To solve the safety problems caused by the restriction of interaction space and the singular configuration of rehabilitation robot in terminal traction upper limb rehabilitation training, a trajectory planning and tracking control scheme for rehabilitation training is proposed. The human-robot safe interaction space was obtained based on kinematics modeling and rehabilitation theory, and the training trajectory was planned based on the occupational therapy in rehabilitation medicine. The singular configuration of the rehabilitation robot in the interaction space was avoided by exponential adaptive damped least square method. Then, a nonlinear controller for the upper limb rehabilitation robot was designed based on the backstepping control method. Radial basis function neural network was used to approximate the robot model information online to achieve model-free control. The stability of the controller was proved by Lyapunov stability theory. Experimental results demonstrate the effectiveness and superiority of the proposed singular avoidance control scheme.
Colorectal cancer (CRC) is a common malignant tumor that seriously threatens human health. CRC presents a formidable challenge in terms of accurate identification due to its indistinct boundaries. With the widespread adoption of convolutional neural networks (CNNs) in image processing, leveraging CNNs for automatic classification and segmentation holds immense potential for enhancing the efficiency of colorectal cancer recognition and reducing treatment costs. This paper explores the imperative necessity for applying CNNs in clinical diagnosis of CRC. It provides an elaborate overview on research advancements pertaining to CNNs and their improved models in CRC classification and segmentation. Furthermore, this work summarizes the ideas and common methods for optimizing network performance and discusses the challenges faced by CNNs as well as future development trends in their application towards CRC classification and segmentation, thereby promoting their utilization within clinical diagnosis.
Cardiotocography (CTG) is a non-invasive and important tool for diagnosing fetal distress during pregnancy. To meet the needs of intelligent fetal heart monitoring based on deep learning, this paper proposes a TWD-MOAL deep active learning algorithm based on the three-way decision (TWD) theory and multi-objective optimization Active Learning (MOAL). During the training process of a convolutional neural network (CNN) classification model, the algorithm incorporates the TWD theory to select high-confidence samples as pseudo-labeled samples in a fine-grained batch processing mode, meanwhile low-confidence samples annotated by obstetrics experts were also considered. The TWD-MOAL algorithm proposed in this paper was validated on a dataset of 16 355 prenatal CTG records collected by our group. Experimental results showed that the algorithm proposed in this paper achieved an accuracy of 80.63% using only 40% of the labeled samples, and in terms of various indicators, it performed better than the existing active learning algorithms under other frameworks. The study has shown that the intelligent fetal heart monitoring model based on TWD-MOAL proposed in this paper is reasonable and feasible. The algorithm significantly reduces the time and cost of labeling by obstetric experts and effectively solves the problem of data imbalance in CTG signal data in clinic, which is of great significance for assisting obstetrician in interpretations CTG signals and realizing intelligence fetal monitoring.
In order to overcome the shortcomings of high false positive rate and poor generalization in the detection of microcalcification clusters regions, this paper proposes a method combining discriminative deep belief networks (DDBNs) to automatically and quickly locate the regions of microcalcification clusters in mammograms. Firstly, the breast region was extracted and enhanced, and the enhanced breast region was segmented to overlapped sub-blocks. Then the sub-block was subjected to wavelet filtering. After that, DDBNs model for breast sub-block feature extraction and classification was constructed, and the pre-trained DDBNs was converted to deep neural networks (DNN) using a softmax classifier, and the network is fine-tuned by back propagation. Finally, the undetected mammogram was inputted to complete the location of suspicious lesions. By experimentally verifying 105 mammograms with microcalcifications from the Digital Database for Screening Mammography (DDSM), the method obtained a true positive rate of 99.45% and a false positive rate of 1.89%, and it only took about 16 s to detect a 2 888 × 4 680 image. The experimental results showed that the algorithm of this paper effectively reduced the false positive rate while ensuring a high positive rate. The detection of calcification clusters was highly consistent with expert marks, which provides a new research idea for the automatic detection of microcalcification clusters area in mammograms.
The human brain deteriorates as we age, and the rate and the trajectories of these changes significantly vary among brain regions and among individuals. Because neuroimaging data are potentially important indicators of individual's brain health, they are commonly used in brain age prediction. In this review, we summarize brain age prediction model from neuroimaging-based studies in the last ten years. The studies are categorized based on their image modalities and feature types. The results indicate that the prediction frameworks based on neuroimaging holds promise toward individualized brain age prediction. Finally, we addressed the challenges in brain age prediction and suggested some future research directions.
With the wide application of deep learning technology in disease diagnosis, especially the outstanding performance of convolutional neural network (CNN) in computer vision and image processing, more and more studies have proposed to use this algorithm to achieve the classification of Alzheimer’s disease (AD), mild cognitive impairment (MCI) and normal cognition (CN). This article systematically reviews the application progress of several classic convolutional neural network models in brain image analysis and diagnosis at different stages of Alzheimer’s disease, and discusses the existing problems and gives the possible development directions in order to provide some references.
