Despite the relative ease of locating organs in the human body, automated organ segmentation has been hindered by the scarcity of labeled training data. Due to the tedium of labeling organ boundaries, most datasets are limited to either a small number of cases or a single organ. Furthermore, many are restricted to specific imaging conditions unrepresentative of clinical practice. To address this need, we developed a diverse dataset of 140 CT scans containing six organ classes: liver, lungs, bladder, kidney, bones and brain. For the lungs and bones, we expedited annotation using unsupervised morphological segmentation algorithms, which were accelerated by 3D Fourier transforms. Demonstrating the utility of the data, we trained a deep neural network which requires only 4.3 s to simultaneously segment all the organs in a case. We also show how to efficiently augment the data to improve model generalization, providing a GPU library for doing so. We hope this dataset and code, available through TCIA, will be useful for training and evaluating organ segmentation models.

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Cables are ubiquitous in many settings, but are prone to self-occlusions and knots, making them difficult to perceive and manipulate. The challenge often increases with cable length: long cables require more complex slack management and strategies to facilitate observability and reachability. In this paper, we focus on autonomously untangling cables up to 3 meters in length using a bilateral robot. We develop new motion primitives to efficiently untangle long cables and novel gripper jaws specialized for this task. We present Sliding and Grasping for Tangle Manipulation (SGTM), an algorithm that composes these primitives with RGBD vision to iteratively untangle. SGTM untangles cables with success rates of 67% on isolated overhand and figure eight knots and 50% on more complex configurations. Supplementary material, visualizations, and videos can be found at https://sites.google.com/ view/rss-2022-untangling/home.

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Fully-convolutional neural networks have achieved superior performance in a variety of image segmentation tasks. However, their training requires laborious manual annotation of large datasets, as well as acceleration by parallel processors with high-bandwidth memory, such as GPUs. We show that simple models can achieve competitive accuracy for organ segmentation on CT images when trained with extensive data augmentation, which leverages existing graphics hardware to quickly apply geometric and photometric transformations to 3D image data. On 3 mm 3 CT volumes, our GPU implementation is 2.6-8×faster than a widely-used CPU version, including communication overhead. We also show how to automatically generate training labels using rudimentary morphological operations, which are efficiently computed by 3D Fourier transforms. We combined fully-automatic labels for the lungs and bone with semi-automatic ones for the liver, kidneys and bladder, to create a dataset of 130 labeled CT scans. To achieve the best results from data augmentation, our model uses the intersection-over-union (IOU) loss function, a close relative of the Dice loss. We discuss its mathematical properties and explain why it outperforms the usual weighted cross-entropy loss for unbalanced segmentation tasks. We conclude that there is no unique IOU loss function, as the naive one belongs to a broad family of functions with the same essential properties. When combining data augmentation with the IOU loss, our model achieves a Dice score of 78-92% for each organ. The trained model, code and dataset will be made publicly available, to further medical imaging research.