U-Net-based Models for Skin Lesion Segmentation: More Attention and Augmentation
K N Toosi University of Technology（K N Toosi工业大学）；University of Tehran（德黑兰大学）；Amirkabir University of Technology（Amirkabir工业大学）；Uniklinik RWTH Aachen（亚琛工业大学医院）
Pooya Mohammadi Kazaj, MohammadHossein Koosheshi, Ali Shahedi, Alireza Vafaei Sadr
According to WHO[1], since the 1970s, diagnosis of melanoma skin cancer has been more frequent. However, if detected early, the 5-year survival rate for melanoma can increase to 99 percent. In this regard, skin lesion segmentation can be pivotal in monitoring and treatment planning. In this work, ten models and four augmentation configurations are trained on the ISIC 2016 dataset. The performance and overfitting are compared utilizing five metrics. Our results show that the U-Net-Resnet50 and the R2U-Net have the highest metrics value, along with two data augmentation scenarios. We also investigate CBAM and AG blocks in the U-Net architecture, which enhances segmentation performance at a meager computational cost. In addition, we propose using pyramid, AG, and CBAM blocks in a sequence, which significantly surpasses the results of using the two individually. Finally, our experiments show that models that have exploited attention modules successfully overcome common skin lesion segmentation problems. Lastly, in the spirit of reproducible research, we implement models and codes publicly available.
Skin lesions segmentation is an important step in the process of automated diagnosis of the skin melanoma. However, the accuracy of segmenting melanomas skin lesions is quite a challenging task due to less data for training, irregular shapes, unclear boundaries, and different skin colors. Our proposed approach helps in improving the accuracy of skin lesion segmentation. Firstly, we have introduced the coordinate convolutional layer before passing the input image into the encoder. This layer helps the network to decide on the features related to translation invariance which further improves the…
Microsoft（微软）；Cupertino High School（库比蒂诺高中）；Inglemoor High School（英格尔穆尔高中）
All datasets contain some biases, often unintentional, due to how they were acquired and annotated. These biases distort machine-learning models' performance, creating spurious correlations that the models can unfairly exploit, or, contrarily destroying clear correlations that the models could learn. With the popularity of deep learning models, automated skin lesion analysis is starting to play an essential role in the early detection of Melanoma. The ISIC Archive is one of the most used skin lesion sources to benchmark deep learning-based tools. Bissoto et al. experimented with different boun…
The segmentation of skin lesions is a crucial task in clinical decision support systems for the computer aided diagnosis of skin lesions. Although deep learning-based approaches have improved segmentation performance, these models are often susceptible to class imbalance in the data, particularly, the fraction of the image occupied by the background healthy skin. Despite variations of the popular Dice loss function being proposed to tackle the class imbalance problem, the Dice loss formulation does not penalize misclassifications of the background pixels. We propose a novel metric-based loss f…
Convolutional neural networks (CNNs) have achieved the state-of-the-art performance in skin lesion analysis. Compared with single CNN classifier, combining the results of multiple classifiers via fusion approaches shows to be more effective and robust. Since the skin lesion datasets are usually limited and statistically biased, while designing an effective fusion approach, it is important to consider not only the performance of each classifier on the training/validation dataset, but also the relative discriminative power (e.g., confidence) of each classifier regarding an individual sample in t…
Applied Physics Laboratory, Johns Hopkins University（约翰斯·霍普金斯大学应用物理实验室）；Malone Center for Engineering in Healthcare, Johns Hopkins University（约翰斯·霍普金斯大学医疗保健工程马龙中心）
We examine progress in the use of AI for detecting skin lesions, with particular emphasis on the erythema migrans rash of acute Lyme disease, and other lesions, such as those from conditions like herpes zoster (shingles), tinea corporis, erythema multiforme, cellulitis, insect bites, or tick bites. We discuss important challenges for these applications, in particular the problems of AI bias regarding the lack of skin images in dark skinned individuals, being able to accurately detect, delineate, and segment lesions or regions of interest compared to normal skin in images, and low shot learning…
FH Joanneum University of Applied Sciences（约阿内姆应用科学大学）
Skin cancer is the most common cancer worldwide, with melanoma being the deadliest form. Dermoscopy is a skin imaging modality that has shown an improvement in the diagnosis of skin cancer compared to visual examination without support. We evaluate the current state of the art in the classification of dermoscopic images based on the ISIC-2019 Challenge for the classification of skin lesions and current literature. Various deep neural network architectures pre-trained on the ImageNet data set are adapted to a combined training data set comprised of publicly available dermoscopic and clinical im…
School of Computer Science, Fudan University（复旦大学计算机科学学院）；Johns Hopkins University（约翰斯·霍普金斯大学）
