A deep learning method automates tensioning for surgical tissue cutting.
problem Automating tensioning for surgical tissue cutting to improve accuracy and reliability.
method Deep reinforcement learning for modeling an autonomous tensioning planner.
result The proposed method outperforms existing methods in terms of performance and robustness.
Paper introduces OTR for efficient offline RL in surgical robotics.
problem Lack of annotated datasets for offline RL in surgical robotics.
method OTR algorithm using Optimal Transport to assign rewards to unlabeled trajectories.
result OTR enables efficient policy learning from large datasets without handcrafted rewards.
Convolutional neural networks improve surgical skill evaluation.
problem Manual feedback from senior surgeons is laborious, expensive, and subjective.
method Fully convolutional neural networks (CNNs) for classifying and regressing surgical skills.
result Deep neural networks achieve competitive performance on JIGSAWS dataset.
Evaluating surgeon skill has predominantly been a subjective task. Development of objective methods for surgical skill assessment are of increased interest. Recently, with technological advances such as robotic-assisted minimally invasive surgery (RMIS), new opportunities for objective and automated assessment framewor…
Paper proposes an active learning method for surgical workflow recognition using long-range temporal dependency.
problem Challenges in automatic surgical workflow recognition due to lack of large-scale labelled datasets.
method NL-RCNet with non-local block for capturing long-range temporal dependency and intra-clip dependency score for selection.
result Our approach outperforms state-of-the-art methods by selecting only 50% of samples for training.
Z-Net improves 3D CT volume segmentation for surgical planning.
problem Discontinuities and class-imbalances in 3D CT volume segmentation.
method Z-Net uses anisotropic spatial separable convolutions to preserve full field-of-view.
result Z-Net achieves up to 12.6% improvement in IoU for CT segmentation.
SAVED safely learns robot tasks with sparse rewards.
problem Challenges in reinforcement learning for robotics, especially sparse rewards and complex constraints.
method SAVED uses supervision to constrain exploration and learn efficiently, handling complex constraints.
result SAVED outperforms state-of-the-art methods in success rate, constraint satisfaction, and sample efficiency.
Automated surgical workflow analysis and understanding can assist surgeons to standardize procedures and enhance post-surgical assessment and indexing, as well as, interventional monitoring. Computer-assisted interventional (CAI) systems based on video can perform workflow estimation through surgical instruments' recog…
Method detects surgical deviations during laparoscopic rectopexy.
problem Detecting deviations from standard surgical processes during laparoscopic rectopexy.
method Multi-dimensional non-linear temporal scaling with a hidden semi-Markov model.
result Over 90% accuracy in detecting deviations.
The paper proposes a method to align surgical videos using kinematic data.
problem Difficulty in learning from comparing novice to expert surgical videos due to variability in gesture duration and execution.
method A novel technique using Dynamic Time Warping to synchronize videos of the same gesture at different speeds.
result The proposed approach allows for the alignment of surgical videos, enabling better learning for novice trainees.
In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to estimate the probability of each predicted object in a given region and the confi…
Instantiation-Net reconstructs 3D mesh from single 2D image for right ventricle.
problem Reconstructing 3D shape from limited 2D images for surgical navigation.
method Combines DCNN for feature extraction and GCN for mesh reconstruction.
result Demonstrates practical strength and potential clinical use.
The paper uses facial keypoints to estimate post-surgical pain intensity.
problem Accurately assessing pain levels from self-reported ratings is challenging.
method The approach analyzes 2D and 3D facial keypoints to estimate pain intensity.
result The pain estimation model uses multiple instance learning.
PHASE predicts surgical complications from physiological signals.
problem Predicting adverse surgical outcomes from physiological signals.
method Self-supervised transfer learning for physiological signals.
result PHASE outperforms other approaches in predicting five surgical complications.
Algorithm detects surgical site infections from hospital data.
problem Reduces incidence of surgical site infections in hospitals.
method Machine learning algorithms trained on hospital data.
result Identifies all SSIs with minimal false positives.
