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We present SpineTrack, the first comprehensive dataset for 2D spine pose estimation in unconstrained settings, addressing a crucial need in sports analytics, healthcare, and realistic animation. Existing pose datasets often simplify the spine to a single rigid segment, overlooking the nuanced articulation required for accurate motion analysis. In contrast, SpineTrack annotates nine detailed spinal keypoints across two complementary subsets: a synthetic set comprising 25k annotations created using Unreal Engine with biomechanical alignment through OpenSim, and a real-world set comprising over 33k annotations curated via an active learning pipeline that iteratively refines automated annotations with human feedback. This integrated approach ensures anatomically consistent labels at scale, even for challenging, in-the-wild images. We further introduce SpinePose, extending state-of-the-art body pose estimators using knowledge distillation and an anatomical regularization strategy to jointly predict body and spine keypoints. Our experiments in both general and sports-specific contexts validate the effectiveness of SpineTrack for precise spine pose estimation, establishing a robust founda

The spine plays a crucial role in the dynamic locomotion of quadrupedal animals, improving the stability, speed, and efficiency of their gait, especially for fast-paced and highly agile movements. Therefore, the spine is also a promising and natural way to extend the capabilities of quadruped robots. This paper empirically investigates the benefits of an actuated spine for learning agile quadruped locomotion. We evaluate whether the use of the spine brings benefits in terms of high-speed running, climbing stairs, climbing high-angle slopes, hurdling, and crawling scenarios. We conducted an empirical study in MuJoCo simulation using the Silver Badger robot from MAB Robotics with an actuated 1-DOF spine in the sagittal plane. The obtained results show that the use of the spine provides the robot with increased agility and allows it to overcome higher stairs, steeper slopes, higher obstacles, and smaller passages.

The Radiological Society of North America (RSNA) Lumbar Degenerative Imaging Spine Classification (LumbarDISC) dataset is the largest publicly available dataset of adult MRI lumbar spine examinations annotated for degenerative changes. The dataset includes 2,697 patients with a total of 8,593 image series from 8 institutions across 6 countries and 5 continents. The dataset is available for free for non-commercial use via Kaggle and RSNA Medical Imaging Resource of AI (MIRA). The dataset was created for the RSNA 2024 Lumbar Spine Degenerative Classification competition where competitors developed deep learning models to grade degenerative changes in the lumbar spine. The degree of spinal canal, subarticular recess, and neural foraminal stenosis was graded at each intervertebral disc level in the lumbar spine. The images were annotated by expert volunteer neuroradiologists and musculoskeletal radiologists from the RSNA, American Society of Neuroradiology, and the American Society of Spine Radiology. This dataset aims to facilitate research and development in machine learning and lumbar spine imaging to lead to improved patient care and clinical efficiency.

Spine image segmentation is crucial for clinical diagnosis and treatment of spine diseases. The complex structure of the spine and the high morphological similarity between individual vertebrae and adjacent intervertebral discs make accurate spine segmentation a challenging task. Although the Segment Anything Model (SAM) has been proposed, it still struggles to effectively capture and utilize morphological information, limiting its ability to enhance spine image segmentation performance. To address these challenges, in this paper, we propose a MorphSAM that explicitly learns morphological information from atlases, thereby strengthening the spine image segmentation performance of SAM. Specifically, the MorphSAM includes two fully automatic prompt learning networks, 1) an anatomical prompt learning network that directly learns morphological information from anatomical atlases, and 2) a semantic prompt learning network that derives morphological information from text descriptions converted from the atlases. Then, the two learned morphological prompts are fed into the SAM model to boost the segmentation performance. We validate our MorphSAM on two spine image segmentation tasks, includ

MRI is preferred over CT in paediatric imaging because it avoids ionising radiation, but its use in spine deformity assessment is largely limited by the lack of automated, high-resolution 3D bony reconstruction, which continues to rely on CT. MRI-based 3D reconstruction remains impractical due to manual workflows and the scarcity of labelled full-spine datasets. This study introduces an AI framework that enables fully automated thoracolumbar spine (T1-L5) segmentation and 3D reconstruction from MRI alone. Historical low-dose CT scans from adolescent idiopathic scoliosis (AIS) patients were converted into MRI-like images using a GAN and combined with existing labelled thoracic MRI data to train a U-Net-based model. The resulting algorithm accurately generated continuous thoracolumbar 3D reconstructions, improved segmentation accuracy (88% Dice score), and reduced processing time from approximately 1 hour to under one minute, while preserving AIS-specific deformity features. This approach enables radiation-free 3D deformity assessment from MRI, supporting clinical evaluation, surgical planning, and navigation in paediatric spine care.

