medical device developers

Abstract: Single Ventricle Physiology (SVP) is a rare subtype of congenital heart disease characterized by the presence of a single functional cardiac ventricle with atypical anatomic configurations that challenge conventional image segmentation approaches. The scarcity of clinical data and the morphological diversity across SVP subtypes make the development of robust segmentation methods particularly difficult. To address these limitations, we propose a cardiac MRI segmentation framework focused on ventricular chambers and myocardium segmentation tailored for SVP. First, we introduce a data augmentation pipeline that generates synthetic 3D cardiac meshes using SDF4CHD and corresponding synthetic cardiac MRI through generative modeling. Second, we introduce SV-Cine, a diagnosis-conditioned adaptation of the foundation model CineMA that incorporates patient-level diagnostic information through Feature-wise Linear Modulation layers, enabling diagnosis-aware feature adaptation during segmentation. We evaluated the framework on an internal cohort with varying SVP subtypes. SV-Cine achieved median Dice scores of 0.89 (IQR: 0.80--0.91) for the left ventricle and 0.72 (IQR: 0.54--0.84) for the right ventricle, outperforming the strongest baseline, nnU-Net, by 0.39 Dice points on right ventricle segmentation. It also yields a median ejection fraction error of 5.55 percentage points (IQR: 3.41--7.69) for the dominant ventricle. Compared with the internal cohort, LV and myocardium segmentation performance was lower for the external cohort; whereas RV Dice scores were comparable for both cohorts. Our findings suggest that a pretrained foundation model can be adapted for highly specialized downstream tasks through usage of diagnosis priors while leveraging anatomic knowledge learned from large-scale MRI datasets during pretraining.

Abstract: Accurate biomedical image segmentation requires not only high global overlap but also reliable delineation of clinically meaningful boundaries. In blood-smear microscopy, cytoplasm and nucleus contours provide the structural basis for downstream morphology analysis; however, deep segmentation models may remain uncertain or overconfident near ambiguous boundary regions even when achieving strong Dice scores. This work proposes a Reliability-Aware Boundary Refinement Network (RABR-Net), a two-stage framework for trustworthy image segmentation. A strong UNet++ EfficientNet-B4 base segmenter first produces initial class probabilities and logits. Predictive entropy, test-time augmentation variance, margin uncertainty, probability gradients, and soft boundary cues are then combined into a boundary-aware reliability representation. This representation guides a gated residual refiner that selectively corrects uncertain boundary pixels while preserving confident regions of the base prediction. The framework is evaluated using overlap accuracy, class-wise Dice, Boundary Dice, HD95/ASSD, calibration, risk--coverage analysis, robustness under image perturbations, qualitative correction maps, and paired statistical testing. On the held-out test set, the proposed method improves Dice from 0.9602 to 0.9614, Boundary Dice from 0.3448 to 0.3611, and HD95 from 3.0354 to 2.8274 compared with the cached base prediction. Statistical analysis confirms significant improvements in Dice, Boundary Dice, and HD95. Qualitative results show that the learned gate concentrates around uncertain cytoplasm and nucleus boundaries, and correction maps confirm localized boundary refinement. Although calibration does not automatically improve after refinement, the proposed framework provides an interpretable and reliability-focused strategy for boundary-sensitive biomedical image segmentation.

Abstract: In the VTaC benchmark 71% of ventricular-tachycardia alarms are false, but silencing a real one can delay recognition of a dangerous arrhythmia. We reframe alarm reduction as three-way triage (retain, suppress, or defer) and bound the decision this analysis treats as harmful: among suppressed alarms, the fraction that were genuine stays below a user-set budget with 95% confidence, under i.i.d. event sampling. Alarms sharing a waveform record are dependent, so the clustered analysis is a sensitivity check. On the official split a 5% budget certifies in all three seeds, suppressing 74.8% of false alarms while silencing 1.5% of genuine ones, at AUROC 0.953 and Challenge Score 83.33, numerically comparable to the strongest of the eleven published systems. Our central finding measures what multiplicity costs: the correction charges for every candidate, so a finer grid can certify strictly less. Under held-out calibration the 885-cell grid we declared certifies 1 of 15 fold-runs, while choosing the grid on a separate selection partition certifies 8. We project the calibration volume each budget needs, making an uncertifiable budget a design parameter. Finally, adding a learned reliability dimension to the policy grid did not sharpen the certified frontier.

