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We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using…
An osteoporosis-related fracture occurs every three seconds worldwide, affecting one in three women and one in five men aged over 50. The early detection of at-risk patients facilitates effective and well-evidenced preventative…
Recent progress in automated PET/CT lesion segmentation using deep learning methods has demonstrated the feasibility of this task. However, tumor lesion detection and segmentation in whole-body PET/CT is still a chal-lenging task. To…
Automatic lesion analysis is critical in skin cancer diagnosis and ensures effective treatment. The computer aided diagnosis of such skin cancer in dermoscopic images can significantly reduce the clinicians workload and help improve…
The Wireless Capsule Endoscopy (WCE) is becoming a popular way of screening gastrointestinal system diseases and cancer. However, the time-consuming process in inspecting WCE data limits its applications and increases the cost of…
Identifying, tracking, and predicting wound heal-stage progression is a fundamental task towards proper diagnosis, effective treatment, facilitating healing, and reducing pain. Traditionally, a medical expert might observe a wound to…
Intrasaccular flow disruptors treat cerebral aneurysms by diverting the blood flow from the aneurysm sac. Residual flow into the sac after the intervention is a failure that could be due to the use of an undersized device, or to vascular…
Recent developments in surgical robotics have led to new advancements in the automation of surgical sub-tasks such as suturing, soft tissue manipulation, tissue tensioning and cutting. However, integration of dynamics to optimize these…
This paper summarizes the method used in our submission to Task 1 of the International Skin Imaging Collaboration's (ISIC) Skin Lesion Analysis Towards Melanoma Detection challenge held in 2018. We used a fully automated method to…
Diabetic foot ulcer classification systems use the presence of wound infection (bacteria present within the wound) and ischaemia (restricted blood supply) as vital clinical indicators for treatment and prediction of wound healing. Studies…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Surgical robots have had clinical use since the mid 1990s. Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for…
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuity of an endoscopic camera make tool tracking challenging.…
Annotation and labeling of images are some of the biggest challenges in applying deep learning to medical data. Current processes are time and cost-intensive and, therefore, a limiting factor for the wide adoption of the technology.…
A portable imaging system for the on-site detection of shoulder injury is necessary to identify its extent and avoid its development to severe condition. Here, firstly a microwave tomography system is introduced using state-of-the-art…
Robust and accurate detection and segmentation of heterogenous tumors appearing in different anatomical organs with supervised methods require large-scale labeled datasets covering all possible types of diseases. Due to the unavailability…
Deep learning for clinical applications is subject to stringent performance requirements, which raises a need for large labeled datasets. However, the enormous cost of labeling medical data makes this challenging. In this paper, we build a…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…
Retinal vein cannulation (RVC) is a minimally invasive microsurgical procedure for treating retinal vein occlusion (RVO), a leading cause of vision impairment. However, the small size and fragility of retinal veins, coupled with the need…