Visual Tracking in Robotic Minimally Invasive Surgery

Intra-operative imaging and robotics are some of the technologies driving forward better and more effective minimally invasive surgical procedures. To advance surgical practice and capabilities further, one of the key requirements for computationally enhanced interventions is to know how instruments and tissues move during the operation. While endoscopic video captures motion, the complex appearance dynamic effects of surgical scenes are challenging for computer vision algorithms to handle with robustness. Tackling both tissue and instrument motion estimation, this thesis proposes a combined non-rigid surface deformation estimation method to track tissue surfaces robustly and in conditions with poor illumination. For instrument tracking, a keypoint based 2D tracker that relies on the Generalized Hough Transform is developed to initialize a 3D tracker in order to robustly track surgical instruments through long sequences that contain complex motions. To handle appearance changes and occlusion a patch-based adaptive weighting with segmentation and scale tracking framework is developed. It takes a tracking-by-detection approach and a segmentation model is used to assigns weights to template patches in order to suppress back- ground information. The performance of the method is thoroughly evaluated showing that without any offline-training, the tracker works well even in complex environments. Finally, the thesis proposes a novel 2D articulated instrument pose estimation framework, which includes detection-regression fully convolutional network and a multiple instrument parsing component. The framework achieves compelling performance and illustrates interesting properties includ- ing transfer between different instrument types and between ex vivo and in vivo data. In summary, the thesis advances the state-of-the art in visual tracking for surgical applications for both tissue and instrument motion estimation. It contributes to developing the technological capability of full surgical scene understanding from endoscopic video

Improved Bayesian methods for detecting recombination and rate heterogeneity in DNA sequence alignments

DNA sequence alignments are usually not homogeneous. Mosaic structures may result as a consequence of recombination or rate heterogeneity. Interspecific recombination, in which DNA subsequences are transferred between different (typically viral or bacterial) strains may result in a change of the topology of the underlying phylogenetic tree. Rate heterogeneity corresponds to a change of the nucleotide substitution rate. Various methods for simultaneously detecting recombination and rate heterogeneity in DNA sequence alignments have recently been proposed, based on complex probabilistic models that combine phylogenetic trees with factorial hidden Markov models or multiple changepoint processes. The objective of my thesis is to identify potential shortcomings of these models and explore ways of how to improve them. One shortcoming that I have identified is related to an approximation made in various recently proposed Bayesian models. The Bayesian paradigm requires the solution of an integral over the space of parameters. To render this integration analytically tractable, these models assume that the vectors of branch lengths of the phylogenetic tree are independent among sites. While this approximation reduces the computational complexity considerably, I show that it leads to the systematic prediction of spurious topology changes in the Felsenstein zone, that is, the area in the branch lengths configuration space where maximum parsimony consistently infers the wrong topology due to long-branch attraction. I demonstrate these failures by using two Bayesian hypothesis tests, based on an inter- and an intra-model approach to estimating the marginal likelihood. I then propose a revised model that addresses these shortcomings, and demonstrate its improved performance on a set of synthetic DNA sequence alignments systematically generated around the Felsenstein zone. The core model explored in my thesis is a phylogenetic factorial hidden Markov model (FHMM) for detecting two types of mosaic structures in DNA sequence alignments, related to recombination and rate heterogeneity. The focus of my work is on improving the modelling of the latter aspect. Earlier research efforts by other authors have modelled different degrees of rate heterogeneity with separate hidden states of the FHMM. Their work fails to appreciate the intrinsic difference between two types of rate heterogeneity: long-range regional effects, which are potentially related to differences in the selective pressure, and the short-term periodic patterns within the codons, which merely capture the signature of the genetic code. I have improved these earlier phylogenetic FHMMs in two respects. Firstly, by sampling the rate vector from the posterior distribution with RJMCMC I have made the modelling of regional rate heterogeneity more flexible, and I infer the number of different degrees of divergence directly from the DNA sequence alignment, thereby dispensing with the need to arbitrarily select this quantity in advance. Secondly, I explicitly model within-codon rate heterogeneity via a separate rate modification vector. In this way, the within-codon effect of rate heterogeneity is imposed on the model a priori, which facilitates the learning of the biologically more interesting effect of regional rate heterogeneity a posteriori. I have carried out simulations on synthetic DNA sequence alignments, which have borne out my conjecture. The existing model, which does not explicitly include the within-codon rate variation, has to model both effects with the same modelling mechanism. As expected, it was found to fail to disentangle these two effects. On the contrary, I have found that my new model clearly separates within-codon rate variation from regional rate heterogeneity, resulting in more accurate predictions

Real-Time Multi-Fisheye Camera Self-Localization and Egomotion Estimation in Complex Indoor Environments