Recent advances in automated skin cancer diagnosis have yielded performance on par with board-certified dermatologists. However, these approaches formulated skin cancer diagnosis as a simple classification task, dismissing the potential benefit from lesion segmentation. We argue that an accurate lesion segmentation can supplement the classification task with additive lesion information, such as asymmetry, border, intensity, and physical size; in turn, a faithful lesion classification can support the segmentation task with discriminant lesion features. To this end, this paper proposes a new mul…
Convolutional Neural Networks have demonstrated human-level performance in the classification of melanoma and other skin lesions, but evident performance disparities between differing skin tones should be addressed before widespread deployment. In this work, we propose an efficient yet effective algorithm for automatically labelling the skin tone of lesion images, and use this to annotate the benchmark ISIC dataset. We subsequently use these automated labels as the target for two leading bias unlearning techniques towards mitigating skin tone bias. Our experimental results provide evidence tha…
Indian Institute of Technology Jodhpur（印度理工学院焦特布尔分校）
Melanoma is a life-threatening form of skin cancer when left undiagnosed at the early stages. Although there are more cases of non-melanoma cancer than melanoma cancer, melanoma cancer is more deadly. Early detection of melanoma is crucial for the timely diagnosis of melanoma cancer and prohibit its spread to distant body parts. Segmentation of skin lesion is a crucial step in the classification of melanoma cancer from the cancerous lesions in dermoscopic images. Manual segmentation of dermoscopic skin images is very time consuming and error-prone resulting in an urgent need for an intelligent…
Nanyang Technological University（南洋理工大学）；Central South University（中南大学）；Singapore University of Technology and Design（新加坡科技设计大学）
Deep learning techniques have shown their superior performance in dermatologist clinical inspection. Nevertheless, melanoma diagnosis is still a challenging task due to the difficulty of incorporating the useful dermatologist clinical knowledge into the learning process. In this paper, we propose a novel knowledge-aware deep framework that incorporates some clinical knowledge into collaborative learning of two important melanoma diagnosis tasks, i.e., skin lesion segmentation and melanoma recognition. Specifically, to exploit the knowledge of morphological expressions of the lesion region and …
Khulna University of Engineering & Technology（库尔纳工程技术大学）；Imperial College London（帝国理工学院）；Royal Brompton Hospital（皇家布朗普顿医院）
The Computer-aided Diagnosis or Detection (CAD) approach for skin lesion analysis is an emerging field of research that has the potential to alleviate the burden and cost of skin cancer screening. Researchers have recently indicated increasing interest in developing such CAD systems, with the intention of providing a user-friendly tool to dermatologists to reduce the challenges encountered or associated with manual inspection. This article aims to provide a comprehensive literature survey and review of a total of 594 publications (356 for skin lesion segmentation and 238 for skin lesion classi…
Shri Guru Gobind Singhji Institute of Engineering and Technology（什里·古鲁·戈宾德·辛格吉工程技术学院）
Automatic lesion analysis is critical in skin cancer diagnosis and ensures effective treatment. The computer aided diagnosis of such skin cancer in dermoscopic images can significantly reduce the clinicians workload and help improve diagnostic accuracy. Although researchers are working extensively to address this problem, early detection and accurate identification of skin lesions remain challenging. This research focuses on a two step framework for skin lesion segmentation followed by classification for lesion analysis. We explored the effectiveness of deep convolutional neural network based …
Vellore Institute of Technology（韦洛尔理工学院）；V R Siddhartha Engineering College（V R悉达多工程学院）
Segmenting skin lesions from dermoscopic images is essential for diagnosing skin cancer. But the automatic segmentation of these lesions is complicated due to the poor contrast between the background and the lesion, image artifacts, and unclear lesion boundaries. In this work, we present a deep learning model for the segmentation of skin lesions from dermoscopic images. To deal with the challenges of skin lesion characteristics, we designed a multi-scale feature extraction module for extracting the discriminative features. Further in this work, two attention mechanisms are developed to refine …
German Research Center for Artificial Intelligence（德国人工智能研究中心）
Around the globe, ticks are the culprit of transmitting a variety of bacterial, viral and parasitic diseases. The incidence of tick-borne diseases has drastically increased within the last decade, with annual cases of Lyme disease soaring to an estimated 300,000 in the United States alone. As a result, more efforts in improving lesion identification approaches and diagnostics for tick-borne illnesses is critical. The objective for this study is to build upon the approach used by Burlina et al. by using a variety of convolutional neural network models to detect tick-borne skin lesions. We expan…
Kasetsart University Sriracha Campus（农业大学是拉差校区）；University of Hertfordshire（赫特福德大学）
