6,477 research outputs found
A Method of Drusen Measurement Based on the Geometry of Fundus Reflectance
BACKGROUND: The hallmarks of age-related macular degeneration, the leading cause of blindness in the developed world, are the subretinal deposits known as drusen. Drusen identification and measurement play a key role in clinical studies of this disease. Current manual methods of drusen measurement are laborious and subjective. Our purpose was to expedite clinical research with an accurate, reliable digital method. METHODS: An interactive semi-automated procedure was developed to level the macular background reflectance for the purpose of morphometric analysis of drusen. 12 color fundus photographs of patients with age-related macular degeneration and drusen were analyzed. After digitizing the photographs, the underlying background pattern in the green channel was leveled by an algorithm based on the elliptically concentric geometry of the reflectance in the normal macula: the gray scale values of all structures within defined elliptical boundaries were raised sequentially until a uniform background was obtained. Segmentation of drusen and area measurements in the central and middle subfields (1000 μm and 3000 μm diameters) were performed by uniform thresholds. Two observers using this interactive semi-automated software measured each image digitally. The mean digital measurements were compared to independent stereo fundus gradings by two expert graders (stereo Grader 1 estimated the drusen percentage in each of the 24 regions as falling into one of four standard broad ranges; stereo Grader 2 estimated drusen percentages in 1% to 5% intervals). RESULTS: The mean digital area measurements had a median standard deviation of 1.9%. The mean digital area measurements agreed with stereo Grader 1 in 22/24 cases. The 95% limits of agreement between the mean digital area measurements and the more precise stereo gradings of Grader 2 were -6.4 % to +6.8 % in the central subfield and -6.0 % to +4.5 % in the middle subfield. The mean absolute differences between the digital and stereo gradings 2 were 2.8 +/- 3.4% in the central subfield and 2.2 +/- 2.7% in the middle subfield. CONCLUSIONS: Semi-automated, supervised drusen measurements may be done reproducibly and accurately with adaptations of commercial software. This technique for macular image analysis has potential for use in clinical research
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
In this paper we develop a surgical system using the da Vinci research kit
(dVRK) that is capable of autonomously searching for tumors and dynamically
displaying the tumor location using augmented reality. Such a system has the
potential to quickly reveal the location and shape of tumors and visually
overlay that information to reduce the cognitive overload of the surgeon. We
believe that our approach is one of the first to incorporate state-of-the-art
methods in registration, force sensing and tumor localization into a unified
surgical system. First, the preoperative model is registered to the
intra-operative scene using a Bingham distribution-based filtering approach. An
active level set estimation is then used to find the location and the shape of
the tumors. We use a recently developed miniature force sensor to perform the
palpation. The estimated stiffness map is then dynamically overlaid onto the
registered preoperative model of the organ. We demonstrate the efficacy of our
system by performing experiments on phantom prostate models with embedded stiff
inclusions.Comment: International Symposium on Medical Robotics (ISMR 2018
Assistance strategies for robotized laparoscopy
Robotizing laparoscopic surgery not only allows achieving better
accuracy to operate when a scale factor is applied between master and slave or thanks to the use of tools with 3 DoF, which cannot be used in conventional manual surgery, but also due to additional informatic support. Relying on computer assistance different strategies that facilitate the task of the surgeon can be incorporated, either in the form of autonomous navigation or cooperative guidance, providing sensory or visual feedback, or introducing certain limitations of movements. This paper describes different ways of assistance aimed at improving the work capacity of the surgeon and achieving more safety for the patient, and the results obtained with the prototype developed at UPC.Peer ReviewedPostprint (author's final draft
Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery
One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions
Model Adaptation with Synthetic and Real Data for Semantic Dense Foggy Scene Understanding
This work addresses the problem of semantic scene understanding under dense
fog. Although considerable progress has been made in semantic scene
understanding, it is mainly related to clear-weather scenes. Extending
recognition methods to adverse weather conditions such as fog is crucial for
outdoor applications. In this paper, we propose a novel method, named
Curriculum Model Adaptation (CMAda), which gradually adapts a semantic
segmentation model from light synthetic fog to dense real fog in multiple
steps, using both synthetic and real foggy data. In addition, we present three
other main stand-alone contributions: 1) a novel method to add synthetic fog to
real, clear-weather scenes using semantic input; 2) a new fog density
estimator; 3) the Foggy Zurich dataset comprising real foggy images,
with pixel-level semantic annotations for images with dense fog. Our
experiments show that 1) our fog simulation slightly outperforms a
state-of-the-art competing simulation with respect to the task of semantic
foggy scene understanding (SFSU); 2) CMAda improves the performance of
state-of-the-art models for SFSU significantly by leveraging unlabeled real
foggy data. The datasets and code are publicly available.Comment: final version, ECCV 201
Lifting GIS Maps into Strong Geometric Context for Scene Understanding
Contextual information can have a substantial impact on the performance of
visual tasks such as semantic segmentation, object detection, and geometric
estimation. Data stored in Geographic Information Systems (GIS) offers a rich
source of contextual information that has been largely untapped by computer
vision. We propose to leverage such information for scene understanding by
combining GIS resources with large sets of unorganized photographs using
Structure from Motion (SfM) techniques. We present a pipeline to quickly
generate strong 3D geometric priors from 2D GIS data using SfM models aligned
with minimal user input. Given an image resectioned against this model, we
generate robust predictions of depth, surface normals, and semantic labels. We
show that the precision of the predicted geometry is substantially more
accurate other single-image depth estimation methods. We then demonstrate the
utility of these contextual constraints for re-scoring pedestrian detections,
and use these GIS contextual features alongside object detection score maps to
improve a CRF-based semantic segmentation framework, boosting accuracy over
baseline models
Towards Safer Robot-Assisted Surgery: A Markerless Augmented Reality Framework
Robot-assisted surgery is rapidly developing in the medical field, and the
integration of augmented reality shows the potential of improving the surgeons'
operation performance by providing more visual information. In this paper, we
proposed a markerless augmented reality framework to enhance safety by avoiding
intra-operative bleeding which is a high risk caused by the collision between
the surgical instruments and the blood vessel. Advanced stereo reconstruction
and segmentation networks are compared to find out the best combination to
reconstruct the intra-operative blood vessel in the 3D space for the
registration of the pre-operative model, and the minimum distance detection
between the instruments and the blood vessel is implemented. A robot-assisted
lymphadenectomy is simulated on the da Vinci Research Kit in a dry lab, and ten
human subjects performed this operation to explore the usability of the
proposed framework. The result shows that the augmented reality framework can
help the users to avoid the dangerous collision between the instruments and the
blood vessel while not introducing an extra load. It provides a flexible
framework that integrates augmented reality into the medical robot platform to
enhance safety during the operation
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