Ning Zhong

Open-H-Embodiment Consortium, Nigel Nelson, Juo-Tung Chen et al.

Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem: existing medical robotic datasets are small, single-embodiment, and rarely shared openly, restricting the development of foundation models that the field needs to advance. We introduce Open-H-Embodiment, the largest open dataset of medical robotic video with synchronized kinematics to date, spanning more than 49 institutions and multiple robotic platforms including the CMR Versius, Intuitive Surgical's da Vinci, da Vinci Research Kit (dVRK), Rob Surgical BiTrack, Virtual Incision's MIRA, Moon Surgical Maestro, and a variety of custom systems, spanning surgical manipulation, robotic ultrasound, and endoscopy procedures. We demonstrate the research enabled by this dataset through two foundation models. GR00T-H is the first open foundation vision-language-action model for medical robotics, which is the only evaluated model to achieve full end-to-end task completion on a structured suturing benchmark (25% of trials vs. 0% for all others) and achieves 64% average success across a 29-step ex vivo suturing sequence. We also train Cosmos-H-Surgical-Simulator, the first action-conditioned world model to enable multi-embodiment surgical simulation from a single checkpoint, spanning nine robotic platforms and supporting in silico policy evaluation and synthetic data generation for the medical domain. These results suggest that open, large-scale medical robot data collection can serve as critical infrastructure for the research community, enabling advances in robot learning, world modeling, and beyond.

Weiheng Yao, Zhihan Lyu, Mufti Mahmud et al.

Multi-modal neuroimaging analysis is crucial for a comprehensive understanding of brain function and pathology, as it allows for the integration of different imaging techniques, thus overcoming the limitations of individual modalities. However, the high costs and limited availability of certain modalities pose significant challenges. To address these issues, this paper proposes the Condition-Aligned Temporal Diffusion (CATD) framework for end-to-end cross-modal synthesis of neuroimaging, enabling the generation of functional magnetic resonance imaging (fMRI)-detected Blood Oxygen Level Dependent (BOLD) signals from more accessible Electroencephalography (EEG) signals. By constructing Conditionally Aligned Block (CAB), heterogeneous neuroimages are aligned into a latent space, achieving a unified representation that provides the foundation for cross-modal transformation in neuroimaging. The combination with the constructed Dynamic Time-Frequency Segmentation (DTFS) module also enables the use of EEG signals to improve the temporal resolution of BOLD signals, thus augmenting the capture of the dynamic details of the brain. Experimental validation demonstrates that the framework improves the accuracy of brain activity state prediction by 9.13% (reaching 69.8%), enhances the diagnostic accuracy of brain disorders by 4.10% (reaching 99.55%), effectively identifies abnormal brain regions, enhancing the temporal resolution of BOLD signals. The proposed framework establishes a new paradigm for cross-modal synthesis of neuroimaging by unifying heterogeneous neuroimaging data into a latent representation space, showing promise in medical applications such as improving Parkinson's disease prediction and identifying abnormal brain regions.

Mengya Xu, Rulin Zhou, An Wang et al.

Intraoperative bleeding during Endoscopic Submucosal Dissection (ESD) poses significant risks, demanding precise, real-time localization and continuous monitoring of the bleeding source for effective hemostatic intervention. In particular, endoscopists have to repeatedly flush to clear blood, allowing only milliseconds to identify bleeding sources, an inefficient process that prolongs operations and elevates patient risks. However, current Artificial Intelligence (AI) methods primarily focus on bleeding region segmentation, overlooking the critical need for accurate bleeding source detection and temporal tracking in the challenging ESD environment, which is marked by frequent visual obstructions and dynamic scene changes. This gap is widened by the lack of specialized datasets, hindering the development of robust AI-assisted guidance systems. To address these challenges, we introduce BleedOrigin-Bench, the first comprehensive ESD bleeding source dataset, featuring 1,771 expert-annotated bleeding sources across 106,222 frames from 44 procedures, supplemented with 39,755 pseudo-labeled frames. This benchmark covers 8 anatomical sites and 6 challenging clinical scenarios. We also present BleedOrigin-Net, a novel dual-stage detection-tracking framework for the bleeding source localization in ESD procedures, addressing the complete workflow from bleeding onset detection to continuous spatial tracking. We compare with widely-used object detection models (YOLOv11/v12), multimodal large language models, and point tracking methods. Extensive evaluation demonstrates state-of-the-art performance, achieving 96.85% frame-level accuracy ($\pm\leq8$ frames) for bleeding onset detection, 70.24% pixel-level accuracy ($\leq100$ px) for initial source detection, and 96.11% pixel-level accuracy ($\leq100$ px) for point tracking.

Qiankun Zuo, Baiying Lei, Ning Zhong et al.

Integrating the brain structural and functional connectivity features is of great significance in both exploring brain science and analyzing cognitive impairment clinically. However, it remains a challenge to effectively fuse structural and functional features in exploring the brain network. In this paper, a novel brain structure-function fusing-representation learning (BSFL) model is proposed to effectively learn fused representation from diffusion tensor imaging (DTI) and resting-state functional magnetic resonance imaging (fMRI) for mild cognitive impairment (MCI) analysis. Specifically, the decomposition-fusion framework is developed to first decompose the feature space into the union of the uniform and the unique spaces for each modality, and then adaptively fuse the decomposed features to learn MCI-related representation. Moreover, a knowledge-aware transformer module is designed to automatically capture local and global connectivity features throughout the brain. Also, a uniform-unique contrastive loss is further devised to make the decomposition more effective and enhance the complementarity of structural and functional features. The extensive experiments demonstrate that the proposed model achieves better performance than other competitive methods in predicting and analyzing MCI. More importantly, the proposed model could be a potential tool for reconstructing unified brain networks and predicting abnormal connections during the degenerative processes in MCI.

Yan Li, Ning Zhong, David Taniar et al.

Motor imagery classification is of great significance to humans with mobility impairments, and how to extract and utilize the effective features from motor imagery electroencephalogram(EEG) channels has always been the focus of attention. There are many different methods for the motor imagery classification, but the limited understanding on human brain requires more effective methods for extracting the features of EEG data. Graph neural networks(GNNs) have demonstrated its effectiveness in classifying graph structures; and the use of GNN provides new possibilities for brain structure connection feature extraction. In this paper we propose a novel graph neural network based on the mutual information of the raw EEG channels called MutualGraphNet. We use the mutual information as the adjacency matrix combined with the spatial temporal graph convolution network(ST-GCN) could extract the transition rules of the motor imagery electroencephalogram(EEG) channels data more effectively. Experiments are conducted on motor imagery EEG data set and we compare our model with the current state-of-the-art approaches and the results suggest that MutualGraphNet is robust enough to learn the interpretable features and outperforms the current state-of-the-art methods.