Shi Chang

Chang Shi, Yi Zheng, Ann Majewicz Fey

Surgical activity recognition and prediction can help provide important context in many Robot-Assisted Surgery (RAS) applications, for example, surgical progress monitoring and estimation, surgical skill evaluation, and shared control strategies during teleoperation. Transformer models were first developed for Natural Language Processing (NLP) to model word sequences and soon the method gained popularity for general sequence modeling tasks. In this paper, we propose the novel use of a Transformer model for three tasks: gesture recognition, gesture prediction, and trajectory prediction during RAS. We modify the original Transformer architecture to be able to generate the current gesture sequence, future gesture sequence, and future trajectory sequence estimations using only the current kinematic data of the surgical robot end-effectors. We evaluate our proposed models on the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS) and use Leave-One-User-Out (LOUO) cross-validation to ensure the generalizability of our results. Our models achieve up to 89.3\% gesture recognition accuracy, 84.6\% gesture prediction accuracy (1 second ahead) and 2.71mm trajectory prediction error (1 second ahead). Our models are comparable to and able to outperform state-of-the-art methods while using only the kinematic data channel. This approach can enable near-real time surgical activity recognition and prediction.

Yuchen Wang, Zhongyu Li, Xiangxiang Cui et al.

Ultrasound examination is widely used in the clinical diagnosis of thyroid nodules (benign/malignant). However, the accuracy relies heavily on radiologist experience. Although deep learning techniques have been investigated for thyroid nodules recognition. Current solutions are mainly based on static ultrasound images, with limited temporal information used and inconsistent with clinical diagnosis. This paper proposes a novel method for the automated recognition of thyroid nodules through an exhaustive exploration of ultrasound videos and key-frames. We first propose a detection-localization framework to automatically identify the clinical key-frame with a typical nodule in each ultrasound video. Based on the localized key-frame, we develop a key-frame guided video classification model for thyroid nodule recognition. Besides, we introduce a motion attention module to help the network focus on significant frames in an ultrasound video, which is consistent with clinical diagnosis. The proposed thyroid nodule recognition framework is validated on clinically collected ultrasound videos, demonstrating superior performance compared with other state-of-the-art methods.

Jaejeong Shin, Shi Chang, Matthew Bays et al.

We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide representative images for use in training automated target recognition (ATR) and machine learning algorithms. The methods provide visual approximations for acoustic effects such as back-scatter noise and acoustic shadow, while allowing fast rendering with C++ actor in UE for maximizing the size of potential ATR training datasets. Additionally, we provide analysis of its utility as a replacement for actual sonar imagery or physics-based sonar data.

Xingyue Zhao, Peiqi Li, Xiangde Luo et al.

Automated nodule segmentation is essential for computer-assisted diagnosis in ultrasound images. Nevertheless, most existing methods depend on precise pixel-level annotations by medical professionals, a process that is both costly and labor-intensive. Recently, segmentation foundation models like SAM have shown impressive generalizability on natural images, suggesting their potential as pseudo-labelers. However, accurate prompts remain crucial for their success in medical images. In this work, we devise a novel weakly supervised framework that effectively utilizes the segmentation foundation model to generate pseudo-labels from aspect ration annotations for automatic nodule segmentation. Specifically, we develop three types of bounding box prompts based on scalable shape priors, followed by an adaptive pseudo-label selection module to fully exploit the prediction capabilities of the foundation model for nodules. We also present a SAM-driven uncertainty-aware cross-teaching strategy. This approach integrates SAM-based uncertainty estimation and label-space perturbations into cross-teaching to mitigate the impact of pseudo-label inaccuracies on model training. Extensive experiments on two clinically collected ultrasound datasets demonstrate the superior performance of our proposed method.

Xiangxiang Cui, Zhongyu Li, Xiayue Fan et al.

