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This study investigates the reconstruction of hyperspectral signatures from RGB data to enhance surgical imaging, utilizing the publicly available HeiPorSPECTRAL dataset from porcine surgery and an in-house neurosurgery dataset. Various architectures based on convolutional neural networks (CNNs) and transformer models are evaluated using comprehensive metrics. Transformer models exhibit superior performance in terms of RMSE, SAM, PSNR and SSIM by effectively integrating spatial information to predict accurate spectral profiles, encompassing both visible and extended spectral ranges. Qualitative assessments demonstrate the capability to predict spectral profiles critical for informed surgical decision-making during procedures. Challenges associated with capturing both the visible and extended hyperspectral ranges are highlighted using the MAE, emphasizing the complexities involved. The findings open up the new research direction of hyperspectral reconstruction for surgical applications and clinical use cases in real-time surgical environments., Comment: 10 pages, 4 figures, 3 tables

Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical planning and navigation. This work introduces a robotic arm platform for efficient multi-view image acquisition and precise 3D reconstruction in MIS settings. We adapted a laparoscope to a robotic arm and captured ex-vivo images of several ovine organs across varying lighting conditions (operating room and laparoscopic) and trajectories (spherical and laparoscopic). We employed recently released learning-based feature matchers combined with COLMAP to produce our reconstructions. The reconstructions were evaluated against high-precision laser scans for quantitative evaluation. Our results show that whilst reconstructions suffer most under realistic MIS lighting and trajectory, many versions of our pipeline achieve close to sub-millimetre accuracy with an average of 1.05 mm Root Mean Squared Error and 0.82 mm Chamfer distance. Our best reconstruction results occur with operating room lighting and spherical trajectories. Our robotic platform provides a tool for controlled, repeatable multi-view data acquisition for 3D generation in MIS environments which we hope leads to new datasets for training learning-based models., Comment: 8 pages, 5 figures, 3 tables. This work has been submitted to the IEEE for possible publication

Accurate 3D reconstruction of dynamic surgical scenes from endoscopic video is essential for robotic-assisted surgery. While recent 3D Gaussian Splatting methods have shown promise in achieving high-quality reconstructions with fast rendering speeds, their use of inverse depth loss functions compresses depth variations. This can lead to a loss of fine geometric details, limiting their ability to capture precise 3D geometry and effectiveness in intraoperative application. To address these challenges, we present SurgicalGS, a dynamic 3D Gaussian Splatting framework specifically designed for surgical scene reconstruction with improved geometric accuracy. Our approach first initialises a Gaussian point cloud using depth priors, employing binary motion masks to identify pixels with significant depth variations and fusing point clouds from depth maps across frames for initialisation. We use the Flexible Deformation Model to represent dynamic scene and introduce a normalised depth regularisation loss along with an unsupervised depth smoothness constraint to ensure more accurate geometric reconstruction. Extensive experiments on two real surgical datasets demonstrate that SurgicalGS achieves state-of-the-art reconstruction quality, especially in terms of accurate geometry, advancing the usability of 3D Gaussian Splatting in robotic-assisted surgery., Comment: 7 pages

Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and tools. Traditional keypoint-based sparse tracking is limited by featured points, while flow-based dense two-view matching suffers from long-term drifts. Recently, the Tracking Any Point (TAP) algorithm was proposed to overcome these limitations and achieve dense accurate long-term tracking. However, its efficacy in surgical scenarios remains untested, largely due to the lack of a comprehensive surgical tracking dataset for evaluation. To address this gap, we introduce a new annotated surgical tracking dataset for benchmarking tracking methods for surgical scenarios, comprising real-world surgical videos with complex tissue and instrument motions. We extensively evaluate state-of-the-art (SOTA) TAP-based algorithms on this dataset and reveal their limitations in challenging surgical scenarios, including fast instrument motion, severe occlusions, and motion blur, etc. Furthermore, we propose a new tracking method, namely SurgMotion, to solve the challenges and further improve the tracking performance. Our proposed method outperforms most TAP-based algorithms in surgical instruments tracking, and especially demonstrates significant improvements over baselines in challenging medical videos., Comment: 7 pages

Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as demonstrated by existing machine learning instrument tracking models in minimally invasive surgery. However, these models have been tested on limited datasets of laparoscopic surgery, with a focus on isolated tasks and robotic surgery. In this paper, a new public dataset is introduced, focusing on simulated surgery, using the nasal phase of endoscopic pituitary surgery as an exemplar. Simulated surgery allows for a realistic yet repeatable environment, meaning the insights gained from automated assessment can be used by novice surgeons to hone their skills on the simulator before moving to real surgery. PRINTNet (Pituitary Real-time INstrument Tracking Network) has been created as a baseline model for this automated assessment. Consisting of DeepLabV3 for classification and segmentation; StrongSORT for tracking; and the NVIDIA Holoscan SDK for real-time performance, PRINTNet achieved 71.9% Multiple Object Tracking Precision running at 22 Frames Per Second. Using this tracking output, a Multilayer Perceptron achieved 87% accuracy in predicting surgical skill level (novice or expert), with the "ratio of total procedure time to instrument visible time" correlated with higher surgical skill. This therefore demonstrates the feasibility of automated surgical skill assessment in simulated endoscopic pituitary surgery. The new publicly available dataset can be found here: https://doi.org/10.5522/04/26511049., Comment: 7 pages, 6 figures

Accurate intra-operative Remaining Surgery Duration (RSD) predictions allow for anaesthetists to more accurately decide when to administer anaesthetic agents and drugs, as well as to notify hospital staff to send in the next patient. Therefore RSD plays an important role in improving patient care and minimising surgical theatre costs via efficient scheduling. In endoscopic pituitary surgery, it is uniquely challenging due to variable workflow sequences with a selection of optional steps contributing to high variability in surgery duration. This paper presents PitRSDNet for predicting RSD during pituitary surgery, a spatio-temporal neural network model that learns from historical data focusing on workflow sequences. PitRSDNet integrates workflow knowledge into RSD prediction in two forms: 1) multi-task learning for concurrently predicting step and RSD; and 2) incorporating prior steps as context in temporal learning and inference. PitRSDNet is trained and evaluated on a new endoscopic pituitary surgery dataset with 88 videos to show competitive performance improvements over previous statistical and machine learning methods. The findings also highlight how PitRSDNet improve RSD precision on outlier cases utilising the knowledge of prior steps., Comment: Accepted to the Augmented Environments for Computer-Assisted Interventions (AE-CAI) Workshop at the Medical Image Computing and Computer-Assisted Interventions (MICCAI) Conference 2024

Thanks to the popularisation of transformer-based models, speech recognition (SR) is gaining traction in various application fields, such as industrial and robotics environments populated with mission-critical devices. While transformer-based SR can provide various benefits for simplifying human-machine interfacing, the research on the cybersecurity aspects of these models is lacklustre. In particular, concerning backdoor poisoning attacks. In this paper, we propose a new poisoning approach that maps different environmental trigger sounds to target phrases of different lengths, during the fine-tuning phase. We test our approach on Whisper, one of the most popular transformer-based SR model, showing that it is highly vulnerable to our attack, under several testing conditions. To mitigate the attack proposed in this paper, we investigate the use of Silero VAD, a state-of-the-art voice activity detection (VAD) model, as a defence mechanism. Our experiments show that it is possible to use VAD models to filter out malicious triggers and mitigate our attacks, with a varying degree of success, depending on the type of trigger sound and testing conditions., Comment: 13 pages, 12 figures, 6 tables

We consider a discrete time stochastic model with infinite variance and study the mean estimation problem as in Wang and Ramdas (2023). We refine the Catoni-type confidence sequence (abbr. CS) and use an idea of Bhatt et al. (2022) to achieve notable improvements of some currently existing results for such model. Specifically, for given $\alpha \in (0, 1]$, we assume that there is a known upper bound $\nu_{\alpha} > 0$ for the $(1 + \alpha)$-th central moment of the population distribution that the sample follows. Our findings replicate and `optimize' results in the above references for $\alpha = 1$ (i.e., in models with finite variance) and enhance the results for $\alpha < 1$. Furthermore, by employing the stitching method, we derive an upper bound on the width of the CS as $\mathcal{O} \left(((\log \log t)/t)^{\frac{\alpha}{1+\alpha}}\right)$ for the shrinking rate as $t$ increases, and $\mathcal{O}(\left(\log (1/\delta)\right)^{\frac{\alpha }{1+\alpha}})$ for the growth rate as $\delta$ decreases. These bounds are improving upon the bounds found in Wang and Ramdas (2023). Our theoretical results are illustrated by results from a series of simulation experiments. Comparing the performance of our improved $\alpha$-Catoni-type CS with the bound in the above cited paper indicates that our CS achieves tighter width., Comment: 31 pages, 4 figures, 1 table

