensive care unit (ICU), such as respirator, and gauzes, just name a few, which causes the agent cannot measure the pain intensity using PSPI directly. To tackle this problem, we explore the pain intensity recognition from masked face. First, we conducted four levels of pain measurement experiments with four types of masked face using Swin-Transformer. Experiment results show that the accuracy of pain measurement is more than 90%, even masking a large part of facial Action Units (AU) related to the pain on the UNBC-McMaster dataset. Furthermore, we pre-train the pain recognition model with masked face dataset, such that the model can capture facial features contributed to the pain. Results on binary and four-level pain intensity measurement tasks show our model outperforms recent state-of-the-art performance, achieving 97.38% and 95.25% accuracy, respectively.

关键词： Gold Pain Face recognition Instruments Ventilation Robustness Physiology

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The impacts of content and source factors on consumers’ liking toward advertisements: an hsm-based framework

The impacts of content and source factors on consumers’ lik...

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International Conference on Applications and Techniques in Cyber Intelligence, ATCI 2020

作者： Chu, Xiumin Liu, Yezheng Chen, Xiayu School of Management Hefei University of Technology HefeiAnhui230009 China Key Laboratory of Process Optimization and Intelligent Decision Making Ministry of Education HefeiAnhui230009 China

ISBN: (纸本)9783030539795

Drawing on heuristic-systematic model (HSM), this study develops a research model to examine how content factors (i.e., persuasive and informative cues) and source factors (i.e., brand popularity and brand reputation) affect consumers’ liking behavior toward advertisements in microblogs, specifically on Weibo. Brand type is regarded as a moderator in the research model. Manual coding and machine learning algorithms are integrated to develop a classification model that tags tweets. Our study enhances the current understanding of consumers’ liking behavior on social media and provides managerial insights for brands seeking to facilitate consumer engagement. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

关键词： Learning algorithms

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Hierarchically-Trusted Evidential Fusion Method with Consistency Learning for Multimodal Language Understanding

SSRN

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SSRN 2024年

作者： Yang, Ying Yan-Qiu, Yang Ren, Gang School of Management Hefei University of Technology Hefei230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei230009 China Ministry of Education Engineering Research Centre for Intelligent Decision-Making & Information System Technologies Hefei230009 China

Human communication in the real world is based on multimodal data. Multimodal language understanding tasks such as multimodal intention recognition and multimodal emotion recognition are key steps in many applications, such as dialogue systems and social media. Although many studies have explored multimodal fusion methods and applied these methods to multimodal language understanding tasks including intent recognition and sentiment analysis, it is still a knotty problem whether the classification results are trusted. Therefore, this paper proposes a hierarchically-trusted evidential fusion method (HTEF) for multimodal language understanding. We construct multiple views from multi-modal data in a hierarchical manner, and extract multiple pieces of evidence from them. Then, we introduce Dempster-Shafer evidence theory(DST) to fuse evidence obtained from multimodal data to ensure the reduction of overall uncertainty. In addition, we explore the feature-level consistency and decision-level consistency of multi-modal data to avoid the conflict across information captured from different modalities. The method is evaluated on the public multimodal intent recognition dataset MIntRec and the emotion recognition dataset MELD. The experimental results show that our model outperforms both existing single-modal and multimodal baseline models across multiple evaluation metrics, which verifies the effectiveness of the proposed method. © 2024, The Authors. All rights reserved.