The intersection of medical imaging and artificial intelligence has become an important research direction in intelligent medical treatment, particularly in the analysis of medical images using deep learning for clinical diagnosis. Despite the advances, existing keyframe classification methods lack extraction of time series features, while ultrasonic video classification based on three-dimensional convolution requires uniform frame numbers across patients, resulting in poor feature extraction efficiency and model classification performance. This study proposes a novel video classification method based on CNN and LSTM, introducing NLP's long and short sentence processing scheme into video classification for the first time. The method reduces CNN-extracted image features to 1x512 dimension, followed by sorting and compressing feature vectors for LSTM training. Specifically, feature vectors are sorted by patient video frame numbers and populated with padding value 0 to form variable batches, with invalid padding values compressed before LSTM training to conserve computing resources. Experimental results demonstrate that our variable-frame CNNLSTM method outperforms other approaches across all metrics, showing improvements of 3-6% in F1 score and 1.5% in specificity compared to keyframe methods. The variable-frame CNNLSTM also achieves better accuracy and precision than equal-frame CNNLSTM. These findings validate the effectiveness of our approach in classifying variable-frame ultrasound videos and suggest potential applications in other medical imaging modalities.

Caleb Chuck, Fan Feng, Carl Qi et al.

Hindsight relabeling is a powerful tool for overcoming sparsity in goal-conditioned reinforcement learning (GCRL), especially in certain domains such as navigation and locomotion. However, hindsight relabeling can struggle in object-centric domains. For example, suppose that the goal space consists of a robotic arm pushing a particular target block to a goal location. In this case, hindsight relabeling will give high rewards to any trajectory that does not interact with the block. However, these behaviors are only useful when the object is already at the goal -- an extremely rare case in practice. A dataset dominated by these kinds of trajectories can complicate learning and lead to failures. In object-centric domains, one key intuition is that meaningful trajectories are often characterized by object-object interactions such as pushing the block with the gripper. To leverage this intuition, we introduce Hindsight Relabeling using Interactions (HInt), which combines interactions with hindsight relabeling to improve the sample efficiency of downstream RL. However because interactions do not have a consensus statistical definition tractable for downstream GCRL, we propose a definition of interactions based on the concept of null counterfactual: a cause object is interacting with a target object if, in a world where the cause object did not exist, the target object would have different transition dynamics. We leverage this definition to infer interactions in Null Counterfactual Interaction Inference (NCII), which uses a "nulling'' operation with a learned model to infer interactions. NCII is able to achieve significantly improved interaction inference accuracy in both simple linear dynamics domains and dynamic robotic domains in Robosuite, Robot Air Hockey, and Franka Kitchen and HInt improves sample efficiency by up to 4x.

Chang Shi, Nan Meng, Yipeng Zhuang et al.

Adolescent idiopathic scoliosis (AIS) is a common spinal deformity affecting approximately 2.2% of boys and 4.8% of girls worldwide. The Cobb angle serves as the gold standard for AIS severity assessment, yet traditional manual measurements suffer from significant observer variability, compromising diagnostic accuracy. Despite prior automation attempts, existing methods use simplified spinal models and predetermined curve patterns that fail to address clinical complexity. We present a novel deep learning framework for AIS assessment that simultaneously predicts both superior and inferior endplate angles with corresponding midpoint coordinates for each vertebra, preserving the anatomical reality of vertebral wedging in progressive AIS. Our approach combines an HRNet backbone with Swin-Transformer modules and biomechanically informed constraints for enhanced feature extraction. We employ Singular Value Decomposition (SVD) to analyze angle predictions directly from vertebral morphology, enabling flexible detection of diverse scoliosis patterns without predefined curve assumptions. Using 630 full-spine anteroposterior radiographs from patients aged 10-18 years with rigorous dual-rater annotation, our method achieved 83.45% diagnostic accuracy and 2.55° mean absolute error. The framework demonstrates exceptional generalization capability on out-of-distribution cases. Additionally, we introduce the Vertebral Wedging Index (VWI), a novel metric quantifying vertebral deformation. Longitudinal analysis revealed VWI's significant prognostic correlation with curve progression while traditional Cobb angles showed no correlation, providing robust support for early AIS detection, personalized treatment planning, and progression monitoring.

Caleb Chuck, Carl Qi, Michael J. Munje et al.

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of tasks, we introduce a dynamic, interactive RL testbed based on robot air hockey. By augmenting air hockey with a large family of tasks ranging from easy tasks like reaching, to challenging ones like pushing a block by hitting it with a puck, as well as goal-based and human-interactive tasks, our testbed allows a varied assessment of RL capabilities. The robot air hockey testbed also supports sim-to-real transfer with three domains: two simulators of increasing fidelity and a real robot system. Using a dataset of demonstration data gathered through two teleoperation systems: a virtualized control environment, and human shadowing, we assess the testbed with behavior cloning, offline RL, and RL from scratch.