The field of computer vision applied to videos of minimally invasive surgery is ever-growing. Workflow recognition pertains to the automated recognition of various aspects of a surgery: including which surgical steps are performed; and which surgical instruments are used. This information can later be used to assist clinicians when learning the surgery; during live surgery; and when writing operation notes. The Pituitary Vision (PitVis) 2023 Challenge tasks the community to step and instrument recognition in videos of endoscopic pituitary surgery. This is a unique task when compared to other minimally invasive surgeries due to the smaller working space, which limits and distorts vision; and higher frequency of instrument and step switching, which requires more precise model predictions. Participants were provided with 25-videos, with results presented at the MICCAI-2023 conference as part of the Endoscopic Vision 2023 Challenge in Vancouver, Canada, on 08-Oct-2023. There were 18-submissions from 9-teams across 6-countries, using a variety of deep learning models. A commonality between the top performing models was incorporating spatio-temporal and multi-task methods, with greater than 50% and 10% macro-F1-score improvement over purely spacial single-task models in step and instrument recognition respectively. The PitVis-2023 Challenge therefore demonstrates state-of-the-art computer vision models in minimally invasive surgery are transferable to a new dataset, with surgery specific techniques used to enhance performance, progressing the field further. Benchmark results are provided in the paper, and the dataset is publicly available at: https://doi.org/10.5522/04/26531686.

Robotic-assisted surgery (RAS) relies on accurate depth estimation for 3D reconstruction and visualization. While foundation models like Depth Anything Models (DAM) show promise, directly applying them to surgery often yields suboptimal results. Fully fine-tuning on limited surgical data can cause overfitting and catastrophic forgetting, compromising model robustness and generalization. Although Low-Rank Adaptation (LoRA) addresses some adaptation issues, its uniform parameter distribution neglects the inherent feature hierarchy, where earlier layers, learning more general features, require more parameters than later ones. To tackle this issue, we introduce Depth Anything in Robotic Endoscopic Surgery (DARES), a novel approach that employs a new adaptation technique, Vector Low-Rank Adaptation (Vector-LoRA) on the DAM V2 to perform self-supervised monocular depth estimation in RAS scenes. To enhance learning efficiency, we introduce Vector-LoRA by integrating more parameters in earlier layers and gradually decreasing parameters in later layers. We also design a reprojection loss based on the multi-scale SSIM error to enhance depth perception by better tailoring the foundation model to the specific requirements of the surgical environment. The proposed method is validated on the SCARED dataset and demonstrates superior performance over recent state-of-the-art self-supervised monocular depth estimation techniques, achieving an improvement of 13.3% in the absolute relative error metric. The code and pre-trained weights are available at https://github.com/mobarakol/DARES., Comment: 11 pages

Three-dimensional (3D) reconstruction from two-dimensional images is an active research field in computer vision, with applications ranging from navigation and object tracking to segmentation and three-dimensional modeling. Traditionally, parametric techniques have been employed for this task. However, recent advancements have seen a shift towards learning-based methods. Given the rapid pace of research and the frequent introduction of new image matching methods, it is essential to evaluate them. In this paper, we present a comprehensive evaluation of various image matching methods using a structure-from-motion pipeline. We assess the performance of these methods on both in-domain and out-of-domain datasets, identifying key limitations in both the methods and benchmarks. We also investigate the impact of edge detection as a pre-processing step. Our analysis reveals that image matching for 3D reconstruction remains an open challenge, necessitating careful selection and tuning of models for specific scenarios, while also highlighting mismatches in how metrics currently represent method performance., Comment: 19 pages, 5 figures

