Multi-stage Suture Detection for Robot Assisted Anastomosis based on Deep Learning

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling and suture detection. Due to the complexity of the surgical environment and varying patient anatomies, reliable suture detection is difficult, which is further complicated by occlusion and thread topologies. In this paper, we propose a multi-stage framework for suture thread detection based on deep learning. Fully convolutional neural networks are used to obtain the initial detection and the overlapping status of suture thread, which are later fused with the original image to learn a gradient road map of the thread. Based on the gradient road map, multiple segments of the thread are extracted and linked to form the whole thread using a curvilinear structure detector. Experiments on two different types of sutures demonstrate the accuracy of the proposed framework.Comment: Submitted to ICRA 201

Mobile graphics: SIGGRAPH Asia 2017 course

Peer ReviewedPostprint (published version

Winect: 3D Human Pose Tracking for Free-form Activity Using Commodity WiFi

WiFi human sensing has become increasingly attractive in enabling emerging human-computer interaction applications. The corresponding technique has gradually evolved from the classification of multiple activity types to more fine-grained tracking of 3D human poses. However, existing WiFi-based 3D human pose tracking is limited to a set of predefined activities. In this work, we present Winect, a 3D human pose tracking system for free-form activity using commodity WiFi devices. Our system tracks free-form activity by estimating a 3D skeleton pose that consists of a set of joints of the human body. In particular, we combine signal separation and joint movement modeling to achieve free-form activity tracking. Our system first identifies the moving limbs by leveraging the two-dimensional angle of arrival of the signals reflected off the human body and separates the entangled signals for each limb. Then, it tracks each limb and constructs a 3D skeleton of the body by modeling the inherent relationship between the movements of the limb and the corresponding joints. Our evaluation results show that Winect is environment-independent and achieves centimeter-level accuracy for free-form activity tracking under various challenging environments including the none-line-of-sight (NLoS) scenarios

Attributing scientific and technical progress: the case of holography

Holography, the three-dimensional imaging technology, was portrayed widely as a paradigm of progress during its decade of explosive expansion 1964–73, and during its subsequent consolidation for commercial and artistic uses up to the mid 1980s. An unusually seductive and prolific subject, holography successively spawned scientific insights, putative applications and new constituencies of practitioners and consumers. Waves of forecasts, associated with different sponsors and user communities, cast holography as a field on the verge of success—but with the dimensions of success repeatedly refashioned. This retargeting of the subject represented a degree of cynical marketeering, but was underpinned by implicit confidence in philosophical positivism and faith in technological progressivism. Each of its communities defined success in terms of expansion, and anticipated continual progressive increase. This paper discusses the contrasting definitions of progress in holography, and how they were fashioned in changing contexts. Focusing equally on reputed ‘failures’ of some aspects of the subject, it explores the varied attributes by which success and failure were linked with progress by different technical communities. This important case illuminates the peculiar post-World War II environment that melded the military, commercial and popular engagement with scientific and technological subjects, and the competing criteria by which they assessed the products of science