Pub Date : 2023-05-05DOI: 10.1142/s2424905x23400032
Junxiang Wang, Ti Wu, I. Iordachita, P. Kazanzides
{"title":"Calibration and Evaluation of a Motion Measurement System for PET Imaging Studies","authors":"Junxiang Wang, Ti Wu, I. Iordachita, P. Kazanzides","doi":"10.1142/s2424905x23400032","DOIUrl":"https://doi.org/10.1142/s2424905x23400032","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117143370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-31DOI: 10.48550/arXiv.2303.18106
Ziheng Wang, Conor Perreault, Xi Liu, A. Jarc
Endoscopic video recordings are widely used in minimally invasive robot-assisted surgery, but when the endoscope is outside the patient's body, it can capture irrelevant segments that may contain sensitive information. To address this, we propose a framework that accurately detects out-of-body frames in surgical videos by leveraging self-supervision with minimal data labels. We use a massive amount of unlabeled endoscopic images to learn meaningful representations in a self-supervised manner. Our approach, which involves pre-training on an auxiliary task and fine-tuning with limited supervision, outperforms previous methods for detecting out-of-body frames in surgical videos captured from da Vinci X and Xi surgical systems. The average F1 scores range from 96.00 to 98.02. Remarkably, using only 5% of the training labels, our approach still maintains an average F1 score performance above 97, outperforming fully-supervised methods with 95% fewer labels. These results demonstrate the potential of our framework to facilitate the safe handling of surgical video recordings and enhance data privacy protection in minimally invasive surgery.
{"title":"Automatic Detection of Out-of-body Frames in Surgical Videos for Privacy Protection Using Self-supervised Learning and Minimal Labels","authors":"Ziheng Wang, Conor Perreault, Xi Liu, A. Jarc","doi":"10.48550/arXiv.2303.18106","DOIUrl":"https://doi.org/10.48550/arXiv.2303.18106","url":null,"abstract":"Endoscopic video recordings are widely used in minimally invasive robot-assisted surgery, but when the endoscope is outside the patient's body, it can capture irrelevant segments that may contain sensitive information. To address this, we propose a framework that accurately detects out-of-body frames in surgical videos by leveraging self-supervision with minimal data labels. We use a massive amount of unlabeled endoscopic images to learn meaningful representations in a self-supervised manner. Our approach, which involves pre-training on an auxiliary task and fine-tuning with limited supervision, outperforms previous methods for detecting out-of-body frames in surgical videos captured from da Vinci X and Xi surgical systems. The average F1 scores range from 96.00 to 98.02. Remarkably, using only 5% of the training labels, our approach still maintains an average F1 score performance above 97, outperforming fully-supervised methods with 95% fewer labels. These results demonstrate the potential of our framework to facilitate the safe handling of surgical video recordings and enhance data privacy protection in minimally invasive surgery.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133478605","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-17DOI: 10.1142/s2424905x23500010
Samir Morad, Zainab Jaffer, S. Dogramadzi
{"title":"A Novel Mechanical Design of a Wearable Fingertip Haptic Device for Remote Meniscus Palpation","authors":"Samir Morad, Zainab Jaffer, S. Dogramadzi","doi":"10.1142/s2424905x23500010","DOIUrl":"https://doi.org/10.1142/s2424905x23500010","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128486143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-19DOI: 10.1142/s2424905x23400019
Braden P. Murphy, F. Alambeigi
{"title":"A Surgical Robotic Framework for Safe and Autonomous Data-Driven Learning and Manipulation of an Unknown Deformable Tissue with an Integrated Critical Space","authors":"Braden P. Murphy, F. Alambeigi","doi":"10.1142/s2424905x23400019","DOIUrl":"https://doi.org/10.1142/s2424905x23400019","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115081270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-16DOI: 10.1142/s2424905x22410100
Siobhan R. Oca, Amy Strong, Jiselle Havas, Daniel M. Buckland, L. Bridgeman
{"title":"Development and Testing of a Durable and Novel Breast Phantom for Robotic Autonomous Ultrasound Systems","authors":"Siobhan R. Oca, Amy Strong, Jiselle Havas, Daniel M. Buckland, L. Bridgeman","doi":"10.1142/s2424905x22410100","DOIUrl":"https://doi.org/10.1142/s2424905x22410100","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129233083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-28DOI: 10.1142/s2424905x22410094
Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, M. Clancy, S. McMillan, I. Iordachita, Mohammad H. Abedin-Nasab
