A dual-instrument Kalman-based tracker to enhance robustness of microsurgical tools tracking.

PURPOSE: The integration of a surgical robotic instrument tracking module within optical microscopes holds the potential to advance microsurgery practices, as it facilitates automated camera movements, thereby augmenting the surgeon's capability in executing surgical procedures. METHODS: In the present work, an innovative detection backbone based on spatial attention module is implemented to enhance the detection accuracy of small objects within the image. Additionally, we have introduced a robust data association technique, capable to re-track surgical instrument, mainly based on the knowledge of the dual-instrument robotics system, Intersection over Union metric and Kalman filter. RESULTS: The effectiveness of this pipeline was evaluated through testing on a dataset comprising ten manually annotated videos of anastomosis procedures involving either animal or phantom vessels, exploiting the Symani®Surgical System-a dedicated robotic platform designed for microsurgery. The multiple object tracking precision (MOTP) and the multiple object tracking accuracy (MOTA) are used to evaluate the performance of the proposed approach, and a new metric is computed to demonstrate the efficacy in stabilizing the tracking result along the video frames. An average MOTP of 74±0.06% and a MOTA of 99±0.03% over the test videos were found. CONCLUSION: These results confirm the potential of the proposed approach in enhancing precision and reliability in microsurgical instrument tracking. Thus, the integration of attention mechanisms and a tailored data association module could be a solid base for automatizing the motion of optical microscopes.

Fast Approximations of Activation Functions in Deep Neural Networks when using Posit Arithmetic.

With increasing real-time constraints being put on the use of Deep Neural Networks (DNNs) by real-time scenarios, there is the need to review information representation. A very challenging path is to employ an encoding that allows a fast processing and hardware-friendly representation of information. Among the proposed alternatives to the IEEE 754 standard regarding floating point representation of real numbers, the recently introduced Posit format has been theoretically proven to be really promising in satisfying the mentioned requirements. However, with the absence of proper hardware support for this novel type, this evaluation can be conducted only through a software emulation. While waiting for the widespread availability of the Posit Processing Units (the equivalent of the Floating Point Unit (FPU)), we can already exploit the Posit representation and the currently available Arithmetic-Logic Unit (ALU) to speed up DNNs by manipulating the low-level bit string representations of Posits. As a first step, in this paper, we present new arithmetic properties of the Posit number system with a focus on the configuration with 0 exponent bits. In particular, we propose a new class of Posit operators called L1 operators, which consists of fast and approximated versions of existing arithmetic operations or functions (e.g., hyperbolic tangent (TANH) and extended linear unit (ELU)) only using integer arithmetic. These operators introduce very interesting properties and results: (i) faster evaluation than the exact counterpart with a negligible accuracy degradation; (ii) an efficient ALU emulation of a number of Posits operations; and (iii) the possibility to vectorize operations in Posits, using existing ALU vectorized operations (such as the scalable vector extension of ARM CPUs or advanced vector extensions on Intel CPUs). As a second step, we test the proposed activation function on Posit-based DNNs, showing how 16-bit down to 10-bit Posits represent an exact replacement for 32-bit floats while 8-bit Posits could be an interesting alternative to 32-bit floats since their performances are a bit lower but their high speed and low storage properties are very appealing (leading to a lower bandwidth demand and more cache-friendly code). Finally, we point out how small Posits (i.e., up to 14 bits long) are very interesting while PPUs become widespread, since Posit operations can be tabulated in a very efficient way (see details in the text).

Differences in Action Style Recognition in Children with Autism Spectrum Disorders.

Vitality form is a term, originally introduced by Stern (2010), to describe "how" an action is performed. The capacity to perceive the vitality form of others' actions is a fundamental element of social interactions and a basic way of relating to and understanding others' behaviors. Although vitality forms characterize all human interactions, few studies have addressed their role in social and communicative disorders such as autism. The aim of the present study is to evaluate the ability to recognize different vitality forms during the observation of different motor actions in a group of children with autism spectrum disorders (ASD) compared to typically developing controls (TD). Results show a significant difference between children with ASD and TD in vitality forms recognition. This finding sheds new light on how children with ASD understand others' actions providing new ideas on overall social understanding as well as useful insights for professionals and caregivers alike.

Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion.

Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion. IMU based estimation was matched against motion tracking based on the Vicon marker-based motion tracking system considered as ground truth. Results show that all but one of the selected models perform similarly (about 35 mm average position estimation error).

Characterization of the disruption of neural control strategies for dynamic fingertip forces from attractor reconstruction.

The Strength-Dexterity (SD) test measures the ability of the pulps of the thumb and index finger to compress a compliant and slender spring prone to buckling at low forces (<3N). We know that factors such as aging and neurodegenerative conditions bring deteriorating physiological changes (e.g., at the level of motor cortex, cerebellum, and basal ganglia), which lead to an overall loss of dexterous ability. However, little is known about how these changes reflect upon the dynamics of the underlying biological system. The spring-hand system exhibits nonlinear dynamical behavior and here we characterize the dynamical behavior of the phase portraits using attractor reconstruction. Thirty participants performed the SD test: 10 young adults, 10 older adults, and 10 older adults with Parkinson's disease (PD). We used delayed embedding of the applied force to reconstruct its attractor. We characterized the distribution of points of the phase portraits by their density (number of distant points and interquartile range) and geometric features (trajectory length and size). We find phase portraits from older adults exhibit more distant points (p = 0.028) than young adults and participants with PD have larger interquartile ranges (p = 0.001), trajectory lengths (p = 0.005), and size (p = 0.003) than their healthy counterparts. The increased size of the phase portraits with healthy aging suggests a change in the dynamical properties of the system, which may represent a weakening of the neural control strategy. In contrast, the distortion of the attractor in PD suggests a fundamental change in the underlying biological system, and disruption of the neural control strategy. This ability to detect differences in the biological mechanisms of dexterity in healthy and pathological aging provides a simple means to assess their disruption in neurodegenerative conditions and justifies further studies to understand the link with the physiological changes.

Vitality Forms Processing in the Insula during Action Observation: A Multivoxel Pattern Analysis.

Observing the style of an action done by others allows the observer to understand the cognitive state of the agent. This information has been defined by Stern "vitality forms". Previous experiments showed that the dorso-central insula is selectively active both during vitality form observation and execution. In the present study, we presented participants with videos showing hand actions performed with different velocities and asked them to judge either their vitality form (gentle, neutral, rude) or their velocity (slow, medium, fast). The aim of the present study was to assess, using multi-voxel pattern analysis, whether vitality forms and velocities of observed goal-directed actions are differentially processed in the insula, and more specifically whether action velocity is encoded per se or it is an element that triggers neural populations of the insula encoding the vitality form. The results showed that, consistently across subjects, in the dorso-central sector of the insula there were voxels selectively tuned to vitality forms, while voxel tuned to velocity were rare. These results indicate that the dorso-central insula, which previous data showed to be involved in the vitality form processing, contains voxels specific for the action style processing.

Human motion energy harvesting using a piezoelectric MFC patch.

The improvements in efficiency of electronic components and miniaturization is quickly pushing wearable devices. Kinetic human energy harvesting is a way to power these components reducing the need of batteries replacement since walking or running is how humans already expend much of their daily energy. This work explores the case of kinetic energy from bending of a piezoelectric patch. For assessing the quality of the system, a testing setup has been designed and controlled by means of knee joint recordings obtained from a large motion dataset. The promising result of the chosen patch is an output power of 2.6µW associated to a run activity.

Portable haptic interface with omni-directional movement and force capability.

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

Energy management using virtual reality improves 2000-m rowing performance.

Elite-standard rowers tend to use a fast-start strategy followed by an inverted parabolic-shaped speed profile in 2000-m races. This strategy is probably the best to manage energy resources during the race and maximise performance. This study investigated the use of virtual reality (VR) with novice rowers as a means to learn about energy management. Participants from an avatar group (n = 7) were instructed to track a virtual boat on a screen, whose speed was set individually to follow the appropriate to-be-learned speed profile. A control group (n = 8) followed an indoor training programme. In spite of similar physiological characteristics in the groups, the avatar group learned and maintained the required profile, resulting in an improved performance (i.e. a decrease in race duration), whereas the control group did not. These results suggest that VR is a means to learn an energy-related skill and improve performance.