Real-time visual feedback from catheterization analysis is crucial for enhancing surgical safety and efficiency during endovascular interventions. However, existing datasets are often limited to specific tasks, small scale, and lack the comprehensive annotations necessary for broader endovascular intervention understanding. To tackle these limitations, we introduce CathAction, a large-scale dataset for catheterization understanding. Our CathAction dataset encompasses approximately 500,000 annotated frames for catheterization action understanding and collision detection, and 25,000 ground truth masks for catheter and guidewire segmentation. For each task, we benchmark recent related works in the field. We further discuss the challenges of endovascular intentions compared to traditional computer vision tasks and point out open research questions. We hope that CathAction will facilitate the development of endovascular intervention understanding methods that can be applied to real-world applications. The dataset is available at https://airvlab.github.io/cathaction/., Comment: 10 pages. Webpage: https://airvlab.github.io/cathaction/

Inducing superconducting correlations in chiral edge states is predicted to generate topologically protected zero energy modes with exotic quantum statistics. Experimental efforts to date have focused on engineering interfaces between superconducting materials, typically amorphous metals, and semiconducting quantum Hall or quantum anomalous Hall (QAH) systems. However, the strong interfacial disorder inherent can prevent the formation of isolated topological modes. An appealing alternative is to use low-density flat band materials where the ground state can be tuned between intrinsic superconducting and quantum anomalous Hall states using only the electric field effect. However, quantized transport and superconductivity have not been simultaneously achieved. Here, we show that rhombohedral tetralayer graphene aligned to a hexagonal boron nitride substrate hosts a quantized anomalous Hall state at superlattice filling $\nu = -1$ as well as a superconducting state at $\nu \approx -3.1$ at zero magnetic field. Remarkably, gate voltage can also be used to actuate nonvolatile switching of the chirality in the quantum anomalous Hall state, allowing arbitrarily reconfigurable networks of topological edge modes in locally gated devices. Thermodynamic compressibility measurements further reveal a topologically ordered fractional Chern insulator at $\nu = 2/3$, also stable at zero magnetic field, enabling proximity coupling between superconductivity and fractionally charged edge modes. Finally, we show that integrating an additional transition metal dichalcogenide layer to the heterostructure enhances the maximum superconducting critical temperature and nucleates new superconducting pockets, while leaving the topology of $\nu = -1$ the quantum anomalous Hall state intact. Our results pave the way for hybrid interfaces between superconductors and topological edge states in the low-disorder limit.

Personalized federated learning (PFL) for surgical instrument segmentation (SIS) is a promising approach. It enables multiple clinical sites to collaboratively train a series of models in privacy, with each model tailored to the individual distribution of each site. Existing PFL methods rarely consider the personalization of multi-headed self-attention, and do not account for appearance diversity and instrument shape similarity, both inherent in surgical scenes. We thus propose PFedSIS, a novel PFL method with visual trait priors for SIS, incorporating global-personalized disentanglement (GPD), appearance-regulation personalized enhancement (APE), and shape-similarity global enhancement (SGE), to boost SIS performance in each site. GPD represents the first attempt at head-wise assignment for multi-headed self-attention personalization. To preserve the unique appearance representation of each site and gradually leverage the inter-site difference, APE introduces appearance regulation and provides customized layer-wise aggregation solutions via hypernetworks for each site's personalized parameters. The mutual shape information of instruments is maintained and shared via SGE, which enhances the cross-style shape consistency on the image level and computes the shape-similarity contribution of each site on the prediction level for updating the global parameters. PFedSIS outperforms state-of-the-art methods with +1.51% Dice, +2.11% IoU, -2.79 ASSD, -15.55 HD95 performance gains. The corresponding code and models will be released at https://github.com/wzjialang/PFedSIS., Comment: 9 pages, 3 figures, under review

We present HUP-3D, a 3D multi-view multi-modal synthetic dataset for hand-ultrasound (US) probe pose estimation in the context of obstetric ultrasound. Egocentric markerless 3D joint pose estimation has potential applications in mixed reality based medical education. The ability to understand hand and probe movements programmatically opens the door to tailored guidance and mentoring applications. Our dataset consists of over 31k sets of RGB, depth and segmentation mask frames, including pose related ground truth data, with a strong emphasis on image diversity and complexity. Adopting a camera viewpoint-based sphere concept allows us to capture a variety of views and generate multiple hand grasp poses using a pre-trained network. Additionally, our approach includes a software-based image rendering concept, enhancing diversity with various hand and arm textures, lighting conditions, and background images. Furthermore, we validated our proposed dataset with state-of-the-art learning models and we obtained the lowest hand-object keypoint errors. The dataset and other details are provided with the supplementary material. The source code of our grasp generation and rendering pipeline will be made publicly available., Comment: https://conferences.miccai.org/2024/en/

