SPINEPS -- Automatic Whole Spine Segmentation of T2-weighted MR images using a Two-Phase Approach to Multi-class Semantic and Instance Segmentation

Purpose. To present SPINEPS, an open-source deep learning approach for semantic and instance segmentation of 14 spinal structures (ten vertebra substructures, intervertebral discs, spinal cord, spinal canal, and sacrum) in whole body T2w MRI. Methods. During this HIPPA-compliant, retrospective study, we utilized the public SPIDER dataset (218 subjects, 63% female) and a subset of the German National Cohort (1423 subjects, mean age 53, 49% female) for training and evaluation. We combined CT and T2w segmentations to train models that segment 14 spinal structures in T2w sagittal scans both semantically and instance-wise. Performance evaluation metrics included Dice similarity coefficient, average symmetrical surface distance, panoptic quality, segmentation quality, and recognition quality. Statistical significance was assessed using the Wilcoxon signed-rank test. An in-house dataset was used to qualitatively evaluate out-of-distribution samples. Results. On the public dataset, our approach outperformed the baseline (instance-wise vertebra dice score 0.929 vs. 0.907, p-value<0.001). Training on auto-generated annotations and evaluating on manually corrected test data from the GNC yielded global dice scores of 0.900 for vertebrae, 0.960 for intervertebral discs, and 0.947 for the spinal canal. Incorporating the SPIDER dataset during training increased these scores to 0.920, 0.967, 0.958, respectively. Conclusions. The proposed segmentation approach offers robust segmentation of 14 spinal structures in T2w sagittal images, including the spinal cord, spinal canal, intervertebral discs, endplate, sacrum, and vertebrae. The approach yields both a semantic and instance mask as output, thus being easy to utilize. This marks the first publicly available algorithm for whole spine segmentation in sagittal T2w MR imaging.

Density-based Feasibility Learning with Normalizing Flows for Introspective Robotic Assembly

Machine Learning (ML) models in Robotic Assembly Sequence Planning (RASP) need to be introspective on the predicted solutions, i.e. whether they are feasible or not, to circumvent potential efficiency degradation. Previous works need both feasible and infeasible examples during training. However, the infeasible ones are hard to collect sufficiently when re-training is required for swift adaptation to new product variants. In this work, we propose a density-based feasibility learning method that requires only feasible examples. Concretely, we formulate the feasibility learning problem as Out-of-Distribution (OOD) detection with Normalizing Flows (NF), which are powerful generative models for estimating complex probability distributions. Empirically, the proposed method is demonstrated on robotic assembly use cases and outperforms other single-class baselines in detecting infeasible assemblies. We further investigate the internal working mechanism of our method and show that a large memory saving can be obtained based on an advanced variant of NF.

Semantic Latent Space Regression of Diffusion Autoencoders for Vertebral Fracture Grading

Vertebral fractures are a consequence of osteoporosis, with significant health implications for affected patients. Unfortunately, grading their severity using CT exams is hard and subjective, motivating automated grading methods. However, current approaches are hindered by imbalance and scarcity of data and a lack of interpretability. To address these challenges, this paper proposes a novel approach that leverages unlabelled data to train a generative Diffusion Autoencoder (DAE) model as an unsupervised feature extractor. We model fracture grading as a continuous regression, which is more reflective of the smooth progression of fractures. Specifically, we use a binary, supervised fracture classifier to construct a hyperplane in the DAE's latent space. We then regress the severity of the fracture as a function of the distance to this hyperplane, calibrating the results to the Genant scale. Importantly, the generative nature of our method allows us to visualize different grades of a given vertebra, providing interpretability and insight into the features that contribute to automated grading.

Efficient and Feasible Robotic Assembly Sequence Planning via Graph Representation Learning

Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such automation resides in efficiently finding solutions from a growing number of potential sequences for increasingly complex assemblies. Besides, costly feasibility checks are always required for the robotic system. To address this, we propose a holistic graphical approach including a graph representation called Assembly Graph for product assemblies and a policy architecture, Graph Assembly Processing Network, dubbed GRACE for assembly sequence generation. Secondly, we use GRACE to extract meaningful information from the graph input and predict assembly sequences in a step-by-step manner. In experiments, we show that our approach can predict feasible assembly sequences across product variants of aluminum profiles based on data collected in simulation of a dual-armed robotic system. We further demonstrate that our method is capable of detecting infeasible assemblies, substantially alleviating the undesirable impacts from false predictions, and hence facilitating real-world deployment soon. Code and training data will be open-sourced.

CheXplaining in Style: Counterfactual Explanations for Chest X-rays using StyleGAN

Deep learning models used in medical image analysis are prone to raising reliability concerns due to their black-box nature. To shed light on these black-box models, previous works predominantly focus on identifying the contribution of input features to the diagnosis, i.e., feature attribution. In this work, we explore counterfactual explanations to identify what patterns the models rely on for diagnosis. Specifically, we investigate the effect of changing features within chest X-rays on the classifier's output to understand its decision mechanism. We leverage a StyleGAN-based approach (StyleEx) to create counterfactual explanations for chest X-rays by manipulating specific latent directions in their latent space. In addition, we propose EigenFind to significantly reduce the computation time of generated explanations. We clinically evaluate the relevancy of our counterfactual explanations with the help of radiologists. Our code is publicly available.