The study predicts surgical complications in Crohn's disease patients using machine learning.
problem Predicting surgical complications in Crohn's disease patients.
method Developed a novel algorithm using ensemble machine learning on 29 baseline covariates.
result Proposed pseudo-observation based estimators for evaluating predictive performance.
We aim to create a framework for transfer learning using latent factor models to learn the dependence structure between a larger source dataset and a target dataset. The methodology is motivated by our goal of building a risk-assessment model for surgery patients, using both institutional and national surgical outcomes…
Vision algorithms capable of interpreting scenes from a real-time video stream are necessary for computer-assisted surgery systems to achieve context-aware behavior. In laparoscopic procedures one particular algorithm needed for such systems is the identification of surgical phases, for which the current state of the a…
The paper improves SVM for predicting hospital readmissions by clustering patients and personalizing recommendations.
problem Predicting and preventing hospital readmissions.
method Cluster-dependent SVM with personalized prescriptions.
result Personalized recommendations reduce hospital readmissions.
We give a criterion under which a solution g(t) of the Kahler-Ricci flow contracts exceptional divisors on a compact manifold and can be uniquely continued on a new manifold. As t tends to the singular time T from each direction, we prove convergence of g(t) in the sense of Gromov-Hausdorff and smooth convergence away …
Optimization framework for reconstructing missing mandible segments.
problem Missing mandible geometry in jaw reconstructive surgeries.
method Conditional variational autoencoder (CVAE) with weighted multi-target probabilistic solution.
result Statistically significant performance improvement over CVAE.
Despite spectacular advances in defining invariants for simply connected smooth and symplectic 4-dimensional manifolds and the discovery of effective surgical techniques, we still have been unable to classify simply connected smooth manifolds up to diffeomorphism. In these notes, adapted from six lectures given at the …
A large fraction of the electronic health records consists of clinical measurements collected over time, such as blood tests, which provide important information about the health status of a patient. These sequences of clinical measurements are naturally represented as time series, characterized by multiple variables a…
The study uses transfer learning to compare surgical outcomes across racial/ethnic subgroups.
problem Difficulty in comparing surgical outcomes due to racial/ethnic and geographic differences.
method Causal inference framework and transfer learning to incorporate data from multiple populations.
result Racial and ethnic differences in surgical outcomes are found, with non-Hispanic Black patients experiencing wide variability.
It is well-known that any pair of closed orientable 3-manifolds are related by a finite sequence of Dehn surgeries on knots. Furthermore Kawauchi showed that such knots can be taken to be hyperbolic. In this article, we consider the minimal length of such sequences connecting a pair of 3-manifolds, in particular, a pai…
Automates decision-making for human operators managing multiple robots.
problem Limited human operator attention when controlling multiple robots.
method Learned model of user preferences from easy settings to automatically identify the most critical robot.
result Automated decision-making can assist human operators in managing more robots than their attention allows.
Bayesian models can be tricked into believing false data.
problem Vulnerability of Bayesian inference to data poisoning attacks.
method Developed attacks to manipulate Bayesian posterior through deletion and replication of data.
result Demonstrated that Bayesian inference can be steered to target distributions.
Robotics: Rolling robots on a moving platform can be controlled.
problem Controlling the motion of rolling robots atop a moving platform.
method Developed a mathematical model and demonstrated simulations.
result Platform acceleration can control robot's heading and motion.
Robots learn to handle complex tasks creatively using DRL.
problem Robotic manipulation challenges and intelligence.
method Designing challenging manipulation tasks, applying DRL for robot training.
result Robots exhibit creative and non-intuitive problem-solving.
We prove that a general complex Monge-Ampère flow on a Hermitian manifold can be run from an arbitrary initial condition with zero Lelong number at all points. Using this property, we confirm a conjecture of Tosatti-Weinkove: the Chern-Ricci flow performs a canonical surgical contraction. Finally, we study a generaliza…
ROBEL platform accelerates reinforcement learning with low-cost robots.
problem Accelerating reinforcement learning research in robotics.
method Open-source platform of cost-effective robots for real-world reinforcement learning.
result Robots D'Claw and D'Kitty facilitate learning dexterous manipulation and agile locomotion tasks.