A method was proposed to detect pulmonary nodules in low-dose computed tomography (CT) images by two-dimensional convolutional neural network under the condition of fine image preprocessing. Firstly, CT image preprocessing was carried out by image clipping, normalization and other algorithms. Then the positive samples were expanded to balance the number of positive and negative samples in convolutional neural network. Finally, the model with the best performance was obtained by training two-dimensional convolutional neural network and constantly optimizing network parameters. The model was evaluated in Lung Nodule Analysis 2016(LUNA16) dataset by means of five-fold cross validation, and each group's average model experiment results were obtained with the final accuracy of 92.3%, sensitivity of 92.1% and specificity of 92.6%.Compared with other existing automatic detection and classification methods for pulmonary nodules, all indexes were improved. Subsequently, the model perturbation experiment was carried out on this basis. The experimental results showed that the model is stable and has certain anti-interference ability, which could effectively identify pulmonary nodules and provide auxiliary diagnostic advice for early screening of lung cancer.
Lung cancer is one of the tumors with the highest incidence rate and mortality rate in the world. It is also the malignant tumor with the fastest growing number of patients, which seriously threatens human life. How to improve the accuracy of diagnosis and treatment of lung cancer and the survival prognosis is particularly important. Machine learning is a multi-disciplinary interdisciplinary specialty, covering the knowledge of probability theory, statistics, approximate theory and complex algorithm. It uses computer as a tool and is committed to simulating human learning methods, and divides the existing content into knowledge structures to effectively improve learning efficiency and being able to integrate computer science and statistics into medical problems. Through the introduction of algorithm to absorb the input data, and the application of computer analysis to predict the output value within the acceptable accuracy range, identify the patterns and trends in the data, and finally learn from previous experience, the development of this technology brings a new direction for the diagnosis and treatment of lung cancer. This article will review the performance and application prospects of different types of machine learning algorithms in the clinical diagnosis and survival prognosis analysis of lung cancer.
Focus on the inconsistency of the shape, location and size of brain glioma, a dual-channel 3-dimensional (3D) densely connected network is proposed to automatically segment brain glioma tumor on magnetic resonance images. Our method is based on a 3D convolutional neural network frame, and two convolution kernel sizes are adopted in each channel to extract multi-scale features in different scales of receptive fields. Then we construct two densely connected blocks in each pathway for feature learning and transmission. Finally, the concatenation of two pathway features was sent to classification layer to classify central region voxels to segment brain tumor automatically. We train and test our model on open brain tumor segmentation challenge dataset, and we also compared our results with other models. Experimental results show that our algorithm can segment different tumor lesions more accurately. It has important application value in the clinical diagnosis and treatment of brain tumor diseases.
Objective To systematically evaluate the diagnostic value of artificial intelligence assisted narrow-band imaging endoscopy diagnostic system for colorectal adenomatous polyps. Methods Pubmed, Embase, Web of Science, Cochrane Library, SinoMed, China National Knowledge Infrastructure, Chongqing VIP and Wanfang databases were searched. The diagnostic trials of the artificial intelligence assisted narrow-band imaging endoscopy diagnostic system for colorectal adenomatous polyps were comprehensively searched. The search time limit was from January 1, 2000 to October 31, 2022. The included studies were evaluated according to the Quality Assessment of Diagnostic Accuracy Studies-2, and the data were meta-analysed with RevMan 5.3, Meta-Disc 1.4 and Stata 13.0 statistical softwares. Results Finally, 11 articles were included, including 2178 patients. Meta-analysis results of the artificial intelligence assisted narrow-band imaging endoscopy diagnostic system for colorectal adenomatous polyps showed that the pooled sensitivity was 0.91, the pooled specificity was 0.88, the pooled positive likelihood ratio was 7.41, the pooled negative likelihood ratio was 0.10, the pooled diagnostic odds ratio was 76.45, and the area under the summary receiver operating characteristic curve was 0.957. Among them, 5 articles reported the diagnosis of small adenomatous polyps (diameter <5 mm) by the artificial intelligence assisted narrow-band imaging endoscopy diagnostic system. The results showed that the pooled sensitivity and the pooled specificity were 0.93 and 0.91, respectively, and the area under the summary receiver operating characteristic curve was 0.971. Five articles reported the accuracy of endoscopic diagnosis for adenomatous polyps of those with insufficient experience. The results showed that the pooled sensitivity and the pooled specificity were 0.84 and 0.76, respectively. The area under the summary receiver operating characteristic curve was 0.848. Compared with the artificial intelligence assisted narrow-band imaging endoscopy diagnostic system, the difference was statistically significant (Z=1.979, P=0.048). Conclusion The artificial intelligence assisted narrow-band imaging endoscopy diagnostic system has a high diagnostic accuracy, which can significantly improve the diagnostic accuracy for colorectal adenomatous polyps of those with insufficient endoscopic experience, and can effectively compensate for the adverse impact of their lack of endoscopic experience.