关键词： Emotion Recognition

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Predicting Helpfulness of Multimodal Reviews with Customer Confirmation Bias: A Hierarchically-Trusted Multi-View Deep Learning Method

SSRN

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SSRN 2024年

作者： Yang, Ying Tang, Si Ren, Gang School of Management Hefei University of Technology Hefei230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei230009 China Ministry of Education Engineering Research Center for Intelligent Decision-Making & Information System Technologies Hefei230009 China

Accurately identifying high quality online-reviews is beneficial to both consumers and e-commerce platforms. Consumers usually exhibit confirmation bias phenomenon when evaluating the helpfulness of product reviews. However, there has been limited research on simulating and incorporating this information processing bias into predicting multimodal review helpfulness. To address this challenge, we combine confirmation bias theory with deep learning techniques, and propose a hierarchically-trusted multi-view deep learning method for predicting the helpfulness of multimodal reviews. Drawing upon the elaborate likelihood model and confirmation bias theory, multiple views are designed to represent consumers’ initial beliefs, central cues and peripheral cues of multimodal reviews. A hierarchically-trusted multi-view fusion strategy is designed to dynamically aggregate the different views considering their interactions. Experimental results on the *** review dataset demonstrate that the proposed method effectively improves the accuracy of evaluating the values of online reviews. This research contributes to the improvement of platform service operations and enhances consumer experience. © 2024, The Authors. All rights reserved.

关键词： Deep learning

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Understanding Information Sensitivity Perceptions and its Impact on Information Privacy Concerns in E-Commerce Services: Insights from China

SSRN

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SSRN 2023年

作者： Tao, Shouzheng Liu, Yezheng Sun, Chunhua School of Management Hefei University of Technology Anhui Hefei230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Anhui Hefei230009 China Key Laboratory of Philosophy and Social Sciences for Cyberspace Behaviour and Management Anhui Hefei230009 China

Although research topics related to information privacy in e-commerce services have been extensively studied, we still lack knowledge about consumers' perceived information sensitivity to personal information disclosure at the information type level and its effect on information privacy concerns. This study focused on common personal information types required by e-commerce services and investigated 625 Chinese consumers based on an online questionnaire about their information sensitivity to disclosing these personal information types. Rooted in the literature on information sensitivity and privacy concerns, we explored the impact of individual and situational factors on information sensitivity and the impact of information sensitivity of different personal information types on e-commerce privacy concerns. Our research identified which personal information types are considered insensitive and which are mediumsensitive or high-sensitive in e-commerce services and found a consensus among consumers on which personal information types are more sensitive. At the individual level, privacy experience, risk propensity, and gender affect information sensitivity. At the situational level, website social presence, website familiarity, and perceived privacy control affect information sensitivity. Perceived information sensitivity of medium-sensitive and high-sensitive personal information types affect e-commerce privacy concerns. Our research deepens the understanding of information sensitivity and privacy concerns and provides practical insights for privacy policymakers and e-commerce service providers. © 2023, The Authors. All rights reserved.

关键词： Websites

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Research on Whole-Link Risk Situational Awareness Index System and Dynamic Risk Pool Supervision 11

Research on Whole-Link Risk Situational Awareness Index Syst...

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11th International Conference on Networks, Communication and Computing, ICNCC 2022

作者： Sun, Jingchun Deng, Fei Du, Boya School of Management Xi'An Jiaotong University China Key Laboratory of the Ministry of Education for Process Control and Efficiency Engineering China College of Information Engineering Kunming University China Key Laboratory of Data Governance and Intelligent Decision Universities of Yunnan China

ISBN: (纸本)9781450398039

With the development of society, network security becomes more and more important. It is inevitable to establish the risk index system to effectively monitor the security of network. In the previous study, due to absence of risk indicators, the risk supervising system is not perfect. However, there are few researches on the whole-link risk index system, and the determination of risk indicators lacks basis. Therefore, this paper firstly constructs a new risk index system of situational awareness, which can avoid the omission of risk indicators. Then the sliding window is used to observe this system and the optimal window width is found to determine the dynamic risk pool. Finally, the indicators of dynamic risk pool are used to dynamically monitor the whole link risk index system. The whole technical framework not only proves advantages of the mature risk index system of situational awareness, but also overcomes the disadvantage that the risk index of the whole link cannot be determined, and the dynamic risk pool has the sharing characteristics in the whole process. © 2022 ACM.

关键词： Network security

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