New method improves smoothness of robot learning.
problem Jerky motion patterns on real robots from Deep RL exploration.
method Adapting state-dependent exploration to Deep RL algorithms with gSDE.
result Improved exploration and performance on real robots.
Robots learn to navigate rough terrain using reinforcement learning.
problem Generalizing robot behavior to new, unseen rough terrains.
method PPMC RL Training Algorithm
result Robots achieve 100% success rate in learning new rough terrain maps.
A new framework for robot block-stacking tasks using causal probabilistic models.
problem Robots fail outside controlled environments due to uncertainty and lack of explicit design for all scenarios.
method Causal probabilistic framework combining causal models and probabilistic representations of noise.
result Robots can perceive, reason about, and explain their environment for block-stacking tasks.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
problem Developers need guidance on selecting and constructing transfer functions for bionic robots.
method Comprehensive evaluation strategy including data collection, learning model selection, comparative analysis, and transfer function identification.
result A framework for effectively dealing with multi-input multi-output robotic data.
A new Q-learning controller improves line follower robot control.
problem Challenges in controlling line follower robots due to unknown mechanical characteristics and uncertainties.
method Simulated annealing based Q learning method to address controller performance issues.
result The proposed controller outperforms conventional P controllers in line follower robots.
Neuro-robotics model shows gestures improve counting ability.
problem Improving counting ability in robots and children.
method Introduces a neuro-robotics model trained with pointing data, tests various model and training conditions.
result Model's performance aligns with human children's learning to count.
Paper addresses hypothesis space misspecification in learning from human demonstrations and corrections.
problem Hypothesis space misspecification in learning from human demonstrations and corrections.
method Reason explicitly about how well the robot can explain human inputs given its hypothesis space.
result Demonstrates method on a 7 DOF robot manipulator.
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills thr…
We prove a monotonicity formula for mean curvature flow with surgery. This formula differs from Huisken's monotonicity formula by an extra term involving the mean curvature. As a consequence, we show that a surgically modified flow which is sufficiently close to a smooth flow in the sense of geometric measure theory is…
Deep learning models predict postoperative complications more accurately than random forests.
problem Predicting postoperative complications to inform patient care decisions.
method Multi-task deep neural networks integrating intraoperative physiological data.
result Deep learning models improved prediction accuracy and provided interpretable risk factors.
Robot learns agile leg movements from simulations to real robots.
problem Training legged robots for dynamic maneuvers is challenging and expensive.
method Simulation-based reinforcement learning for real legged systems.
result ANYmal robot can follow high-level commands, run faster, and recover from falls.
The paper learns robot skills from demonstrations without supervision.
problem Discovering robotic options from unlabelled demonstrations.
method Temporal variational inference for latent variable learning.
result The framework can learn options across multiple datasets.
This work tackles force control for contact-rich manipulation tasks with rigid robots using RL.
problem Challenges in working with real robotic hardware, especially position-controlled robots.
method Combines RL with traditional force control techniques, implementing parallel position/force control and admittance control.
result Validated methods on both simulation and real robot (UR3 e-series) for force control.
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
KiTS19 dataset offers 300 kidney tumor cases with CT data and outcomes.
problem Difficulty in quantifying kidney tumor morphometry due to data scarcity and manual labor.
method Presented KiTS19 dataset with multi-phase CT imaging, segmentation masks, and clinical outcomes.
result Automated segmentation of kidney tumors is now possible with this dataset.
Study aims to develop a humanoid robot dialogue system.
problem Current dialogue systems lack attention to non-verbal cues.
method Participated in a competition to develop a system with facial expressions and gaze control.
result Developed a humanoid robot dialogue system.
Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods that keep track of uncertainty over the objective fail because they reason about …