This chapter presents a methodology for diagnosis of pigmented skin lesions using convolutional neural networks. The architecture is based on convolu-tional neural networks and it is evaluated using new CNN models as well as re-trained modification of pre-existing CNN models were used. The experi-mental results showed that CNN models pre-trained on big datasets for gen-eral purpose image classification when re-trained in order to identify skin le-sion types offer more accurate results when compared to convolutional neural network models trained explicitly from the dermatoscopic images. The bes…
For several skin conditions such as vitiligo, accurate segmentation of lesions from skin images is the primary measure of disease progression and severity. Existing methods for vitiligo lesion segmentation require manual intervention. Unfortunately, manual segmentation is time and labor-intensive, as well as irreproducible between physicians. We introduce a convolutional neural network (CNN) that quickly and robustly performs vitiligo skin lesion segmentation. Our CNN has a U-Net architecture with a modified contracting path. We use the CNN to generate an initial segmentation of the lesion, th…
This work is about the semantic segmentation of skin lesion boundary and their attributes using Image-to-Image Translation with Conditional Adversarial Nets. Melanoma is a type of skin cancer that can be cured if detected in time. Segmentation into dermoscopic images is an essential procedure for computer-assisted diagnosis due to its existing artifacts typical of skin images. To alleviate the image annotation process, we propose to use a modified Pix2Pix network. The discriminator network learns the mapping from a dermal image as an input and a mask image of six channels as an output. Likewis…
DERM12345: A Large, Multisource Dermatoscopic Skin Lesion Dataset with 38 Subclasses
Imperial College London（帝国理工学院）；The University of Health Sciences（健康科学大学）；Haydarpasa Numune Research and Training Hospital（海达尔帕夏努穆内研究与培训医院）；Istinye University（伊斯坦布尔伊斯坦尼耶大学）；Liv Hospital Vadistanbul（瓦迪斯坦布尔丽芙医院）
Skin cancer affects a large population every year -- automated skin cancer detection algorithms can thus greatly help clinicians. Prior efforts involving deep learning models have high detection accuracy. However, most of the models have a large number of parameters, with some works even using an ensemble of models to achieve good accuracy. In this paper, we investigate a recently proposed pruning technique called Lottery Ticket Hypothesis. We find that iterative pruning of the network resulted in improved accuracy, compared to that of the unpruned network, implying that -- the lottery ticket …
TU Munich（慕尼黑工业大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
As many other machine learning driven medical image analysis tasks, skin image analysis suffers from a chronic lack of labeled data and skewed class distributions, which poses problems for the training of robust and well-generalizing models. The ability to synthesize realistic looking images of skin lesions could act as a reliever for the aforementioned problems. Generative Adversarial Networks (GANs) have been successfully used to synthesize realistically looking medical images, however limited to low resolution, whereas machine learning models for challenging tasks such as skin lesion segmen…
Shahid Beheshti University（沙希德·贝赫什提大学）；RWTH Aachen University（亚琛工业大学）；Alzahra University（阿尔扎赫拉大学）；University of Regensburg（雷根斯堡大学）
Melanoma is caused by the abnormal growth of melanocytes in human skin. Like other cancers, this life-threatening skin cancer can be treated with early diagnosis. To support a diagnosis by automatic skin lesion segmentation, several Fully Convolutional Network (FCN) approaches, specifically the U-Net architecture, have been proposed. The U-Net model with a symmetrical architecture has exhibited superior performance in the segmentation task. However, the locality restriction of the convolutional operation incorporated in the U-Net architecture limits its performance in capturing long-range depe…
SkinMamba: A Precision Skin Lesion Segmentation Architecture with Cross-Scale Global State Modeling and Frequency Boundary Guidance
College of Artificial Intelligence, Nanjing Agricultural University（南京农业大学人工智能学院）；State Key Laboratory for Novel Software Technology, Nanjing University（南京大学计算机软件新技术国家重点实验室）
Skin lesion segmentation is a vital task in skin cancer diagnosis and further treatment. Although deep learning based approaches have significantly improved the segmentation accuracy, these algorithms are still reliant on having a large enough dataset in order to achieve adequate results. Inspired by the immense success of generative adversarial networks (GANs), we propose a GAN-based augmentation of the original dataset in order to improve the segmentation performance. In particular, we use the segmentation masks available in the training dataset to train the Mask2Lesion model, and use the mo…
This paper reports the methods and techniques we have developed for classify dermoscopic images (task 1) of the ISIC 2019 challenge dataset for skin lesion classification, our approach aims to use ensemble deep neural network with some powerful techniques to deal with unbalance data sets as its the main problem for this challenge in a move to increase the performance of CNNs model.