Despite significant advancements in robotic systems and surgical data science, ensuring safe and optimal execution in robot-assisted minimally invasive surgery (RMIS) remains a complex challenge. Current surgical error detection methods involve two parts: identifying surgical gestures and then detecting errors within each gesture clip. These methods seldom consider the rich contextual and semantic information inherent in surgical videos, limiting their performance due to reliance on accurate gesture identification. Motivated by the chain-of-thought prompting in natural language processing, this letter presents a novel and real-time end-to-end error detection framework, Chain-of-Thought (COG) prompting, leveraging contextual information from surgical videos. This encompasses two reasoning modules designed to mimic the decision-making processes of expert surgeons. Concretely, we first design a Gestural-Visual Reasoning module, which utilizes transformer and attention architectures for gesture prompting, while the second, a Multi-Scale Temporal Reasoning module, employs a multi-stage temporal convolutional network with both slow and fast paths for temporal information extraction. We extensively validate our method on the public benchmark RMIS dataset JIGSAWS. Our method encapsulates the reasoning processes inherent to surgical activities enabling it to outperform the state-of-the-art by 4.6% in F1 score, 4.6% in Accuracy, and 5.9% in Jaccard index while processing each frame in 6.69 milliseconds on average, demonstrating the great potential of our approach in enhancing the safety and efficacy of RMIS procedures and surgical education. The code will be available., Comment: 8 pages, 4 figures

Automated detection of surgical errors can improve robotic-assisted surgery. Despite promising progress, existing methods still face challenges in capturing rich temporal context to establish long-term dependencies while maintaining computational efficiency. In this paper, we propose a novel hierarchical model named SEDMamba, which incorporates the selective state space model (SSM) into surgical error detection, facilitating efficient long sequence modelling with linear complexity. SEDMamba enhances selective SSM with a bottleneck mechanism and fine-to-coarse temporal fusion (FCTF) to detect and temporally localize surgical errors in long videos. The bottleneck mechanism compresses and restores features within their spatial dimension, thereby reducing computational complexity. FCTF utilizes multiple dilated 1D convolutional layers to merge temporal information across diverse scale ranges, accommodating errors of varying duration. Our work also contributes the first-of-its-kind, frame-level, in-vivo surgical error dataset to support error detection in real surgical cases. Specifically, we deploy the clinically validated observational clinical human reliability assessment tool (OCHRA) to annotate the errors during suturing tasks in an open-source radical prostatectomy dataset (SAR-RARP50). Experimental results demonstrate that our SEDMamba outperforms state-of-the-art methods with at least 1.82% AUC and 3.80% AP performance gains with significantly reduced computational complexity. The corresponding error annotations, code and models will be released at https://github.com/wzjialang/SEDMamba., Comment: 8 pages

T CrB is a symbiotic star that experiences nova outbursts every $\sim$ 80~yr. The next, long-anticipated nova outburst should occur during the 2024-2026 period. Here, we present results of high-resolution optical spectroscopy of T CrB in the period 2016 - 2023. In these spectra, we measured the equivalent widths of the H$\alpha$, H$\beta$, HeI and HeII emission lines. The maximum equivalent width (EW) was recorded on May 2021, when the EW of $H\alpha$ reached -44.6 \AA and H$\beta$ = -21.5 \AA. At the other extreme, the minimum of EW($H\alpha$)= -2.9 \AA was recorded in October 2023. After October 2023, the B-band emission brightened, suggesting a re-appearance of the orbital modulation. In addition to the optical data, we study the X-ray behaviour in the same period. We find a strong correlation between $EW(H\alpha)$ and X-ray flux with a correlation coefficient -0.78 and a significance of 2.6$\times 10^{-5}$., Comment: Accepted for publication in Bulgarian Astronomical Journal

