Tag: ICRA2024

We are excited to share our paper “OSSAR: Towards Open-Set Surgical Activity Recognition in Robot-assisted Surgery” which has been accepted for IEEE International Conference on Robotics and Automation (ICRA) 2024!

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In this work, we tackle the challenge of open-set recognition in surgical robotics. Our novel OSSAR framework improves the ability to classify known surgical activities while also detecting unknown activities that weren’t seen during training.

Key contributions:

โ€ข A hyperspherical reciprocal point strategy to better separate known and unknown classes

โ€ข A calibration technique to reduce overconfident misclassifications 

โ€ข New open-set benchmarks on the JIGSAWS dataset and our novel DREAMS dataset for endoscopic procedures

โ€ข State-of-the-art performance on open-set surgical activity recognition tasks

This research takes an important step towards more robust and generalizable AI systems for surgical robots. We hope it will help pave the way for safer and more capable robot-assisted surgeries.

Thank all the amazing co-authors Long Bai, Guankun Wang, Jie Wang, Xiaoxiao Yang, Huxin Gao, Xin Liang, An Wang, Mobarakol Islam, and Hongliang Ren

and our institutions (The Chinese University of Hong Kong, Beijing Institute of Technology, Qilu Hospital of Shandong University, Tongji University, University College London, National University of Singapore) for their support.

You can find more details in our paper https://lnkd.in/gDsjVDSP

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We are happy to share our work entitled โ€œChained Flexible Capsule Endoscope: Unraveling the Conundrum of Size Limitations and Functional Integration for Gastrointestinal Transitivityโ€, will be presented in 2024 IEEE International Conference on Robotics and Automation (ICRA2024).

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Capsule endoscopes, predominantly serving diagnostic functions, provide lucid internal imagery but are devoid of surgical or therapeutic capabilities. Consequently, despite lesion detection, physicians frequently resort to traditional endoscopic or open surgical procedures for treatment, resulting in more complex, potentially risky interventions.

To surmount these limitations, this study introduces a chained flexible capsule endoscope (FCE) design concept, specifically conceived to navigate the inherent volume constraints of capsule endoscopes whilst augmenting their therapeutic functionalities. The FCEโ€™s distinctive flexibility originates from a conventional rotating joint design and the incision pattern in the flexible material. In vitro experiments validated the passive navigation ability of the FCE in rugged intestinal tracts. Further, the FCE demonstrates consistent reptile-like peristalsis under the influence of an external magnetic field, and possesses the capability for film expansion and disintegration under high-frequency electromagnetic stimulation. These findings illuminate a promising path toward amplifying the therapeutic capacities of capsule endoscopes without necessitating a size compromise.

Author team: Sishen YUAN, Guang Li, Baijia Liang, Lailu Li, Qingzhuo Zheng, and Prof Hongliang Ren from the Chinese University of Hong Kong, Prof Shuang Song from Harbin Institute of Technology, Shenzhen, and Dr Zhen Li from Qilu Hospital of Shandong University.

For details, please check the paper at https://lnkd.in/gcq2HB9H

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We are excited to share our recent work by Sishen Yuan et al., entitled โ€œMagnetic-Guided Flexible Origami Robot toward Long-Term Phototherapy of H. pylori in the Stomachโ€ presented in 2024 IEEE International Conference on Robotics and Automation (ICRA2024).

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Helicobacter pylori, a pervasive bacterial infection associated with gastrointestinal disorders such as gastritis, peptic ulcer disease, and gastric cancer, impacts approximately 50% of the global population. The efficacy of standard clinical eradication therapies is diminishing due to the rise of antibiotic-resistant strains, necessitating alternative treatment strategies. Photodynamic therapy (PDT) emerges as a promising prospect in this context.

This study presents the development and implementation of a magnetically-guided origami robot, incorporating flexible printed circuit units for sustained and stable phototherapy of Helicobacter pylori. Each integrated unit is equipped with wireless charging capabilities, producing an optimal power output that can concurrently illuminate up to 15 LEDs at their maximum intensity. Crucially, these units can be remotely manipulated via a magnetic field, facilitating both translational and rotational movements.

We propose an open-loop manual control sequence that allows the formation of a stable, compliant triangular structure through the interaction of internal magnets. This adaptable configuration is uniquely designed to withstand the dynamic squeezing environment prevalent in real-world gastric applications. The research herein represents a significant stride in leveraging technology for innovative medical solutions, particularly in the management of antibiotic-resistant Helicobacter pylori infections.

This is a collabrative work by Sishen YUAN, Baijia Liang, Po Wa Wong, Mingjing Xu, Chi Hsuan Li and Prof Hongliang Ren from The Chinese University of Hong Kong, and Dr. Zhen Li from Qilu Hospital of Shandong University.

For details, please check the paper at https://lnkd.in/g3VGZaA3

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