University of Dayton（代顿大学）；Christian Brothers University（基督教兄弟大学）
Accurate diagnostics of a skin lesion is a critical task in classification dermoscopic images. In this research, we form a new type of image features, called hybrid features, which has stronger discrimination ability than single method features. This study involves a new technique where we inject the handcrafted features or feature transfer into the fully connected layer of Convolutional Neural Network (CNN) model during the training process. Based on our literature review until now, no study has examined or investigated the impact on classification performance by injecting the handcrafted fea…
Segmentation is essential for medical image analysis to identify and localize diseases, monitor morphological changes, and extract discriminative features for further diagnosis. Skin cancer is one of the most common types of cancer globally, and its early diagnosis is pivotal for the complete elimination of malignant tumors from the body. This research develops an Artificial Intelligence (AI) framework for supervised skin lesion segmentation employing the deep learning approach. The proposed framework, called MFSNet (Multi-Focus Segmentation Network), uses differently scaled feature maps for c…
Department of CS & IT, SUIT Peshawar（白沙瓦SUIT计算机科学与信息技术系）
Skin lesion segmentation can be rather a challenging task owing to the presence of artifacts, low contrast between lesion and boundary, color variegation, fuzzy skin lesion borders and heterogeneous background in dermoscopy images. In this paper, we propose a simple yet effective saliency-based approach derived in the frequency and spatial domain to detect pigmented skin lesion. Two color models are utilized for the construction of these maps. We suggest a different metric for each color model to design map in the spatial domain via color features. The map in the frequency domain is generated …
This paper provides the required description of the methods used to obtain submitted results for Task1 and Task 3 of ISIC 2018: Skin Lesion Analysis Towards Melanoma Detection. The results have been created by a team of researchers at the University of Dayton Signal and Image Processing Lab. In this submission, traditional classifiers with hand-crafted features are utilized for Task 1 and Task 3. Our team is providing additional separate submissions using deep learning methods for comparison.