Visual Question Answering (VQA) within the surgical domain, utilizing Large Language Models (LLMs), offers a distinct opportunity to improve intra-operative decision-making and facilitate intuitive surgeon-AI interaction. However, the development of LLMs for surgical VQA is hindered by the scarcity of diverse and extensive datasets with complex reasoning tasks. Moreover, contextual fusion of the image and text modalities remains an open research challenge due to the inherent differences between these two types of information and the complexity involved in aligning them. This paper introduces PitVQA, a novel dataset specifically designed for VQA in endonasal pituitary surgery and PitVQA-Net, an adaptation of the GPT2 with a novel image-grounded text embedding for surgical VQA. PitVQA comprises 25 procedural videos and a rich collection of question-answer pairs spanning crucial surgical aspects such as phase and step recognition, context understanding, tool detection and localization, and tool-tissue interactions. PitVQA-Net consists of a novel image-grounded text embedding that projects image and text features into a shared embedding space and GPT2 Backbone with an excitation block classification head to generate contextually relevant answers within the complex domain of endonasal pituitary surgery. Our image-grounded text embedding leverages joint embedding, cross-attention and contextual representation to understand the contextual relationship between questions and surgical images. We demonstrate the effectiveness of PitVQA-Net on both the PitVQA and the publicly available EndoVis18-VQA dataset, achieving improvements in balanced accuracy of 8% and 9% over the most recent baselines, respectively. Our code and dataset is available at https://github.com/mobarakol/PitVQA., Comment: 10 pages, 3 figures

We present high resolution (0.06 A/px) spectroscopic observations of the recurrent nova T Coronae Borealis obtained during the last 1.5 years (September 2022 -- January 2024), with the 2.0m RCC telecope of the Rozhen National Astronomical Observatory, Bulgaria. Double-peaked emission is visible in the H-alpha line after the end of the superactive state. We subtract the red giant contribution and measure the distance between the peaks ($\Delta v_a$) of the line. For the period July 2023 -- January 2024, we find that $\Delta v_a$ is in range $90 < \Delta v_a < 120$ km/s. Assuming that the emission is from the accretion disc around the white dwarf, we find average radius of the accretion disc $R_{disc} = 89 \pm 19$ R$_\odot$, which is approximately equal to the Roche lobe size of the white dwarf. Our results indicate that tidal torque plays an important role but that the disc can extend up to the Roche lobe of the accreting star., Comment: Astronomische Nachrichten (accepted)

In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently gained attention and amalgamated various 3D computer vision techniques, including camera localization, depth estimation, surface reconstruction, etc. Neural Radiance Fields (NeRFs) and Neural Implicit Surfaces (NeuS) have emerged as promising methodologies for deriving accurate 3D surface models from sets of registered images, addressing the limitations of existing colon reconstruction approaches stemming from constrained camera movement. However, the inadequate tissue texture representation and confused scale problem in monocular colonoscopic image reconstruction still impede the progress of the final rendering results. In this paper, we introduce a novel method for colon section reconstruction by leveraging NeuS applied to endoscopic images, supplemented by a single frame of depth map. Notably, we pioneered the exploration of utilizing only one frame depth map in photorealistic reconstruction and neural rendering applications while this single depth map can be easily obtainable from other monocular depth estimation networks with an object scale. Through rigorous experimentation and validation on phantom imagery, our approach demonstrates exceptional accuracy in completely rendering colon sections, even capturing unseen portions of the surface. This breakthrough opens avenues for achieving stable and consistently scaled reconstructions, promising enhanced quality in cancer screening procedures and treatment interventions.

