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We propose a novel pathology-sensitive deep learning model (PS-DeVCEM) for frame-level anomaly detection and multi-label classification of different colon diseases in video capsule endoscopy (VCE) data. Our proposed model is capable of…
Robotic-assisted surgery allows surgeons to conduct precise surgical operations with stereo vision and flexible motor control. However, the lack of 3D spatial perception limits situational awareness during procedures and hinders mastering…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
Mobile manipulation is usually achieved by sequentially executing base and manipulator movements. This simplification, however, leads to a loss in efficiency and in some cases a reduction of workspace size. Even though different methods…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
Prevalence of gastrointestinal (GI) cancer is growing alarmingly every year leading to a substantial increase in the mortality rate. Endoscopic detection is providing crucial diagnostic support, however, subtle lesions in upper and lower GI…
The quality of images captured by wireless capsule endoscopy (WCE) is key for doctors to diagnose diseases of gastrointestinal (GI) tract. However, there exist many low-quality endoscopic images due to the limited illumination and complex…
Video Capsule Endoscopy (VCE) has become an indispensable diagnostic tool for gastrointestinal (GI) disorders due to its non-invasive nature and ability to capture high-resolution images of the small intestine. However, the enormous volume…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
Endoscopy is a routine imaging technique used for both diagnosis and minimally invasive surgical treatment. While the endoscopy video contains a wealth of information, tools to capture this information for the purpose of clinical reporting…
The rapid development of deep learning, a family of machine learning techniques, has spurred much interest in its application to medical imaging problems. Here, we develop a deep learning algorithm that can accurately detect breast cancer…
Traditional diagnostic methods like colonoscopy are invasive yet critical tools necessary for accurately diagnosing colorectal cancer (CRC). Detection of CRC at early stages is crucial for increasing patient survival rates. However,…
The escalating global mortality and morbidity rates associated with gastrointestinal (GI) bleeding, compounded by the complexities and limitations of traditional endoscopic methods, underscore the urgent need for a critical review of…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
We consider a multicast scheme recently proposed for a wireless downlink in [1]. It was shown earlier that power control can significantly improve its performance. However for this system, obtaining optimal power control is intractable…
Colorectal polyps are important precursors to colon cancer, a major health problem. Colon capsule endoscopy (CCE) is a safe and minimally invasive examination procedure, in which the images of the intestine are obtained via digital cameras…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video.…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…