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Tumor localization using automated palpation with Gaussian Process Adaptive Sampling

Animesh Garg, Siddarth Sen, Rishi Kapadia, Yiming Jen, Stephen McKinley, Lauren Miller, Ken Goldberg
2016 2016 IEEE International Conference on Automation Science and Engineering (CASE)  
We formulate the tumor boundary localization problem in terms of Bayesian optimization along implicit curves defined by a Gaussian Process representation of estimated tissue stiffness.  ...  Automated haptic palpation has the potential to precisely estimate the geometry of embedded tumors during robot-assisted minimally invasive surgery.  ...  We propose an algorithm for autonomous tumor localization using palpation based on Gaussian process adaptive sampling along implicit curves defined by stiffness measurements.  ... 
doi:10.1109/coase.2016.7743380 dblp:conf/case/GargSKJMMG16 fatcat:fooinacq6veiliqq6aajgwiqom

A surgical system for automatic registration, stiffness mapping and dynamic image overlay [article]

Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
2017 arXiv   pre-print
An active level set estimation is then used to find the location and the shape of the tumors. We use a recently developed miniature force sensor to perform the palpation.  ...  In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality  ...  The framework that we use for localizing tumors utilizes Gaussian processes (GP) to model the stiffness distribution combined with a GP-based acquisition function to direct where to sample next for efficient  ... 
arXiv:1711.08828v1 fatcat:nvpzslmjkvahxhb7c3stsii33a

A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information

Nicolas Zevallos, Arun Srivatsan Rangaprasad, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
2018 Robotics: Science and Systems XIV  
An active level set estimation is then used to find the location and shape of the tumors. We use a recently developed miniature force sensor to perform the palpation.  ...  Once localized, the phantom is tracked in real time and augmented with overlaid stiffness information in 3D.  ...  The framework that we use for localizing tumors utilizes Gaussian processes (GP) to model the stiffness distribution combined with a GP-based acquisition function to direct where to sample next for efficient  ... 
doi:10.15607/rss.2018.xiv.026 dblp:conf/rss/ZevallosRSLQSXP18 fatcat:ffcehsjelfffpghixj5qdn7d3a

Recognition of the pattern in ultrasonic sectional pictures of the prostate for tumor diagnosis

G Wessels, W von Seelen, A Gaca, E Loch, W Scheiding, H Lorenz
1979 Medical Progress Through Technology  
The palpation finding was used as a reference in most cases.  ...  To diagnose tumorous alterations of the prostate, we examined the organ with ultrasonics by scanning directly from the abdominal wall through the filled bladder (transvesical).  ...  The decisions on a correct or incorrect classifica- tion in the adaptive process described above were based on the physician’s palpation findings.  ... 
pmid:431508 fatcat:3pk55fffznd7xfdaiy6oqk4ztq

Visual and tactile feedback for a direct-manipulating tactile sensor in laparoscopic palpation

Tomohiro Fukuda, Yoshihiro Tanaka, Astrid M.L. Kappers, Michitaka Fujiwara, Akihito Sano
2017 International Journal of Medical Robotics and Computer Assisted Surgery  
For instance, automated palpation systems with a Gaussian process adaptive sampling [4] , a force modulation strategy abstracted from human manual palpation [5] , machine learning algorithms [6] , and  ...  For laparoscopic palpation, a tactile sensor using an optical sensing scheme [14] , a grasper with multiple force-sensing elements [15] , palpation probes with a pressure sensing array [16, 17] , a  ... 
doi:10.1002/rcs.1879 pmid:29266695 fatcat:opm54nsuxrfdfeiyi6jgoixjk4

A step toward computer-assisted mammography using evolutionary programming and neural networks

David B. Fogel, Eugene C. Wasson, Edward M. Boughton, Vincent W. Porto
1997 Cancer Letters  
In the current study. evolutionary programming is used to train artificial neural networks to detect breast cancer using radiographic features and patient age.  ...  Artificial intelligence techniques can be used to provide a second opinion in medical settings.  ...  as the ratio of two independent standard Gaussian random variables).  ... 
doi:10.1016/s0304-3835(97)00259-0 pmid:18372527 fatcat:ghlf2n7zhfg73hqsrwq6zpxiwa

Computer-Assisted Analysis of Biomedical Images [article]

Leonardo Rundo
2021 arXiv   pre-print
In this regard, frameworks based on advanced Machine Learning and Computational Intelligence can significantly improve traditional Image Processing and Pattern Recognition approaches.  ...  In conclusion, the ultimate goal of these research studies is to gain clinically and biologically useful insights that can guide differential diagnosis and therapies, leading towards biomedical data integration  ...  using local adaptive thresholding and black-masking (image with superimposed red contour and masked with the achieved segmentation, respectively); (c1, f1) and (c2, f2) colonies detected using local adaptive  ... 
arXiv:2106.04381v1 fatcat:osqiyd3sbja3zgrby7bf4eljfm

Evaluation of wavelength ranges and tissue depth probed by diffuse reflectance spectroscopy for colorectal cancer detection

Marcelo Saito Nogueira, Siddra Maryam, Michael Amissah, Huihui Lu, Noel Lynch, Shane Killeen, Micheal O'Riordain, Stefan Andersson-Engels
2021 Scientific Reports  
Quadratic SVMs were used and performance was evaluated using twofold cross-validation on 10 iterations of randomized training and test sets.  ...  Our dataset consists of 2889 diffuse reflectance spectra collected from freshly excised ex vivo tissues of 47 patients over wavelengths ranging from 350 and 1919 nm with source-detector distances of 630  ...  Acknowledgements We acknowledge Eduardo Moriyama for the advice and logistics of the project associated with this manuscript, Shree Krishnamoorthy for the discussions on the same project, Haiyang Li for  ... 
doi:10.1038/s41598-020-79517-2 pmid:33436684 fatcat:vywtv4tunbbhjpbi37iuqkehb4

Can a Soft Robotic Probe Use Stiffness Control Like a Human Finger to Improve Efficacy of Haptic Perception?