Dendritic spines are key structural components of excitatory synapses in the brain. Given the size of dendritic spines provides a proxy for synaptic efficacy, their detection and tracking across time is important for studies of the neural basis of learning and memory. Despite their relevance, large-scale analyses of the structural dynamics of dendritic spines in 3D+time microscopy data remain challenging and labor-intense. Here, we present a modular machine learning-based pipeline designed to automate the detection, time-tracking, and feature extraction of dendritic spines in volumes chronically recorded with two-photon microscopy. Our approach tackles the challenges posed by biological data by combining a transformer-based detection module, a depth-tracking component that integrates spatial features, a time-tracking module to associate 3D spines across time by leveraging spatial consistency, and a feature extraction unit that quantifies biologically relevant spine properties. We validate our method on open-source labeled spine data, and on two complementary annotated datasets that we publish alongside this work: one for detection and depth-tracking, and one for time-tracking, whic

Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present SPARC, a compact 3-DoF sagittal-plane spine module that enables simultaneous revolute and prismatic motions within a 1.26 kg package. Using a floating-base impedance controller, we facilitate independent, task-space tuning of spinal stiffness and damping to mimic biological load-bearing strategies. Benchtop experiments confirm high-fidelity rendering of commanded impedance, with linear force-displacement error within 1.5%. Systematic locomotion simulations reveal a critical speed-dependency: while low-speed efficiency is insensitive to spinal properties, precise impedance tuning becomes indispensable for high-speed performance. Our results demonstrate that an optimally compliant spine reduces power consumption by 21% at 0.9 m/s compared to a rigid-spine baseline. This efficiency gain is mechanistically attributed to the spine's role in augmenting stride length and acting as a mechanical low-pass filter to attenuate high-frequency torque fluctuation

We study the partition graph $G_n$, whose vertices are the partitions of $n$ and whose edges correspond to elementary unit transfers between parts. We define the self-conjugate axis, its distance neighborhoods, and the thin spine, a first off-axis layer built from common neighbors of distinct axial vertices. We prove that distinct self-conjugate vertices are never adjacent, that the thin spine is a conjugation-invariant induced subgraph, and that axial and spinal concentration radii differ by at most one. Computations for $1 \le n \le 30$ show that the main local invariants are maximized near the axis and the spine.

In clinical settings, the screening, diagnosis, and monitoring of adolescent idiopathic scoliosis (AIS) typically involve physical or radiographic examinations. However, physical examinations are subjective, while radiographic examinations expose patients to harmful radiation. Consequently, we propose a pipeline that can accurately determine scoliosis severity. This pipeline utilizes posteroanterior (PA) and lateral (LAT) RGB images as input to generate spine curve maps, which are then used to reconstruct the three-dimensional (3D) spine curve for AIS severity grading. To generate the 2D spine curves accurately and efficiently, we further propose an Efficient U-shape transFormer (EUFormer) as the generator. It can efficiently utilize the learned feature across channels, therefore producing consecutive spine curves from both PA and LAT views. Experimental results demonstrate superior performance of EUFormer on spine curve generation against other classical U-shape models. This finding demonstrates that the proposed method for grading the severity of AIS, based on a 3D spine curve, is more accurate when compared to using a 2D spine curve.

Scoliosis is traditionally assessed based solely on 2D lateral deviations, but recent studies have also revealed the importance of other imaging planes in understanding the deformation of the spine. Consequently, extracting the spinal geometry in 3D would help quantify these spinal deformations and aid diagnosis. In this study, we propose an automated general framework to estimate the 3D spine shape from 2D DXA scans. We achieve this by explicitly predicting the sagittal view of the spine from the DXA scan. Using these two orthogonal projections of the spine (coronal in DXA, and sagittal from the prediction), we are able to describe the 3D shape of the spine. The prediction is learnt from over 30k paired images of DXA and MRI scans. We assess the performance of the method on a held out test set, and achieve high accuracy.

We introduce the concept of a k-spine of a tree. A k-spine is essentially a path in the tree whose removal leaves only "less-bushy" components of a smaller pathwidth. Using a k-spine as a central guide, we introduce an O(klog dist) exponential search algorithm on a tree by searching mainly along the spine to narrow down the target's vicinity and then recursively handling the smaller components.

This paper introduces SpineFM, a novel pipeline that achieves state-of-the-art performance in the automatic segmentation and identification of vertebral bodies in cervical and lumbar spine radiographs. SpineFM leverages the regular geometry of the spine, employing a novel inductive process to sequentially infer the location of each vertebra along the spinal column. Vertebrae are segmented using Medical-SAM-Adaptor, a robust foundation model that diverges from commonly used CNN-based models. We achieved outstanding results on two publicly available spine X-Ray datasets, with successful identification of 97.8\% and 99.6\% of annotated vertebrae, respectively. Of which, our segmentation reached an average Dice of 0.942 and 0.921, surpassing previous state-of-the-art methods.

