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Burn wound classification model using spatial frequency-domain imaging and machine learning.
Accurate assessment of burn severity is critical for wound care and the course of treatment. Delays in classification translate to delays in burn management, increasing the risk of scarring and infection. To this end, numerous imaging techniques have been used to examine tissue properties to infer burn severity. Spatial frequency-domain imaging (SFDI) has also been used to characterize burns based on the relationships between histologic observations and changes in tissue properties. Recently, machine learning has been used to classify burns by combining optical features from multispectral or hyperspectral imaging. Rather than employ models of light propagation to deduce tissue optical properties, we investigated the feasibility of using SFDI reflectance data at multiple spatial frequencies, with a support vector machine (SVM) classifier, to predict severity in a porcine model of graded burns. Calibrated reflectance images were collected using SFDI at eight wavelengths (471 to 851 nm) and five spatial frequencies (0 to 0.2  mm  -  1). Three models were built from subsets of this initial dataset. The first subset included data taken at all wavelengths with the planar (0  mm  -  1) spatial frequency, the second comprised data at all wavelengths and spatial frequencies, and the third used all collected data at values relative to unburned tissue. These data subsets were used to train and test cubic SVM models, and compared against burn status 28 days after injury. Model accuracy was established through leave-one-out cross-validation testing. The model based on images obtained at all wavelengths and spatial frequencies predicted burn severity at 24 h with 92.5% accuracy. The model composed of all values relative to unburned skin was 94.4% accurate. By comparison, the model that employed only planar illumination was 88.8% accurate. This investigation suggests that the combination of SFDI with machine learning has potential for accurately predicting burn severity
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure
Automating precision subtasks such as debridement (removing dead or diseased
tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci
Research Kit (dVRK) is challenging due to inherent non-linearities in
cable-driven systems. We propose and evaluate a novel two-phase coarse-to-fine
calibration method. In Phase I (coarse), we place a red calibration marker on
the end effector and let it randomly move through a set of open-loop
trajectories to obtain a large sample set of camera pixels and internal robot
end-effector configurations. This coarse data is then used to train a Deep
Neural Network (DNN) to learn the coarse transformation bias. In Phase II
(fine), the bias from Phase I is applied to move the end-effector toward a
small set of specific target points on a printed sheet. For each target, a
human operator manually adjusts the end-effector position by direct contact
(not through teleoperation) and the residual compensation bias is recorded.
This fine data is then used to train a Random Forest (RF) to learn the fine
transformation bias. Subsequent experiments suggest that without calibration,
position errors average 4.55mm. Phase I can reduce average error to 2.14mm and
the combination of Phase I and Phase II can reduces average error to 1.08mm. We
apply these results to debridement of raisins and pumpkin seeds as fragment
phantoms. Using an endoscopic stereo camera with standard edge detection,
experiments with 120 trials achieved average success rates of 94.5%, exceeding
prior results with much larger fragments (89.4%) and achieving a speedup of
2.1x, decreasing time per fragment from 15.8 seconds to 7.3 seconds. Source
code, data, and videos are available at
https://sites.google.com/view/calib-icra/.Comment: Code, data, and videos are available at
https://sites.google.com/view/calib-icra/. Final version for ICRA 201
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