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

Lung Segmentation from Chest X-rays using Variational Data Imputation

Pulmonary opacification is the inflammation in the lungs caused by many respiratory ailments, including the novel corona virus disease 2019 (COVID-19). Chest X-rays (CXRs) with such opacifications render regions of lungs imperceptible, making it difficult to perform automated image analysis on them. In this work, we focus on segmenting lungs from such abnormal CXRs as part of a pipeline aimed at automated risk scoring of COVID-19 from CXRs. We treat the high opacity regions as missing data and present a modified CNN-based image segmentation network that utilizes a deep generative model for data imputation. We train this model on normal CXRs with extensive data augmentation and demonstrate the usefulness of this model to extend to cases with extreme abnormalities.Comment: Accepted to be presented at the first Workshop on the Art of Learning with Missing Values (Artemiss) hosted by the 37th International Conference on Machine Learning (ICML). Source code, training data and the trained models are available here: https://github.com/raghavian/lungVAE

Improving Missing Data Imputation with Deep Generative Models

Datasets with missing values are very common on industry applications, and they can have a negative impact on machine learning models. Recent studies introduced solutions to the problem of imputing missing values based on deep generative models. Previous experiments with Generative Adversarial Networks and Variational Autoencoders showed interesting results in this domain, but it is not clear which method is preferable for different use cases. The goal of this work is twofold: we present a comparison between missing data imputation solutions based on deep generative models, and we propose improvements over those methodologies. We run our experiments using known real life datasets with different characteristics, removing values at random and reconstructing them with several imputation techniques. Our results show that the presence or absence of categorical variables can alter the selection of the best model, and that some models are more stable than others after similar runs with different random number generator seeds