Abstract: The growing use of electroencephalography (EEG) motivates automated analysis that is accurate, transferable, and deployable on constrained hardware. Recent EEG foundation models learn general representations from large-scale pretraining, but their size and computational cost limit edge and wearable deployment. We introduce BRIDGE-EEG, an efficient multi-task EEG classification pipeline that preserves the benefits of pretraining while reducing model size. A unified preprocessing scheme maps heterogeneous recordings with different channel counts, montages, and sampling rates to a device-agnostic 62-channel time--frequency representation. We pretrain an SE-ResNet18 teacher (11.84 M parameters) with SimCLR on unlabeled EEG from five heterogeneous datasets, then compress it into SE-ResNet8 (1.56 M) and SE-ResNet4 (0.48 M) students using task-agnostic and task-specific distillation. We evaluate six benchmarks spanning abnormality detection, motor imagery, and emotion recognition. For abnormality detection and emotion recognition, the students achieve accuracy comparable to or better than several recent EEG foundation models with 10--1,000$\times$ more parameters. Motor imagery shows a remaining representation gap, highlighting the importance of pretraining diversity. Inference profiling on a server GPU, desktop CPU, and NVIDIA Jetson Orin Nano shows up to 3.0$\times$ lower edge energy per inference (15.64 mJ vs. 46.67 mJ). The compact models further support future deployment on MCU-class wearables.

Abstract: Brain age estimation has become a popular research proxy for assessing brain health and disease, yet longitudinal trajectories of brain ageing are still poorly defined, and clinical use is limited. Building on existing Siamese longitudinal frameworks, we develop Brain-Predicted Age Acceleration (Brain-PACE) to directly estimate the pace of structural brain ageing from paired T1-weighted MRI. Brain-PACE identified accelerated ageing in $42.6$% of participants with mild cognitive impairment. Faster Brain-PACE was associated with greater functional and cognitive impairment (FAQ; $r=0.35$, ADAS13; $r=0.30$, CDR-SB; $r=0.32$) and greater regional tau burden in the posterior cingulate ($r=0.59$), precuneus ($r=0.47$), and entorhinal cortex ($r=0.37$). These associations were stronger than those observed when pace was calculated indirectly from repeated cross-sectional brain age estimates, suggesting that direct longitudinal modelling captures complementary information relevant to ongoing pathological change. Methodologically, Brain-PACE extends the LILAC framework by combining spatial attention with soft label distribution learning and a Cramér distance objective, improving probabilistic performance and reducing prediction bias while providing measures of predictive uncertainty. Together, these findings support Brain-PACE as a complementary longitudinal imaging phenotype with sensitivity to relevant clinical and biological changes in early neurodegeneration.

Abstract: Optical coherence tomography is a promising modality for markerless motion tracking due to its high spatial resolution and inherent depth perception. However, existing OCT-based tracking approaches are limited in terms of trackable velocity, particularly when multiple landmarks are tracked sequentially for 6D pose estimation. In this work, we present a predictive tracking approach that propagates positional updates between multiple tracked landmarks to obtain a global pose prediction. This enables more robust tracking under high velocities. Our results demonstrate RMSEs below 1 mm for velocities up to 100 mm/s and up to nine consecutively tracked landmarks, highlighting the potential of global motion propagation and prediction for improving the robustness of OCT-based tracking.

Abstract: Preoperative prediction of perineural invasion (PNI) in cholangiocarcinoma (CCA) is clinically valuable but remains challenging because PNI-related cues on magnetic resonance imaging (MRI) are subtle, sparse, and spatially localized around the tumor boundary. Standard 3D CNN and transformer architectures process volumetric data in a dense or spatially uniform manner, which can dilute subtle PNI-related evidence while requiring a large number of multiply-accumulate operations over 3D feature grids. To address these limitations, we propose SCINTILLA-SNN, a 3D spiking network composed of a four-stage hierarchical backbone and a Multi-Scale Spike Aggregation (MSSA) module for PNI prediction. The backbone extracts hierarchical volumetric representations through spiking convolutional stages and local spike window modulation stages. Given the resulting stage-wise representations, MSSA maps each spatial token to a learnable content value and modulates it with a spike-dynamics gate derived from firing rate and timestep-wise membrane-potential variability. The resulting score, referred to as the diagnostic token score, is used to selectively aggregate sparse PNI-related evidence. Experiments on a 10-year retrospective cohort of 182 CCA patients show that SCINTILLA-SNN achieves an AUROC of 0.748 under 5-fold cross-validation, while reducing the estimated inference energy by 23.18$\times$ compared with dense MAC-only computation of the same network.