University of Technology Sydney（悉尼科技大学）；Zhibian Technology Co. Ltd.（智变科技有限公司）
Skin lesion segmentation is a crucial step in the computer-aided diagnosis of dermoscopic images. In the last few years, deep learning based semantic segmentation methods have significantly advanced the skin lesion segmentation results. However, the current performance is still unsatisfactory due to some challenging factors such as large variety of lesion scale and ambiguous difference between lesion region and background. In this paper, we propose a simple yet effective framework, named Dual Objective Networks (DONet), to improve the skin lesion segmentation. Our DONet adopts two symmetric de…
Melanoma is one of the most serious skin cancers that can occur in any part of the human skin. Early diagnosis of melanoma lesions will significantly increase their chances of being cured. Improving melanoma segmentation will help doctors or surgical robots remove the lesion more accurately from body parts. Recently, the learning-based segmentation methods achieved desired results in image segmentation compared to traditional algorithms. This study proposes a new approach to improve melanoma skin lesions detection and segmentation by defining a two-step pipeline based on deep learning models. …
University of Campinas (UNICAMP)（坎皮纳斯州立大学（UNICAMP））
Despite the growing availability of high-quality public datasets, the lack of training samples is still one of the main challenges of deep-learning for skin lesion analysis. Generative Adversarial Networks (GANs) appear as an enticing alternative to alleviate the issue, by synthesizing samples indistinguishable from real images, with a plethora of works employing them for medical applications. Nevertheless, carefully designed experiments for skin-lesion diagnosis with GAN-based data augmentation show favorable results only on out-of-distribution test sets. For GAN-based data anonymization $-$ …
SkinFormer: Learning Statistical Texture Representation with Transformer for Skin Lesion Segmentation
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Shandong Computer Science Center（山东省计算中心）；Qilu University of Technology（齐鲁工业大学）；Shandong Fundamental Research Center for Computer Science（山东计算机科学基础研究中心）；Beijing University of Posts and Telecommunications（北京邮电大学）
ISTI-CNR（意大利国家研究委员会信息科学与技术研究所）；University of Pisa（比萨大学）；Sorbonne Universite（索邦大学）
Explainable AI consists in developing mechanisms allowing for an interaction between decision systems and humans by making the decisions of the formers understandable. This is particularly important in sensitive contexts like in the medical domain. We propose a use case study, for skin lesion diagnosis, illustrating how it is possible to provide the practitioner with explanations on the decisions of a state of the art deep neural network classifier trained to characterize skin lesions from examples. Our framework consists of a trained classifier onto which an explanation module operates. The l…
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；University of Science and Technology of China（中国科学技术大学）
Skin lesion segmentation is an important step for automatic melanoma diagnosis. Due to the non-negligible diversity of lesions from different patients, extracting powerful context for fine-grained semantic segmentation is still challenging today. Although the deep convolutional neural network (CNNs) have made significant improvements on skin lesion segmentation, they often fail to reserve the spatial details and long-range dependencies context due to consecutive convolution striding and pooling operations inside CNNs. In this paper, we formulate a cascaded context enhancement neural network fo…
Imsight Medical Technology Co., Ltd.（深圳市智视医疗科技有限公司）；The Chinese University of Hong Kong（香港中文大学）；The Hong Kong Polytechnic University（香港理工大学）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；Imperial College London（帝国理工学院）
Automated skin lesion analysis is very crucial in clinical practice, as skin cancer is among the most common human malignancy. Existing approaches with deep learning have achieved remarkable performance on this challenging task, however, heavily relying on large-scale labelled datasets. In this paper, we present a novel active learning framework for cost-effective skin lesion analysis. The goal is to effectively select and utilize much fewer labelled samples, while the network can still achieve state-of-the-art performance. Our sample selection criteria complementarily consider both informativ…
University of Barcelona（巴塞罗那大学）；Universitat Rovira i Virgili（罗维拉-维尔吉利大学）；Khalifa University of Science and Technology（哈利法科学技术大学）；Mil-kin Inc.（Mil-kin公司）；Dhaka Medical College Hospital（达卡医学院附属医院）；University of Warwick（华威大学）；University of Toulouse（图卢兹大学）
The determination of precise skin lesion boundaries in dermoscopic images using automated methods faces many challenges, most importantly, the presence of hair, inconspicuous lesion edges and low contrast in dermoscopic images, and variability in the color, texture and shapes of skin lesions. Existing deep learning-based skin lesion segmentation algorithms are expensive in terms of computational time and memory. Consequently, running such segmentation algorithms requires a powerful GPU and high bandwidth memory, which are not available in dermoscopy devices. Thus, this article aims to achieve …
University of Girona（赫罗纳大学）；Université Clermont Auvergne（克莱蒙奥弗涅大学）