This paper introduces a novel pipeline designed to bring ultrasound (US) plane pose estimation closer to clinical use for more effective navigation to the standard planes (SPs) in the fetal brain. We propose a semi-supervised segmentation model utilizing both labeled SPs and unlabeled 3D US volume slices. Our model enables reliable segmentation across a diverse set of fetal brain images. Furthermore, the model incorporates a classification mechanism to identify the fetal brain precisely. Our model not only filters out frames lacking the brain but also generates masks for those containing it, enhancing the relevance of plane pose regression in clinical settings. We focus on fetal brain navigation from 2D ultrasound (US) video analysis and combine this model with a US plane pose regression network to provide sensorless proximity detection to SPs and non-SPs planes; we emphasize the importance of proximity detection to SPs for guiding sonographers, offering a substantial advantage over traditional methods by allowing earlier and more precise adjustments during scanning. We demonstrate the practical applicability of our approach through validation on real fetal scan videos obtained from sonographers of varying expertise levels. Our findings demonstrate the potential of our approach to complement existing fetal US technologies and advance prenatal diagnostic practices., Comment: 11 pages, 5 figures

Within colorectal cancer diagnostics, conventional colonoscopy techniques face critical limitations, including a limited field of view and a lack of depth information, which can impede the detection of precancerous lesions. Current methods struggle to provide comprehensive and accurate 3D reconstructions of the colonic surface which can help minimize the missing regions and reinspection for pre-cancerous polyps. Addressing this, we introduce 'Gaussian Pancakes', a method that leverages 3D Gaussian Splatting (3D GS) combined with a Recurrent Neural Network-based Simultaneous Localization and Mapping (RNNSLAM) system. By introducing geometric and depth regularization into the 3D GS framework, our approach ensures more accurate alignment of Gaussians with the colon surface, resulting in smoother 3D reconstructions with novel viewing of detailed textures and structures. Evaluations across three diverse datasets show that Gaussian Pancakes enhances novel view synthesis quality, surpassing current leading methods with a 18% boost in PSNR and a 16% improvement in SSIM. It also delivers over 100X faster rendering and more than 10X shorter training times, making it a practical tool for real-time applications. Hence, this holds promise for achieving clinical translation for better detection and diagnosis of colorectal cancer., Comment: 12 pages, 5 figures

We performed optical photometry and spectral observations of the symbiotic stars 4U1954+319 and ZZ CMi. For 4U1954+319 using high-resolution spectra we measure the equivalent widths of diffuse interstellar bands and estimate the interstellar reddening E(B-V)=0.83 +/- 0.09. Using GAIA distances and our photometry, we find (1) absolute V band magnitude of 4U1954+319 M_V=-5.23 +/- 0.08 and that the mass donor is a supergiant of luminosity class Ib, and (2) for ZZ CMi M_V=-0.27 +/- 0.2 and that the mass donor is a giant of luminosity class III., Comment: submitted to Serbian Astronomical Journal

Sparse-grid methods have recently gained interest in reducing the computational cost of solving high-dimensional kinetic equations. In this paper, we construct adaptive and hybrid sparse-grid methods for the Vlasov-Poisson-Lenard-Bernstein (VPLB) model. This model has applications to plasma physics and is simulated in two reduced geometries: a 0x3v space homogeneous geometry and a 1x3v slab geometry. We use the discontinuous Galerkin (DG) method as a base discretization due to its high-order accuracy and ability to preserve important structural properties of partial differential equations. We utilize a multiwavelet basis expansion to determine the sparse-grid basis and the adaptive mesh criteria. We analyze the proposed sparse-grid methods on a suite of three test problems by computing the savings afforded by sparse-grids in comparison to standard solutions of the DG method. The results are obtained using the adaptive sparse-grid discretization library ASGarD.

Surgical tool segmentation and action recognition are fundamental building blocks in many computer-assisted intervention applications, ranging from surgical skills assessment to decision support systems. Nowadays, learning-based action recognition and segmentation approaches outperform classical methods, relying, however, on large, annotated datasets. Furthermore, action recognition and tool segmentation algorithms are often trained and make predictions in isolation from each other, without exploiting potential cross-task relationships. With the EndoVis 2022 SAR-RARP50 challenge, we release the first multimodal, publicly available, in-vivo, dataset for surgical action recognition and semantic instrumentation segmentation, containing 50 suturing video segments of Robotic Assisted Radical Prostatectomy (RARP). The aim of the challenge is twofold. First, to enable researchers to leverage the scale of the provided dataset and develop robust and highly accurate single-task action recognition and tool segmentation approaches in the surgical domain. Second, to further explore the potential of multitask-based learning approaches and determine their comparative advantage against their single-task counterparts. A total of 12 teams participated in the challenge, contributing 7 action recognition methods, 9 instrument segmentation techniques, and 4 multitask approaches that integrated both action recognition and instrument segmentation. The complete SAR-RARP50 dataset is available at: https://rdr.ucl.ac.uk/projects/SARRARP50_Segmentation_of_surgical_instrumentation_and_Action_Recognition_on_Robot-Assisted_Radical_Prostatectomy_Challenge/191091