In this work a real-time capable multi-fisheye camera self-localization and egomotion estimation framework is developed. The thesis covers all aspects ranging from omnidirectional camera calibration to the development of a complete multi-fisheye camera SLAM system based on a generic multi-camera bundle adjustment method

Vulnerability and robustness in the essential gene complement of two bacterial species, profiled with CRISPRi

Bacterial essential genes contribute to the most fundamental processes of cellular life. The study of their functions in vivo has long been intractable to systematic genetic approaches, which are fundamental to understanding pathway level connections that govern cellular life and are a requirement for dissecting the complex cellular processes to which essential genes contribute. In Chapter 1 of this work I review recent advances in mapping gene-phenotype relationships in bacteria using the CRISPR-based technology, CRISPR interference (CRISPRi) for titratable gene knockdowns, focusing on their applications to the studies of essential genes, the exploration of chemical-genetic interactions, and the prospects for disentangling complex phenotypes in diverse bacterial species. In Chapter 2 I describe my analysis of the essential gene functions in the model Gram-negative bacterium Escherichia coli and the model Gram-positive Bacillus subtilis using datasets from paired chemical-genetic screens. In this work I identify both shared and Gram-negative specific mechanisms of collateral sensitization to antibiotic action. In Chapter 3 I investigate a fundamental property of essential genes, which is the relationship between their expression level and the cellular growth rate. Here, further developing CRISPRi tools in bacteria to predictably titrate knockdown efficacy, I interpret the knockdown-fitness relationships of each essential gene in E. coli and B. subtilis, discovering broad conservation of constraints setting and maintaining expression levels across these diverged species

Religion, Education, and the ‘East’. Addressing Orientalism and Interculturality in Religious Education Through Japanese and East Asian Religions

This work addresses the theme of Japanese religions in order to rethink theories and practices pertaining to the field of Religious Education. Through an interdisciplinary framework that combines the study of religions, didactics and intercultural education, this book puts the case study of Religious Education in England in front of two ‘challenges’ in order to reveal hidden spots, tackle unquestioned assumptions and highlight problematic areas. These ‘challenges’, while focusing primarily on Japanese religions, are addressed within the wider contexts of other East Asian traditions and of the modern historical exchanges with the Euro-American societies. As result, a model for teaching Japanese and other East Asian religions is discussed and proposed in order to fruitfully engage issues such as orientalism, occidentalism, interculturality and critical thinking

Sample Path Analysis of Integrate-and-Fire Neurons

Computational neuroscience is concerned with answering two intertwined questions that are based on the assumption that spatio-temporal patterns of spikes form the universal language of the nervous system. First, what function does a specific neural circuitry perform in the elaboration of a behavior? Second, how do neural circuits process behaviorally-relevant information? Non-linear system analysis has proven instrumental in understanding the coding strategies of early neural processing in various sensory modalities. Yet, at higher levels of integration, it fails to help in deciphering the response of assemblies of neurons to complex naturalistic stimuli. If neural activity can be assumed to be primarily driven by the stimulus at early stages of processing, the intrinsic activity of neural circuits interacts with their high-dimensional input to transform it in a stochastic non-linear fashion at the cortical level. As a consequence, any attempt to fully understand the brain through a system analysis approach becomes illusory. However, it is increasingly advocated that neural noise plays a constructive role in neural processing, facilitating information transmission. This prompts to gain insight into the neural code by studying the stochasticity of neuronal activity, which is viewed as biologically relevant. Such an endeavor requires the design of guiding theoretical principles to assess the potential benefits of neural noise. In this context, meeting the requirements of biological relevance and computational tractability, while providing a stochastic description of neural activity, prescribes the adoption of the integrate-and-fire model. In this thesis, founding ourselves on the path-wise description of neuronal activity, we propose to further the stochastic analysis of the integrate-and fire model through a combination of numerical and theoretical techniques. To begin, we expand upon the path-wise construction of linear diffusions, which offers a natural setting to describe leaky integrate-and-fire neurons, as inhomogeneous Markov chains. Based on the theoretical analysis of the first-passage problem, we then explore the interplay between the internal neuronal noise and the statistics of injected perturbations at the single unit level, and examine its implications on the neural coding. At the population level, we also develop an exact event-driven implementation of a Markov network of perfect integrate-and-fire neurons with both time delayed instantaneous interactions and arbitrary topology. We hope our approach will provide new paradigms to understand how sensory inputs perturb neural intrinsic activity and accomplish the goal of developing a new technique for identifying relevant patterns of population activity. From a perturbative perspective, our study shows how injecting frozen noise in different flavors can help characterize internal neuronal noise, which is presumably functionally relevant to information processing. From a simulation perspective, our event-driven framework is amenable to scrutinize the stochastic behavior of simple recurrent motifs as well as temporal dynamics of large scale networks under spike-timing-dependent plasticity