This paper proposes a new framework to image segmentation which combines edge- and region-based information with spectral techniques through the morphological algorithm of watersheds. A pre-processing step is used to reduce the spatial resolution without losing important image information. An initial partitioning of the image into primitive regions is set by applying a rainfalling watershed algorithm on the image gradient magnitude. This initial partition is the input to a computationally efficient region segmentation process which produces the final segmentation. The latter process uses a region-based similarity graph representation of the image regions. The experimental results clearly demonstrate the effectiveness of the proposed approach to produce simpler segmentations and to compare favourably with state-of-the-art methods.

Over the last three decades, several despeckling filters have been developed by researchers to reduce the speckle noise inherently present in ultrasound B-scan images without losing the diagnostic information. This paper compiles and compares well-known techniques mostly used in the smoothing or suppression of speckle noise in ultrasound images. A comparison of the methods studied is done based on an experiment, using quality metrics, texture analysis and interpretation of profiles to evaluate their performance and show the benefits each one can contribute to denoising and feature preservation. To test the methods, a noise-free image of a kidney is used and then the Field II program simulates a B-mode ultrasound image. By this way, the smoothing techniques can be compared using numeric metrics, taking the noise-free image as a reference. In this study, a total of 17 different speckle reduction algorithms have been documented based on spatial filtering, diffusion filtering and wavelet filtering, with 15 qualitative metrics estimation. We use the tendencies observed in our study in real images. A new evaluation metric is proposed to evaluate the despeckling results.

Rehabilitation robotics aims to facilitate the rehabilitation procedure for patients and physical therapists. This field has a relatively long history dating back to the 1990s; however, their implementation and the standardisation of their application in the medical field does not follow the same pace, mainly due to their complexity of reproduction and the need for their approval by the authorities. This paper aims to describe architecture that can be applied to industrial robots and promote their application in healthcare ecosystems. The control of the robotic arm is performed using the software called SmartHealth, offering a 2 Degree of Autonomy (DOA). Data are gathered through electromyography (EMG) and force sensors at a frequency of 45 Hz. It also proves the capabilities of such small robots in performing such medical procedures. Four exercises focused on shoulder rehabilitation (passive, restricted active-assisted, free active-assisted and Activities of Daily Living (ADL)) were carried out and confirmed the viability of the proposed architecture and the potential of small robots (i.e., the UR3) in rehabilitation procedure accomplishment. This robot can perform the majority of the default exercises in addition to ADLs but, nevertheless, their limits were also uncovered, mainly due to their limited Range of Motion (ROM) and cost.

In this paper we present a study of evaluation measures that enable the quantification of the quality of an image segmentation result. Despite significant advances in image segmentation techniques, evaluation of these techniques thus far has been largely subjective. Typically, the effectiveness of a new algorithm is demonstrated only by the presentation of a few segmented images and is otherwise left to subjective evaluation by the reader. Such an evaluation criterion can be useful for different applications: the comparison of segmentation results, the automatic choice of the best fitted parameters of a segmentation method for a given image, or the definition of new segmentation methods by optimization. We first present the state of art of distance evaluation measures, and then, we compare several evaluation criteria.