Diabetic Retinopathy (DR) is a leading cause of vision loss in the world, and early DR detection is necessary to prevent vision loss and support an appropriate treatment. In this work, we leverage interactive machine learning and introduce a joint learning framework, termed DRG-Net, to effectively learn both disease grading and multi-lesion segmentation. Our DRG-Net consists of two modules: (i) DRG-AI-System to classify DR Grading, localize lesion areas, and provide visual explanations; (ii) DRG-Expert-Interaction to receive feedback from user-expert and improve the DRG-AI-System. To deal with sparse data, we utilize transfer learning mechanisms to extract invariant feature representations by using Wasserstein distance and adversarial learning-based entropy minimization. Besides, we propose a novel attention strategy at both low- and high-level features to automatically select the most significant lesion information and provide explainable properties. In terms of human interaction, we further develop DRG-Net as a tool that enables expert users to correct the system's predictions, which may then be used to update the system as a whole. Moreover, thanks to the attention mechanism and loss functions constraint between lesion features and classification features, our approach can be robust given a certain level of noise in the feedback of users. We have benchmarked DRG-Net on the two largest DR datasets, i.e., IDRID and FGADR, and compared it to various state-of-the-art deep learning networks. In addition to outperforming other SOTA approaches, DRG-Net is effectively updated using user feedback, even in a weakly-supervised manner.

卷积神经网络（CNN）已在医学图像分割方面取得了有希望的结果。但是，CNN需要大量的培训数据，并且无法处理姿势和对象的变形。此外，它们的合并层倾向于丢弃重要信息，例如位置以及CNN对旋转和仿射转化敏感。胶囊网络是一种最新的新体系结构，通过用动态路由和卷积步伐替换池层来实现零件整体表示学习的更好的鲁棒性，这在流行任务（例如数字分类和对象细分）上显示了潜在的结果。在本文中，我们提出了一个带有卷积胶囊编码器（称为3DConvCaps）的3D编码器网络，以学习具有卷积层的低级特征（短距离注意），同时用胶囊建模更高级别的特征（远程依赖）层。我们在包括ISEG-2017，Hippocampus和Cardiac在内的多个数据集上进行的实验表明，我们的3D 3DConvcaps网络的表现非常优于先前的胶囊网络和3D-UNET。我们进一步进行了在卷积层和胶囊层的各种配置下在合同和扩展路径的各种配置下进行网络效率和分割性能的消融研究。

虽然磁共振成像（MRI）在婴儿脑分析中发挥了重要作用，但是将MRI分段为许多组织，例如灰质（GM），白质（WM）和脑脊液（CSF）是至关重要的，并且由于组织之间的极低强度对比度在6-9个月的年龄约6-9个月之间以及扩增的噪声，髓鞘，不完全体积。在本文中，我们通过开发一个名为Dam-al的新的深层学习模型来解决这些限制，其中包含两个主要贡献，即扩张注意机制和难以案例的注意力。我们的Dam-Al网络设计有跳过块层和焦点卷积。它在低级空间结构特征下，它在高级上下文特征和空间注意中包含通道。我们的注意力损失由与地区信息和硬样品对应的两个术语组成。我们拟议的Dam-Al已经在婴儿脑ISEG 2017数据集上进行了评估，并且在验证和测试集中进行了实验。我们在骰子系数和ASD指标上进行了基准测试了Dam-AL，并将其与最先进的方法进行了比较。

无人驾驶汽车（UAV）在许多领域都受雇于摄影，紧急，娱乐，国防，农业，林业，采矿和建筑。在过去的十年中，无人机技术在许多施工项目阶段中找到了应用程序，从现场映射，进度监控，建筑物检查，损坏评估和材料交付等等。尽管已经对无人机在各种施工相关的过程中的优势进行了广泛的研究，但关于提高任务能力和效率的无人机协作的研究仍然很少。本文提出了一种基于塔格狩猎游戏和粒子群优化（PSO）的多个无人机的新合作路径计划算法。首先，定义了每个无人机的成本函数，并包含多个目标和约束。然后，开发了无人机游戏框架，以将多功能路径计划制定到寻找回报优势均衡的问题。接下来，提出了基于PSO的算法来获得无人机的最佳路径。由三个无人机检查的大型建筑工地的仿真结果表明，在检查任务期间，提出的算法在为无人机形成的可行和高效飞行路径生成可行，高效的飞行路径上的有效性。

如今，越来越多的人被诊断出患有心血管疾病（CVD），这是全球死亡的主要原因。鉴定这些心脏问题的金标准是通过心电图（ECG）。标准的12铅ECG广泛用于临床实践和当前的大多数研究。但是，使用较少的铅可以使ECG更加普遍，因为它可以与便携式或可穿戴设备集成。本文介绍了两种新型技术，以提高当前深度学习系统的3铅ECG分类的性能，从而与使用标准12铅ECG训练的模型相提并论。具体而言，我们提出了一种以心跳回归数量的形式的多任务学习方案，以及将患者人口统计数据整合到系统中的有效机制。随着这两个进步，我们在两个大规模的ECG数据集（即Chapman和CPSC-2018）上以F1分数为0.9796和0.8140的分类性能，这些数据分别超过了当前最新的ECG分类方法，该方法超过了当前的ECG分类方法。甚至那些接受了12条铅数据的培训。为了鼓励进一步开发，我们的源代码可在https://github.com/lhkhiem28/lightx3ecg上公开获得。