Automatic segmentation of skin lesion is considered a crucial step in Computer Aided Diagnosis (CAD) for melanoma diagnosis. Despite its significance, skin lesion segmentation remains a challenging task due to their diverse color, texture, and indistinguishable boundaries and forms an open problem. Through this study, we present a new and automatic semantic segmentation network for robust skin lesion segmentation named Dermoscopic Skin Network (DSNet). In order to reduce the number of parameters to make the network lightweight, we used depth-wise separable convolution in lieu of standard convo…
University of North Carolina at Greensboro（北卡罗来纳大学格林斯伯勒分校）；National Taiwan Normal University（台湾师范大学）
Skin cancer is one of the most common cancers in the United States. As technological advancements are made, algorithmic diagnosis of skin lesions is becoming more important. In this paper, we develop algorithms for segmenting the actual diseased area of skin in a given image of a skin lesion, and for classifying different types of skin lesions pictured in a given image. The cores of the algorithms used were based in persistent homology, an algebraic topology technique that is part of the rising field of Topological Data Analysis (TDA). The segmentation algorithm utilizes a similar concept to p…
Over the last decades, the incidence of skin cancer, melanoma and non-melanoma, has increased at a continuous rate. In particular for melanoma, the deadliest type of skin cancer, early detection is important to increase patient prognosis. Recently, deep neural networks (DNNs) have become viable to deal with skin cancer detection. In this work, we present a smartphone-based application to assist on skin cancer detection. This application is based on a Convolutional Neural Network(CNN) trained on clinical images and patients demographics, both collected from smartphones. Also, as skin cancer dat…
The incidence rate for skin cancer has been steadily increasing throughout the world, leading to it being a serious issue. Diagnosis at an early stage has the potential to drastically reduce the harm caused by the disease, however, the traditional biopsy is a labor-intensive and invasive procedure. In addition, numerous rural communities do not have easy access to hospitals and do not prefer visiting one for what they feel might be a minor issue. Using machine learning and deep learning for skin cancer classification can increase accessibility and reduce the discomforting procedures involved i…
Manchester Metropolitan University（曼彻斯特城市大学）；University of Auckland（奥克兰大学）
Early detection of skin cancer, particularly melanoma, is crucial to enable advanced treatment. Due to the rapid growth in the numbers of skin cancers, there is a growing need of computerized analysis for skin lesions. The state-of-the-art public available datasets for skin lesions are often accompanied with very limited amount of segmentation ground truth labeling as it is laborious and expensive. The lesion boundary segmentation is vital to locate the lesion accurately in dermoscopic images and lesion diagnosis of different skin lesion types. In this work, we propose the use of fully automat…
This short report describes our submission to the ISIC 2018 Challenge in Skin Lesion Analysis Towards Melanoma Detection for Task1 and Task 3. This work has been accomplished by a team of researchers at the University of Dayton Signal and Image Processing Lab. Our proposed approach is computationally efficient are combines information from both deep learning and handcrafted features. For Task3, we form a new type of image features, called hybrid features, which has stronger discrimination ability than single method features. These features are utilized as inputs to a decision-making model that…
Shiraz University of Medical Sciences（设拉子医科大学）；Shiraz University（设拉子大学）
Digital image processing techniques have wide applications in different scientific fields including the medicine. By use of image processing algorithms, physicians have been more successful in diagnosis of different diseases and have achieved much better treatment results. In this paper, we propose an automatic method for segmenting the skin lesions and extracting features that are associated to them. At this aim, a combination of Speeded-Up Robust Features (SURF) and Active Contour Model (ACM), is used. In the suggested method, at first region of skin lesion is segmented from the whole skin i…
DermoSegDiff: A Boundary-aware Segmentation Diffusion Model for Skin Lesion Delineation
University of Regensburg（雷根斯堡大学）；Iran University of Science and Technology（伊朗科技大学）；RWTH Aachen University（亚琛工业大学）；Fraunhofer Institute for Digital Medicine MEVIS（弗劳恩霍夫数字医学MEVIS研究所）
Deep Neural Networks (DNNs) show a significant impact on medical imaging. One significant problem with adopting DNNs for skin cancer classification is that the class frequencies in the existing datasets are imbalanced. This problem hinders the training of robust and well-generalizing models. Data Augmentation addresses this by using existing data more effectively. However, standard data augmentation implementations are manually designed and produce only limited reasonably alternative data. Instead, Generative Adversarial Networks (GANs) is utilized to generate a much broader set of augmentatio…
The iToBoS dataset: skin region images extracted from 3D total body photographs for lesion detection
Computer Vision and Robotics Research Institute, University of Girona（赫罗纳大学计算机视觉与机器人研究所）；Hospital Clínic Barcelona, Universitat de Barcelona（巴塞罗那大学巴塞罗那临床医院）；Frazer Institute, The University of Queensland（昆士兰大学弗雷泽研究所）；University of Trieste（的里雅斯特大学）；ISAHIT；Canfield Scientific, Inc.（坎菲尔德科学公司）；HUN-REN Institute for Computer Science and Control（HUN-REN计算机科学与控制研究所）
