Mahdi Tavakoli

h-index32
2papers

2 Papers

CVOct 18, 2025
Cataract-LMM: Large-Scale, Multi-Source, Multi-Task Benchmark for Deep Learning in Surgical Video Analysis

Mohammad Javad Ahmadi, Iman Gandomi, Parisa Abdi et al.

The development of computer-assisted surgery systems depends on large-scale, annotated datasets. Current resources for cataract surgery often lack the diversity and annotation depth needed to train generalizable deep-learning models. To address this gap, we present a dataset of 3,000 phacoemulsification cataract surgery videos from two surgical centers, performed by surgeons with a range of experience levels. This resource is enriched with four annotation layers: temporal surgical phases, instance segmentation of instruments and anatomical structures, instrument-tissue interaction tracking, and quantitative skill scores based on the established competency rubrics like the ICO-OSCAR. The technical quality of the dataset is supported by a series of benchmarking experiments for key surgical AI tasks, including workflow recognition, scene segmentation, and automated skill assessment. Furthermore, we establish a domain adaptation baseline for the phase recognition task by training a model on a subset of surgical centers and evaluating its performance on a held-out center. The dataset and annotations are available in Google Form (https://docs.google.com/forms/d/e/1FAIpQLSfmyMAPSTGrIy2sTnz0-TMw08ZagTimRulbAQcWdaPwDy187A/viewform?usp=dialog).

ROOct 14, 2020
Adaptive tracking control for task-based robot trajectory planning

Luis Trucios, Mahdi Tavakoli, Kim Adams

This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and end positions beforehand. The long-term goal is for children with disabilities to be able to control a robot to manipulate toys in a play environment, and for a helper to demonstrate the desired trajectories as the play tasks change. A relatively inexpensive 3-DOF haptic device made by Novint is used to perform tasks where trajectories of the end-effector are demonstrated and reproduced. Under the condition where the end-effector carries different loads, conventional control systems possess the potential issue that they cannot compensate for the load variation effect. Adaptive tracking control can handle the above issue. Using the Lyapunov stability theory, a set of update laws are derived to give closed-loop stability with proper tracking performance.