Prediction of Treatment Response to Neoadjuvant Chemotherapy for Breast Cancer via Early Changes in Tumor Heterogeneity Captured by DCE-MRI Registration.

We analyzed DCE-MR images from 132 women with locally advanced breast cancer from the I-SPY1 trial to evaluate changes of intra-tumor heterogeneity for augmenting early prediction of pathologic complete response (pCR) and recurrence-free survival (RFS) after neoadjuvant chemotherapy (NAC). Utilizing image registration, voxel-wise changes including tumor deformations and changes in DCE-MRI kinetic features were computed to characterize heterogeneous changes within the tumor. Using five-fold cross-validation, logistic regression and Cox regression were performed to model pCR and RFS, respectively. The extracted imaging features were evaluated in augmenting established predictors, including functional tumor volume (FTV) and histopathologic and demographic factors, using the area under the curve (AUC) and the C-statistic as performance measures. The extracted voxel-wise features were also compared to analogous conventional aggregated features to evaluate the potential advantage of voxel-wise analysis. Voxel-wise features improved prediction of pCR (AUC = 0.78 (±0.03) vs 0.71 (±0.04), p < 0.05 and RFS (C-statistic = 0.76 ( ± 0.05), vs 0.63 ( ± 0.01)), p < 0.05, while models based on analogous aggregate imaging features did not show appreciable performance changes (p > 0.05). Furthermore, all selected voxel-wise features demonstrated significant association with outcome (p < 0.05). Thus, precise measures of voxel-wise changes in tumor heterogeneity extracted from registered DCE-MRI scans can improve early prediction of neoadjuvant treatment outcomes in locally advanced breast cancer

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

Hybrid Focal Stereo Networks for Pattern Analysis in Homogeneous Scenes

In this paper we address the problem of multiple camera calibration in the presence of a homogeneous scene, and without the possibility of employing calibration object based methods. The proposed solution exploits salient features present in a larger field of view, but instead of employing active vision we replace the cameras with stereo rigs featuring a long focal analysis camera, as well as a short focal registration camera. Thus, we are able to propose an accurate solution which does not require intrinsic variation models as in the case of zooming cameras. Moreover, the availability of the two views simultaneously in each rig allows for pose re-estimation between rigs as often as necessary. The algorithm has been successfully validated in an indoor setting, as well as on a difficult scene featuring a highly dense pilgrim crowd in Makkah.Comment: 13 pages, 6 figures, submitted to Machine Vision and Application

Local Visual Microphones: Improved Sound Extraction from Silent Video

Sound waves cause small vibrations in nearby objects. A few techniques exist in the literature that can extract sound from video. In this paper we study local vibration patterns at different image locations. We show that different locations in the image vibrate differently. We carefully aggregate local vibrations and produce a sound quality that improves state-of-the-art. We show that local vibrations could have a time delay because sound waves take time to travel through the air. We use this phenomenon to estimate sound direction. We also present a novel algorithm that speeds up sound extraction by two to three orders of magnitude and reaches real-time performance in a 20KHz video.Comment: Accepted to BMVC 201

Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an initial to goal configuration, and outputs a sequence of actions that can reproduce the human demonstration, using only monocular images as input. To perform this task, the robot learns a pixel-level inverse dynamics model of rope manipulation directly from images in a self-supervised manner, using about 60K interactions with the rope collected autonomously by the robot. The human demonstration provides a high-level plan of what to do and the low-level inverse model is used to execute the plan. We show that by combining the high and low-level plans, the robot can successfully manipulate a rope into a variety of target shapes using only a sequence of human-provided images for direction.Comment: 8 pages, accepted to International Conference on Robotics and Automation (ICRA) 201