最近的人工智能（AI）算法已在各种医学分类任务上实现了放射科医生级的性能。但是，只有少数研究涉及CXR扫描异常发现的定位，这对于向放射学家解释图像级分类至关重要。我们在本文中介绍了一个名为Vindr-CXR的可解释的深度学习系统，该系统可以将CXR扫描分类为多种胸部疾病，同时将大多数类型的关键发现本地化在图像上。 Vindr-CXR接受了51,485次CXR扫描的培训，并通过放射科医生提供的边界盒注释进行了培训。它表现出与经验丰富的放射科医生相当的表现，可以在3,000张CXR扫描的回顾性验证集上对6种常见的胸部疾病进行分类，而在接收器操作特征曲线（AUROC）下的平均面积为0.967（95％置信区间[CI]：0.958---------0.958------- 0.975）。 VINDR-CXR在独立患者队列中也得到了外部验证，并显示出其稳健性。对于具有14种类型病变的本地化任务，我们的自由响应接收器操作特征（FROC）分析表明，VINDR-CXR以每扫描确定的1.0假阳性病变的速率达到80.2％的敏感性。还进行了一项前瞻性研究，以衡量VINDR-CXR在协助六名经验丰富的放射科医生方面的临床影响。结果表明，当用作诊断工具时，提出的系统显着改善了放射科医生本身之间的一致性，平均Fleiss的Kappa的同意增加了1.5％。我们还观察到，在放射科医生咨询了Vindr-CXR的建议之后，在平均Cohen的Kappa中，它们和系统之间的一致性显着增加了3.3％。

Three main points: 1. Data Science (DS) will be increasingly important to heliophysics; 2. Methods of heliophysics science discovery will continually evolve, requiring the use of learning technologies [e.g., machine learning (ML)] that are applied rigorously and that are capable of supporting discovery; and 3. To grow with the pace of data, technology, and workforce changes, heliophysics requires a new approach to the representation of knowledge.

This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i) finding a visual feature representation that is robust to large rotations and is suited to be an optimization variable; (ii) keeping the target visible without sacrificing the robot's agility; and (iii) compensating for the rotational effects in the detected features. We propose a complete design framework to address these problems. First, we employ a rotation on $SO(3)$ to represent a spherical image feature on $S^{2}$ to gain singularity-free and second-order differentiable properties. To ensure target visibility, we formulate the IBVS as a nonlinear model predictive control (NMPC) problem with three constraints taken into account: the robot's physical limits, target visibility, and time-to-collision (TTC). Furthermore, we propose a novel attitude-compensation scheme to enable formulating the visibility constraint in the actual image plane instead of a virtual fix-orientation image plane. It guarantees that the visibility constraint is valid under large rotations. Extensive experimental results show that our method can track a fast-moving target stably and aggressively without the aid of a localization system.

Collecting large-scale medical datasets with fully annotated samples for training of deep networks is prohibitively expensive, especially for 3D volume data. Recent breakthroughs in self-supervised learning (SSL) offer the ability to overcome the lack of labeled training samples by learning feature representations from unlabeled data. However, most current SSL techniques in the medical field have been designed for either 2D images or 3D volumes. In practice, this restricts the capability to fully leverage unlabeled data from numerous sources, which may include both 2D and 3D data. Additionally, the use of these pre-trained networks is constrained to downstream tasks with compatible data dimensions. In this paper, we propose a novel framework for unsupervised joint learning on 2D and 3D data modalities. Given a set of 2D images or 2D slices extracted from 3D volumes, we construct an SSL task based on a 2D contrastive clustering problem for distinct classes. The 3D volumes are exploited by computing vectored embedding at each slice and then assembling a holistic feature through deformable self-attention mechanisms in Transformer, allowing incorporating long-range dependencies between slices inside 3D volumes. These holistic features are further utilized to define a novel 3D clustering agreement-based SSL task and masking embedding prediction inspired by pre-trained language models. Experiments on downstream tasks, such as 3D brain segmentation, lung nodule detection, 3D heart structures segmentation, and abnormal chest X-ray detection, demonstrate the effectiveness of our joint 2D and 3D SSL approach. We improve plain 2D Deep-ClusterV2 and SwAV by a significant margin and also surpass various modern 2D and 3D SSL approaches.

Purpose: Trans-oral robotic surgery (TORS) using the da Vinci surgical robot is a new minimally-invasive surgery method to treat oropharyngeal tumors, but it is a challenging operation. Augmented reality (AR) based on intra-operative ultrasound (US) has the potential to enhance the visualization of the anatomy and cancerous tumors to provide additional tools for decision-making in surgery. Methods: We propose and carry out preliminary evaluations of a US-guided AR system for TORS, with the transducer placed on the neck for a transcervical view. Firstly, we perform a novel MRI-transcervical 3D US registration study. Secondly, we develop a US-robot calibration method with an optical tracker and an AR system to display the anatomy mesh model in the real-time endoscope images inside the surgeon console. Results: Our AR system reaches a mean projection error of 26.81 and 27.85 pixels for the projection from the US to stereo cameras in a water bath experiment. The average target registration error for MRI to 3D US is 8.90 mm for the 3D US transducer and 5.85 mm for freehand 3D US, and the average distance between the vessel centerlines is 2.32 mm. Conclusion: We demonstrate the first proof-of-concept transcervical US-guided AR system for TORS and the feasibility of trans-cervical 3D US-MRI registration. Our results show that trans-cervical 3D US is a promising technique for TORS image guidance.