Abstract: Diffeomorphic image registration is central to medical image analysis, enabling anatomically consistent alignment across subjects. Most learning-based diffeomorphic methods model autonomous ODEs(ordinary differential equations) by parameterizing a stationary velocity field and recovering deformations via scaling-and-squaring. While non-autonomous ODEs with time-dependent velocities increase expressiveness, existing approaches rely on numerical integration to implicitly enforce flow structure that entangles model expressiveness with discretization accuracy. We propose a framework to directly learn the continuous-time solution of a non-autonomous ODE formulated as a two-parameterflow map. By enforcing cocycle consistency, a fundamental structural property of time-varying flows, we learn the flow maps without time discretization and velocity integration during training. The framework recovers diffeomorphic mappings at inference using a small number of compositions. Our proposed framework seamlessly incorporates standard registration backbones and improves alignment accuracy consistently across nine datasets while preserving diffeomorphic structure. Notably, the proposed method achieves an average Dice improvement of 2.1% on brain MRI benchmarks, a 12% TRE reduction on lung CT, and a 2.6% Dice gain on cardiac MRI and ultrasound datasets.

Abstract: Sparse-view X-ray 3D reconstruction is essential for reducing radiation exposure, but recovering a density field from a handful of X-ray projections is severely ill-posed. Recently, 3D Gaussian Splatting has achieved state-of-the-art performance in sparse-view reconstruction by representing the volume using explicit, optimized primitives, but it requires dozens of projected views. With fewer views, reconstruction quality degrades severely since the explicit primitives are optimized freely without any anatomical information. Anatomical structures, in contrast, share similar geometry and density across a population. Their variations are bounded within a limited range that statistical shape models can capture. This paper proposes a shape-guided Gaussian splatting framework for sparse-view X-ray 3D reconstructions. Our contribution lies in driving Gaussian positions toward anatomically valid configurations, alongside atlas-based density regularization. Our method ensures anatomically consistent reconstruction and improves PSNR by 2.83 dB over a state-of-the-art Gaussian splatting baseline with as few as 5 views. Code Available: https://github.com/polyshape-lab/ShapeGuidedGaussian

Abstract: Speech-based Alzheimer's disease (AD) detection has recently benefited from multimodal foundation-model representations that integrate complementary acoustic and linguistic information. However, conventional probability averaging over these complementary classifiers is unreliable, because their posterior probabilities exhibit mismatched scales: identical values may reflect different confidence levels across models. We propose a robust rank aggregation framework that aggregates normalized prediction ranks instead of posterior probabilities. Each subject is scored by its percentile within a fixed training-cohort distribution of out-of-fold predictions; since rank ordering is invariant to monotonic transformations, this avoids probability-scale mismatch while preserving classifier confidence ordering. A confidence-gated Random Forest further corrects residual errors using clinically interpretable linguistic features, overriding the rank prediction only when the two disagree and the RF is highly confident, without additional deep model training or explicit posterior-probability calibration. On ADReSS2020 and ADReSSo2021, the method achieves accuracies of 95.83% and 90.14%, respectively, comparing favorably with previously reported results.