In this paper, we introduce Active Learning framework in Federated Learning for Target Domain Generalisation, harnessing the strength from both learning paradigms. Our framework, FEDALV, composed of Active Learning (AL) and Federated Domain Generalisation (FDG), enables generalisation of an image classification model trained from limited source domain client's data without sharing images to an unseen target domain. To this end, our FDG, FEDA, consists of two optimisation updates during training, one at the client and another at the server level. For the client, the introduced losses aim to reduce feature complexity and condition alignment, while in the server, the regularisation limits free energy biases between source and target obtained by the global model. The remaining component of FEDAL is AL with variable budgets, which queries the server to retrieve and sample the most informative local data for the targeted client. We performed multiple experiments on FDG w/ and w/o AL and compared with both conventional FDG baselines and Federated Active Learning baselines. Our extensive quantitative experiments demonstrate the superiority of our method in accuracy and efficiency compared to the multiple contemporary methods. FEDALV manages to obtain the performance of the full training target accuracy while sampling as little as 5% of the source client's data.

Let $K$ and $L$ be two disjoint unions of strictly convex obstacles contained within a Riemannian manifold with boundary $S$ of dimension $m\geq 2$. The sets of travelling times $\mathcal{T}_K$ and $\mathcal{T}_L$ of $K$ and $L$, respectively, are composed of triples $(x,y,t)\in\partial S\times\partial S\times\mathbb{R}^+$ where $t$ is the length of a billiard trajectory with endpoints $x$ and $y$ that reflects elastically on $K$ (or $L$ for $(x,y,t)\in\mathcal{T}_L$). It has been shown (arXiv:2309.11141) that (under some natural curvature bounds on $S$) if $\mathcal{T}_K=\mathcal{T}_L$ and $K$ and $L$ were equivalent up to tangency then $K = L$. In this paper we remove this requirement for $K$ and $L$, and show that if $\mathcal{T}_K = \mathcal{T}_L$ then $K = L$ whenever $m\geq 3$.

Thermal fatigue is a common failure mode in electronic solder joints, yet the role of microstructure is incompletely understood. Here, we quantify the evolution of microstructure and damage in Sn-3Ag-0.5Cu joints throughout a ball grid array (BGA) package using EBSD mapping of localised subgrains, recrystallisation and heavily coarsened Ag3Sn. We then interpret the results with a multi-scale modelling approach that links from a continuum model at the package/board scale through to a crystal plasticity finite element model at the microstructure scale. We measure and explain the dependence of damage evolution on (i) the beta-Sn crystal orientation(s) in single and multigrain joints, and (ii) the coefficient of thermal expansion (CTE) mismatch between tin grains in cyclic twinned multigrain joints. We further explore the relative importance of the solder microstructure versus the joint location in the array. The results provide a basis for designing optimum solder joint microstructures for thermal fatigue resistance.

Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first manipulate the object into a configuration that affords a grasp. We solve this problem by learning a sequence of actions that utilize the environment to change the object's pose. Concretely, we employ hierarchical reinforcement learning to combine a sequence of learned parameterized manipulation primitives. By learning the low-level manipulation policies, our approach can control the object's state through exploiting interactions between the object, the gripper, and the environment. Designing such a complex behavior analytically would be infeasible under uncontrolled conditions, as an analytic approach requires accurate physical modeling of the interaction and contact dynamics. In contrast, we learn a hierarchical policy model that operates directly on depth perception data, without the need for object detection, pose estimation, or manual design of controllers. We evaluate our approach on picking box-shaped objects of various weight, shape, and friction properties from a constrained table-top workspace. Our method transfers to a real robot and is able to successfully complete the object picking task in 98\% of experimental trials. Supplementary information and videos can be found at https://shihminyang.github.io/ED-PMP/., Comment: 2024 IEEE International Conference on Robotics and Automation (ICRA 2024)