Adult spine deformity (ASD) is prevalent and leads to a sagittal misalignment in the vertebral column. Computational methods, including Finite Element (FE) Models, have emerged as valuable tools for investigating the causes and treatment of ASD through biomechanical simulations. However, the process of generating personalized FE models is often complex and time-consuming. To address this challenge, we present a repository of FE models with diverse spine morphologies that statistically represent real geometries from a cohort of patients. These models are generated using EOS images, which are utilized to reconstruct 3D surface spine models. Subsequently, a Statistical Shape Model (SSM) is constructed, enabling the adaptation of a FE hexahedral mesh template for both the bone and soft tissues of the spine through mesh morphing. The SSM deformation fields facilitate the personalization of the mean hexahedral FE model based on sagittal balance measurements. Ultimately, this new hexahedral SSM tool offers a means to generate a virtual cohort of 16807 thoracolumbar FE spine models, which are openly shared in a public repository.

The Reidemeister theorem states that any link in $3$-space can be encoded by a diagram (a suitably decorated projection) on a plane, and provides a finite set of combinatorial moves relating two diagrams of the same link up to isotopy. In this note we replace $3$-space by any 3-manifold $M$ and we extend the Reidemeister theorem (definition of the decoration and description of the combinatorial moves) in four situations, taking diagrams either of links or of bands (collections of cylinders and Möbius strips), either on an almost special spine or on a flow-spine of $M$. This partially reproves and extends a result of Brand, Burton, Dancso, He, Jackson and Licata.

This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated Quadruped (SCIQ) platform for both empirical and numerical research. Individual spine tests reveal beneficial spinal characteristics like a degressive spring, and validate the efficacy of a proposed compact locking/unlocking mechanism for the spine. Benchmark vertical jumping and landing tests with our robot show comparable jumping performance between the rigid and compliant spines. An observed advantage of the compliant spine module is that it can alleviate more challenging landing conditions by absorbing impact energy and dissipating the remainder via feet slipping through much in cat-like stretching fashion.

To study the Thurston spine $\mathcal{P}_g \subseteq \mathcal{T}_g$, we construct a Teichmüller curve $V \subseteq \mathcal{T}_g$. Then we characterize $V \cap \mathcal{P}_g$. More specifically, we show it is a trivalent tree and is an equivariant deformation retract of $V$. Moreover, by our construction, a lot of essential loops in the Thurston spine, both reducible and pseudo-Anosov, are obtained.

Electrical signaling in the brain plays a vital role to our existence but at the same time, the fundamental mechanism of this propagation is undeciphered. Notable advancements have been made in the numerical modeling supplementing the related experimental findings. Cable theory based models provided a significant breakthrough in understanding the mechanism of electrical propagation in the neuronal axons. Cable theory, however, fails for thin geometries such as a spine or a dendrite of a neuron, amongst its other limitations. Recently, the spatiotemporal propagation has been precisely modeled using the Poisson-Nernst-Planck (PNP) electro-diffusive theory in the neuronal axons as well as the dendritic spines respectively. Patch clamp and voltage imaging experiments have extensively aided the study of action potential propagation exclusively for the neuronal axons but not the dendritic spines because of the challenges linked with their thin geometry. Assisted by the super-resolution microscopes and the voltage dyeing experiments, it has become possible to precisely measure the voltage in the dendritic spines. This has facilitated the requirement of a high fidelity numerical frame that

Walking quadruped robots face challenges in positioning their feet and lifting their legs during gait cycles over uneven terrain. The robot Laika is under development as a quadruped with a flexible, actuated spine designed to assist with foot movement and balance during these gaits. This paper presents the first set of hardware designs for the spine of Laika, a physical prototype of those designs, and tests in both hardware and simulations that show the prototype's capabilities. Laika's spine is a tensegrity structure, used for its advantages with weight and force distribution, and represents the first working prototype of a tensegrity spine for a quadruped robot. The spine bends by adjusting the lengths of the cables that separate its vertebrae, and twists using an actuated rotating vertebra at its center. The current prototype of Laika has stiff legs attached to the spine, and is used as a test setup for evaluation of the spine itself. This work shows the advantages of Laika's spine by demonstrating the spine lifting each of the robot's four feet, both as a form of balancing and as a precursor for a walking gait. These foot motions, using specific combinations of bending and rota

Dendritic spines are small membranous structures that protrude from the neuronal dendrite. Each spine contains a synaptic contact site that may connect its parent dendrite to the axons of neighboring neurons. Dendritic spines are markedly distinct in shape and size, and certain types of stimulation prompt spines to evolve, in fairly predictable fashion, from thin nascent morphologies to the mushroom-like shapes associated with mature spines. This striking progression is coincident with the (re)configuration of the neuronal network during early development, learning and memory formation, and has been conjectured to be part of the machinery that encodes these processes at the scale of individual neuronal connections. It is well established that the structural plasticity of spines is strongly dependent upon the actin cytoskeleton inside the spine. A general framework that details the precise role of actin in directing the transitions between the various spine shapes is lacking. We address this issue, and present a quantitative, model-based scenario for spine plasticity validated using realistic and physiologically relevant parameters. Our model points to a crucial role for the actin c