Abstract: Parkinson's disease is a progressive neurodegenerative disorder characterised by gradual deterioration of movement control. Automated freezing-of-gait (FOG) detection supports the objective assessment of gait-related motor impairment. Two common approaches are used for FOG prediction: (i) analysing video recordings of the patient's movements and (ii) analysing data collected using inertial measurement unit (IMU) wearable sensors attached to the patient's lower limbs. Video-based approaches may suffer detection errors during continuous turning-in-place tasks because the lower limbs undergo substantial geometric self-occlusion, degrading pose-estimation accuracy. IMU-based approaches are generally less affected by visual occlusion; however, they are difficult to deploy outside clinical or laboratory settings, as the sensors must be attached securely and remain in place throughout the assessment. Motivated by this, we propose a cross-modal subspace distillation framework to mitigate the limitations of unimodal FOG detection by combining IMU accuracy with video-based practicality. We extract invariant latent topologies from a pre-trained kinematic oracle to structurally supervise a non-encoded visual architecture during training. To resolve periods of severe spatial occlusion, a dual-stream visual model probabilistically fuses skeletal graph nodes and continuous spatial pixels, dynamically shifting reliance to uninterrupted pixel boundaries as joint tracking confidence drops. Evaluated against a public, multi-modal sequence dataset of Parkinson's individuals executing continuous $360^\circ$ turns, empirical results demonstrate that applying sensory boundary topologies strictly mitigates tracking evaluation entropy. Our constrained optimisation confirms that highly precise FOG prediction bounds can be achieved over zero-wearable inference environments.

Abstract: Electroencephalography (EEG)-based motor-imagery brain-computer interfaces (MI-BCIs) vary across subjects and sessions, complicating personalization from limited calibration data. Federated learning can exploit shared representations without centralizing raw EEG, but existing federated MI studies largely assume regular synchronization. We introduce NEXUS-MI, a gateway-coordinated federated personalization framework that treats synchronization as a coupled learning-and-communication control problem. Raw EEG and classifier heads remain local, while an edge coordinator maintains the shared backbone. We evaluate NEXUS-MI through offline replay using BCI Competition IV Dataset 2a (BCICIV-2a; 9 subjects, 4 classes) and OpenBMI (54 subjects, 2 classes). Session 1 supports backbone learning, and Session 2 provides limited-calibration personalization and held-out testing. An ideal-link reference and six heterogeneous-link policies characterize gateway participation, buffering, stale-update admission, and backbone-download control. The principal comparison holds delayed-update handling fixed while contrasting non-adaptive and communication-aware synchronization. Paired subject-level comparisons use Holm adjustment, and robustness across five matched realizations is assessed by hierarchical bootstrap. Communication-aware coordination reduced server-to-client backbone traffic by approximately 42% on both datasets, while cohort-level accuracy differences were small and realization-dependent. Cohort averages also concealed subject-level vulnerability, with losses reaching approximately 12 percentage points on BCICIV-2a relative to the ideal-link reference. These findings establish gateway synchronization as an explicit design variable in federated MI personalization and motivate joint evaluation of personalized accuracy, communication cost, update freshness, and subject-level reliability.

Abstract: We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which are subsequently converted into an executable trajectory by time allocation considering actuator constraints. Under the piecewise constant-curvature model, we use exponential co-ordinates to describe the robot kinematics, and use graph neural network to encode a variable number of environment obstacles. Analytical differential kinematics is incorporated in the denoising process to improve terminal accuracy and whole-body clearance. On a mixed test set comprising workspace with zero to four obstacles, PccDiffuser achieved a success rate of 91\%. Compared with existing sampling- and optimisation-based benchmarks, it delivered both a higher success rate and greater computational efficiency, with the latter advantage becoming more substantial when sampling more candidate solutions. Experiments on a three-section tendon-driven continuum robot further demonstrate consecutive planning, multi-solution planning, and whole-body obstacle avoidance.

Abstract: False ventricular tachycardia (VT) alarms are a leading contributor to alarm fatigue in intensive care units. We propose a deep learning framework combining a 1D SE-ResNet with ICU-realistic data augmentations and a physics-informed auxiliary reconstruction task based on the three-element Windkessel hemodynamic model, implemented as a differentiable forward simulation. By requiring the network's latent representation to produce physiologically plausible arterial pressure waveforms, artifact-driven ECG patterns are penalized while true VT remains coherent across modalities. Evaluated on the VTaC benchmark under a strict real-time protocol (10-second pre-alarm window), our method achieves a 5-point Challenge Score improvement over prior state-of-the-art. Ablation studies confirm that the physics-informed objective is the primary performance driver, providing gains in accuracy, 2x label efficiency, and more localized and clinically meaningful ECG segments.