Nantachai Sornkarn, Thrishantha Nanayakkara
2017 IEEE Transactions on Haptics  
, such as in tumor localization in minimally invasive surgery.  ...  To address this question, we used a soft robotic probe with a controllable stiffness joint and a force sensor mounted at the base to represent the function of the tendon in a biological finger.  ...  The identical set of phantoms with different nodule depths used in training phase were presented to the subject one at a time in a random order (with 5 repetitions per each phantom sample) to avoid any  ... 
doi:10.1109/toh.2016.2615924 pmid:27775537 fatcat:kexndk7rxbdd3dytdzz4ek5oqq

Computer-aided diagnosis: detection and localization of prostate cancer within the peripheral zone

Andrik Rampun, Zhili Chen, Paul Malcolm, Bernie Tiddeman, Reyer Zwiggelaar
2015 International Journal for Numerical Methods in Biomedical Engineering  
We extract four image features using Gaussian and median filters. Subsequently, we use each image feature separately to generate binary segmentations.  ...  Secondly, the development of the proposed method and its application in prostate cancer detection and localisation using a single MRI modality with the results comparable to the state-of-the-art multi-modality  ...  One common problem with DRE is if a tumor is located away from the rectal wall, the physician will not be able to palpate it.  ... 
doi:10.1002/cnm.2745 pmid:26313267 fatcat:wavimncnhjba5lzyw2qxdjcxmm

A study on the value of computer-assisted assessment for SPECT/CT-scans in sentinel lymph node diagnostics of penile cancer as well as clinical reliability and morbidity of this procedure

Ulf Lützen, Carsten Maik Naumann, Marlies Marx, Yi Zhao, Michael Jüptner, René Baumann, László Papp, Norbert Zsótér, Alexey Aksenov, Klaus-Peter Jünemann, Maaz Zuhayra
2016 Cancer Imaging  
tomography/computed tomography (SPECT/CT)-data, which has been used for the first time for lymph node staging in penile cancer with non-palpable inguinal lymph nodes.  ...  Because of the increasing importance of computer-assisted post processing of image data in modern medical diagnostic we studied the value of an algorithm for assessment of single photon emission computed  ...  After histological processing, an in sano resection (R0) with respect to the primary tumor was proven.  ... 
doi:10.1186/s40644-016-0087-z pmid:27604900 pmcid:PMC5015237 fatcat:cltv2vftprhlddfzvjtpoabipy

Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

Nicolas Herzig, Liang He, Perla Maiolino, Sara-Adela Abad, Thrishantha Nanayakkara, Tommaso Ranzani
2020 PLoS ONE  
This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe.  ...  This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the  ...  [35] also used a point by point method with a Gaussian process adaptive sampling in order to estimate the shape of the stiff inclusion efficiently. Using point by point strategy, Hoshi et al.  ... 
doi:10.1371/journal.pone.0237379 pmid:32780753 fatcat:hrfrydb3rnhdrnxjhaslfwyxkq

2018 Index IEEE Transactions on Biomedical Engineering Vol. 65

2018 IEEE Transactions on Biomedical Engineering  
., Multiclass Classification of Word Imagination Speech With Hybrid Connectivity Features; TBME Oct. 2168Oct. -2177  ...  ., Using Machine Learning and a Combination of Respiratory Flow, Laryngeal Motion, and Swallowing Sounds to Classify Safe and Unsafe Swallowing; TBME Nov.  ...  ., +, TBME Jan. 2018 52-63 Personalized Risk Scoring for Critical Care Prognosis Using Mixtures of Gaussian Processes.  ... 
doi:10.1109/tbme.2018.2890522 fatcat:xoblnegncrgmbmiu3r3hxntrxy

Deformable registration of the inflated and deflated lung in cone-beam CT-guided thoracic surgery: Initial investigation of a combined model- and image-driven approach

Ali Uneri, Sajendra Nithiananthan, Sebastian Schafer, Yoshito Otake, J. Webster Stayman, Gerhard Kleinszig, Marc S. Sussman, Jerry L. Prince, Jeffrey H. Siewerdsen
2012 Medical Physics (Lancaster)  
Results: The combined model-and image-driven registration process demonstrated accuracy consistent with the requirements of minimally invasive VATS in both target localization (∼3-5 mm within the target  ...  ), the authors propose the use of intraoperative cone-beam CT (CBCT) and deformable image registration to guide targeting of small tumors in video-assisted thoracic surgery (VATS).  ...  ACKNOWLEDGMENTS Research was conducted with support by National Institutes of Health (NIH) R01-CA-127444 and academicindustry partnership with Siemens Healthcare (XP, Erlangen, Germany).  ... 
doi:10.1118/1.4767757 pmid:23298134 pmcid:PMC3537709 fatcat:fdc3mtgtejgi3gvfkbfein4eli

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery.  ...  Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a "Learning By Observation" (LBO) approach where we identify, segment, and parameterize sub-trajectories ("surgemes") and sensor  ...  The DVRK platform has been used by a number of groups for tasks like tissue palpation using an ultrasound probe for tumor detection [6] and autonomous tool tracking in ultrasound images using an auxiliary  ... 
doi:10.1109/icra.2015.7139344 dblp:conf/icra/MuraliSKGMPBLAG15 fatcat:mmj3ln4ydzau7fjktwfqa2knk4
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