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Robotic surgical assistants offer the possibility of automating portions of a task that are time consuming and tedious in order to reduce the cognitive workload of a surgeon. This paper proposes using programming by demonstration to build generative models and generate smooth trajectories that capture the underlying structure of the motion data recorded from expert demonstrations. Specifically, motion...
The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond...
Autonomous decision making modules in computer vision application allow recognition and classification of different objects, persons, and events in images and video sequences and also make it possible to classify different sensor readings (e.g. images) according to their scientific saliencies. In this paper, we propose a new approach to create the training set for these algorithms by retrieving salient...
Wireless Capsule Endoscopy (WCE) is a revolutionary technology that allows physicians to examine the patients whole gastrointestinal tract, especially the small intestine. However, reviewing capsule endoscopic video is a labor intensive task and very time consuming. In this paper we propose a novel method to detect key frames with abnormalities. It is based on the adaptive non-parametric corner detection...
An automatic detector that finds circular dining plates in chronically recorded images or videos is reported for the study of food intake and obesity. We first detect edges from input images. After a number of processing steps that convert edges into curves, arc filtering and grouping algorithms are applied. Then, convex hulls are identified and the ones that fit the description of ellipses corresponding...
Conducting research on lipid vesicles is very convenient, since they provide a stable and controllable environment for in vitro observations. Their resemblance to biological cell membranes allows biologists to assess hazardous potential of nanoparticles by exposing the vesicles instead of live organisms. When considering behavior of vesicles during incubation with nanoparticles, majority of existing...
Video-oculography (VOG) is a frequently used clinical technique to detect eye movements. In this research, head mounted small video-cameras and IR-illumination are employed to image the eye. Many algorithms have been developed to extract horizontal and vertical eye movements from the video images. Designing a method to determine torsional eye movements is a more complex task. The use of IR-wavelengths...
The detection of body movements during MR examination could help in reducing motion artifacts or to get patient responses during functional magnetic resonance. It can be supported by a slit scanner, that combines a camera with a light stripe projector to obtain 3D coordinates of points forming the external surface of the body. In this work we propose a slit scanner prototype based on a miniaturized...
A device capable of continuously monitoring an individual's levels of alertness in real-time is highly desirable for preventing drowsiness and microsleep related accidents. This paper presents a development of non-intrusive and light-insensitive video-based system that uses computer-vision methods to measure facial metric for identifying visible facial signs of drowsiness and behavioral microsleep...
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