Abstract: Dense self-attention treats all token pairs as equally plausible before learning, an interaction-isotropic prior that can be mismatched to structured signals. For structured, low signal-to-noise ratio (SNR) signals such as EEG, dependencies are organized along the electrode and time axes, and this uniform prior exposes each token to many irrelevant interactions. We introduce Adaptive Anisotropic Attention (AAA), which splits attention into two paths: a temporal path, where each token attends to the tokens of its own electrode across time, and a spatial path, where it attends to the tokens of the other electrodes at the same time step. A small gate predicts, for every token, a convex combination of the two path outputs: two non-negative weights that sum to one. On six EEG downstream tasks, the resulting model, AXON (AXis-factorized Operator Network), improves mean balanced accuracy over a dense baseline under both linear probing and full fine-tuning. We show that both paths (temporal and spatial) are necessary and that the weighted sum beats a hard choice of one path; most of the benefit comes from the gate learning a different temporal/spatial balance at each layer of the network. Controlled audio spectrogram experiments show that axis factorization transfers beyond EEG. These results suggest that aligning attention with the natural axes of structured signals provides a useful inductive bias.

Abstract: Chagas disease is a major cause of cardiomyopathy in Latin America. Cardiac magnetic resonance (CMR) imaging can characterize its structural abnormalities, but scanners and expert readers remain scarce in endemic regions. Electrocardiography (ECG) is inexpensive and widely available, yet structural disease must be inferred indirectly from electrical signals. We propose to transfer CMR-derived structural knowledge to ECG through contrastive pre-training. Using 63,193 paired ECG-CMR examinations from the UK Biobank, we align an ECG encoder with a clinically grounded CMR embedding space using an asymmetric InfoNCE objective. Despite seeing no Chagas cases during pre-training, the resulting representation improves ECG-based Chagas detection. Across CODE-15% and SaMi-Trop, a frozen linear probe achieves an AUROC of 0.851 and sensitivity at the top 5% of predicted risk (Top5%-TPR) of 0.427 in five-fold cross-validation, compared with 0.827 and 0.377 for an unaligned ECG-FM baseline. On the PhysioNet/CinC 2025 Challenge test set, our model obtains the highest AUROC on SaMi-Trop-3 and the best ELSA-Brasil challenge score among the three top-performing methods, indicating that imaging-supervised ECG representations can generalize to populations and settings beyond the pre-training distribution.

Abstract: Reconstructing a three-dimensional left-ventricular (LV) endocardial surface from cardiac magnetic resonance (CMR) data is challenging when supervision is available on only a small number of axial slices. Through-plane geometry is weakly constrained, and automatically generated two-dimensional masks can propagate segmentation errors into the recovered shape. We present MR-RS-SDFR, a per-case implicit signed distance field (SDF) framework that reconstructs a continuous LV surface from a CMR volume and sparse axial weak masks. The method first builds a cross-slice SDF initialization from axial and longitudinal geometric cues and then refines the field using two complementary signals: MRI edge-field normal alignment, which provides an image-derived boundary cue independent of the weak masks, and differentiable reslice Dice and contour consistency, which preserve agreement with the observed planes. We evaluate three weak-mask generators -- LOO TransUNet, LOO nnU-Net, and an off-the-shelf Medical SAM3 model used without MM-WHS-specific training or fine-tuning -- and five sparsity levels from 4 to 64 axial planes. In the sparse-16 setting, final MR-RS-SDFR reconstruction reaches 0.928 Dice and 3.80mm HD95 with Medical SAM3 masks. The upstream generators do not exhibit a single common ranking across 2D and dense 3D segmentation, and nnU-Net- and Medical-SAM3-driven sparse reconstruction achieve the same mean final Dice despite different upstream error profiles. Across all three sparse-16 mask sources, MR-RS-SDFR is numerically better than protocol-matched full GHD+DVS in both Dice and HD95. Final Dice improves markedly from sparse-4 to sparse-16 and then saturates at the reported precision through sparse-64. These results support MRI-guided per-case SDF refinement as a reconstruction strategy that remains effective across weak-mask generators and supervision densities.