{"title":"Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery","authors":"Fayez Alruwaili, Marzieh S. Saeedi-Hosseiny, M. Clancy, S. McMillan, I. Iordachita, Mohammad H. Abedin-Nasab","doi":"10.1142/s2424905x22410094","DOIUrl":"https://doi.org/10.1142/s2424905x22410094","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126755146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-26DOI: 10.1142/s2424905x22410070
R. Lathrop, M. Ourak, J. Deprest, E. V. Poorten
{"title":"Concentric Dual-Chamber Pneumatic Artificial Muscles: Miniature Actuators Designed for Use in Minimally Invasive Surgical Instruments","authors":"R. Lathrop, M. Ourak, J. Deprest, E. V. Poorten","doi":"10.1142/s2424905x22410070","DOIUrl":"https://doi.org/10.1142/s2424905x22410070","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121351968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-26DOI: 10.1142/s2424905x22410045
T. Matsuno, Hikaru Murakami, T. Kamegawa, Nanako Sakai, T. Hiraki, Y. Toda
{"title":"Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function","authors":"T. Matsuno, Hikaru Murakami, T. Kamegawa, Nanako Sakai, T. Hiraki, Y. Toda","doi":"10.1142/s2424905x22410045","DOIUrl":"https://doi.org/10.1142/s2424905x22410045","url":null,"abstract":"","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115076172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-27DOI: 10.1142/s2424905x2241001x
Xiao Yue, M. R. Liyanaarachchi, K. Shimazoe, Kenichiro Ogane, H. Takahashi, M. Takahashi, Kazuaki Hara, E. Kobayashi, I. Sakuma
To improve spatial resolution in the PET-laparoscope system for intraoperative metastatic lymph nodes detection, design of a flat panel detector was optimized using Monte Carlo simulation tools. The performance of the new fixed detector was evaluated in point radio-source and phantom experiments. The experiment result shows that the system with the new fixed detector design has a spatial resolution better than 10[Formula: see text]mm in three dimensions, and the system can distinguish two radio-sources clearly in a 2-minute scan.
{"title":"Design of a Flat Panel Detector for the PET-Laparoscope System Using Simulations","authors":"Xiao Yue, M. R. Liyanaarachchi, K. Shimazoe, Kenichiro Ogane, H. Takahashi, M. Takahashi, Kazuaki Hara, E. Kobayashi, I. Sakuma","doi":"10.1142/s2424905x2241001x","DOIUrl":"https://doi.org/10.1142/s2424905x2241001x","url":null,"abstract":"To improve spatial resolution in the PET-laparoscope system for intraoperative metastatic lymph nodes detection, design of a flat panel detector was optimized using Monte Carlo simulation tools. The performance of the new fixed detector was evaluated in point radio-source and phantom experiments. The experiment result shows that the system with the new fixed detector design has a spatial resolution better than 10[Formula: see text]mm in three dimensions, and the system can distinguish two radio-sources clearly in a 2-minute scan.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131039987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-01-12DOI: 10.1142/s2424905x21410038
Sai-yu Wang, Qi He, Ping Zhang, Xin Chen, Siyang Zuo
In this paper, we compared the performance of several neural networks in the classification of early gastric cancer (EGC) images and proposed a method of converting the output value of the network into a calorific value to locate the lesion. The algorithm was improved using transfer learning and fine-tuning principles. The test set accuracy rate reached 0.72, sensitivity reached 0.67, specificity reached 0.77, and precision rate reached 0.78. The experimental results show the potential to meet clinical demands for automatic detection of gastric lesion.
{"title":"Toward Automatic Detection of Gastric Lesion for Upper Gastrointestinal Endoscopy with Neural Network","authors":"Sai-yu Wang, Qi He, Ping Zhang, Xin Chen, Siyang Zuo","doi":"10.1142/s2424905x21410038","DOIUrl":"https://doi.org/10.1142/s2424905x21410038","url":null,"abstract":"In this paper, we compared the performance of several neural networks in the classification of early gastric cancer (EGC) images and proposed a method of converting the output value of the network into a calorific value to locate the lesion. The algorithm was improved using transfer learning and fine-tuning principles. The test set accuracy rate reached 0.72, sensitivity reached 0.67, specificity reached 0.77, and precision rate reached 0.78. The experimental results show the potential to meet clinical demands for automatic detection of gastric lesion.","PeriodicalId":447761,"journal":{"name":"J. Medical Robotics Res.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114502989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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