Abstract: Robotic ophthalmic surgery offers high precision but introduces a "sensory gap" by decoupling the surgeon from their instrument, resulting in a loss of tactile feedback. This paper presents a novel haptic feedback system for subretinal injection tasks leveraging Scene Graphs (SG). The system bridges the sensory gap by analyzing a physically simulated intraoperative Optical Coherence Tomography (iOCT) feed to construct a real-time surgical SG. The SG serves as a semantic abstraction layer for the surgical scene, which is then utilized by a deterministic, rule-based engine to generate state-dependent haptic feedback on a robotic input device. The system was evaluated in a user study (N=16) using an anthropomorphic head phantom and a custom-built surgical robot. Results demonstrate that the SG-driven haptic feedback improved surgical precision, reducing needle alignment error by 14% (p = 0.044) and improving System Usability Scale (SUS) scores by 8% (p = 0.015), while maintaining comparable task completion times. A needle trajectory analysis revealed the emergence of a safer "Align-then-Approach" strategy, in which our haptic negative reinforcement prompted users to fine-tune the tool's trajectory before approaching the retinal target. This work suggests that SGs can effectively serve as the direct computational foundation for real-time, safety-enhancing context-aware haptic feedback in robotic microsurgery.

Abstract: In-body subnetworks (IBSs) are expected to become a key enabler of immersive eXtended Reality (XR) services in sixth-generation (6G) networks by providing ultra-short-range, low-latency wireless connectivity around the human body. However, the dense coexistence of multiple IBSs leads to severe co-channel interference, requiring increased transmit power to satisfy the stringent latency requirements of XR applications. Existing interference management approaches allocate radio resources solely according to application-level Quality-of-Service (QoS) requirements, overlooking the perceptual limitations of human users. This paper proposes perception-aware joint power control and sub-band allocation framework that integrates users' delay perception into radio resource allocation for XR-oriented IBSs. A learning-based perception model is first developed by combining Gaussian mixture modeling (GMM) with supervised learning to develop a statistical model of the delay perception threshold. The learned perception model is then incorporated into a stochastic radio resource allocation problem, which is reformulated using a Lyapunov drift-plus-penalty and solved through a low-complexity per-slot resource allocation procedure. System-level simulations under realistic intra- and inter-IBS propagation conditions demonstrate that the proposed approach substantially improves radio resource efficiency, achieving up to 26% transmit power reduction under stringent latency requirements and approximately 60% power savings in dense IBS deployments, while maintaining the required Quality of Experience (QoE).

Abstract: In this paper, we propose a class-wise dimension (channel) selection framework for Multivariate Time Series Classification (MTSC). Rather than applying a single global dimension selection process, the proposed approach independently identifies informative dimensions for each class. A dedicated learning process is subsequently performed for each class, followed by a fusion stage for final prediction. The objective is to improve the generation of discriminative feature representations while reducing the influence of noisy or non-informative dimensions. The proposed framework is evaluated using MiniRocket, a random kernel-based baseline method. Experimental results indicate that class-wise dimension selection improves the quality of extracted representations and can enhance classification performance, particularly in high-dimensional settings. These findings suggest that incorporating class-specific information into the training process represents a promising direction for MTSC, improving robustness through consistent gains across heterogeneous datasets, and interpretability through the explicit identification of class-relevant dimensions.

Abstract: Deformability cytometry (DC) is a type of imaging flow cytometry, which uses a camera-equipped device to measure cellular stiffness in addition to other cellular properties at high throughput. Cellular properties such as area and elongation can identify cell types, but this requires prior knowledge of distinguishing properties and cannot be applied to clinically important cell aggregates. Using DC data, we evaluated conventional multi-class (MC) classification and introduced a multi-label (ML) approach for identifying blood cells and their aggregates. In particular, an ML classifier can simultaneously assign multiple cell-type labels to a single imaged event. We show that, unlike MC classification, ML classification can identify cell aggregates not represented in the training data. It also avoids the need for exhaustive, strictly defined aggregate labels, thereby simplifying and speeding up annotation. Since automated blood analyzers do not reliably analyze cell aggregates, our approach may help address this clinical gap.

Abstract: Computed Tomography (CT) is an essential 3D imaging technology widely used in medical diagnostics and scientific research. However, performing CT imaging on edge devices is challenging due to limitations in computational power, memory capacity, and energy budget. This paper presents an efficient CT reconstruction framework, called edgeFBP, designed for Nvidia Jetson System-on-Chip (SoC) devices. edgeFBP adopts an end-to-end pipeline design for efficient out-of-core image reconstruction under tight power and memory constraints. edgeFBP utilizes a mixed-precision strategy leveraging half-precision Tensor Cores (TCs) to accelerate the bottleneck back-projection (BP) kernel. edgeFBP achieves a 1.83x speedup over the widely used RTK library on Jetson Nano and a 2.56x speedup on Jetson AGX. Under a strict 25-Watt power budget, edgeFBP on Jetson Nano achieves up to 5-48x higher energy efficiency than an Nvidia DGX A100, enabling datacenter-scale imaging on constrained edge devices.

Abstract: Sparse outcome feedback limits what robots can learn from unsuccessful attempts at complex manipulation. Failed multi-stage surgical attempts can contain grasps, lifts, or transfers worth reusing. In sparse-reward reinforcement learning, terminal rewards collapse such attempts to the same outcome, while scalar vision-language model (VLM) ratings reveal neither what progress merits credit nor when it occurred. We introduce phase-and-first-arrival feedback: one VLM query per recorded episode identifies the furthest visually verified task phase and when that phase is first reached, allowing the learner to reuse partial behavior and localize credit. We instantiate it in SurgPhaseBench, a phase-structured suite spanning rigid and deformable tasks, and evaluate it in simulation and hardware. Across five simulated tasks, our method reaches 75.2% mean success, compared with 52.1% for a reward based on Contrastive Language-Image Pre-training (CLIP) using the same visual input; the advantage persists when only the feedback representation changes. On hardware, the same record supports autonomous block picking and slip recovery. Together, these results show that trajectory-level visual supervision can preserve partial progress while providing the temporal credit needed for sparse-reward control.

Abstract: Purpose: This study aims to develop an AI framework applicable for postoperative imaging for automated measurement of spinopelvic parameters on radiographs with robustness to the presence of spinal implants. Materials and Methods: We retrospectively reviewed lateral lumbar spine radiographs from two institutions (Internal: January 2017--December 2024; External: October 2021--September 2025). We developed the Restore, Segment, and Measure (RSM) framework, incorporating a novel Artifact Removal Network based on Autoencoding and Inpainting (ARNAI) to mitigate implant-related artifacts in postoperative radiographs. Segmentation and spinopelvic parameter (PT, LL, SS, SCA) measurement performance were assessed using Wilcoxon signed-rank tests and intraclass correlation coefficients. Results: When ARNAI was added to a recent Transformer-based segmentation model, FCBFormer, the mean DSC increased to 0.870 from 0.814, with marked gains at L3--L5 and smaller improvements at L1--L2. On 91 radiographs with implants, the mean L4--L5 segmental Cobb angle error decreased to 4.7 ° from 15.6--16.2 °, an average error reduction of 70%. The ICC for L4--L5 segmental Cobb angle improved to 0.54 (Rater 1) and 0.59 (Rater 2) from 0.18, and ICCs for pelvic tilt, lumbar lordosis, and sacral slope all exceeded 0.70. The improvement in L4--L5 segmental Cobb angle error was statistically significant in the internal implant-containing cohort after correction for multiple comparisons. Conclusion: The proposed RSM framework improved automated spinopelvic parameter measurement in implant-containing postoperative radiographs. By mitigating implant-related artifacts, ARNAI improved segmentation and downstream measurement accuracy, with the greatest benefit observed for L4--L5 segmental Cobb angle estimation, where the mean error was reduced by approximately 70%.

Abstract: Invasive neural recordings provide high-fidelity measurements of brain activity, with signals such as intracranial EEG (iEEG) and intracortical spiking activity capturing neural dynamics at different spatial and temporal scales. Yet existing neural foundation models have largely been developed independently for different invasive recording paradigms, leaving joint pretraining across heterogeneous invasive signals underexplored. In this work, we introduce iBrain, a unified foundation model that jointly learns from iEEG and spiking activity. iBrain employs signal-specific encoders to accommodate their distinct signal characteristics and a shared spatiotemporal Transformer backbone to model dependencies across recording channels and time. We pretrain iBrain on over 7,000 hours of heterogeneous neural recordings using masked signal reconstruction and channel-view alignment, promoting contextual modeling of neural dynamics and robustness across different channels. iBrain consistently outperforms single-signal pretraining baselines and achieves state-of-the-art performance on multiple benchmarks. Further experiments demonstrate that iBrain exhibits transferability and data efficiency across diverse recording settings. These results highlight the potential of joint pretraining on heterogeneous invasive neural recordings to support scalable neural modeling and transferable representations across recording settings and downstream tasks.