We show that it is possible to learn meaningful representations of surgical motion, without supervision, by learning to predict the future. An architecture that combines an RNN encoder-decoder and mixture density networks (MDNs) is developed to model the conditional distribution over future motion given past motion. We show that the learned encodings naturally cluster according to high-level activities, and we demonstrate the usefulness of these learned encodings in the context of information retrieval, where a database of surgical motion is searched for suturing activity using a motion-based query. Future prediction with MDNs is found to significantly outperform simpler baselines as well as the best previously-published result for this task, advancing state-of-the-art performance from an F1 score of 0.60 +- 0.14 to 0.77 +- 0.05.
Robot-assisted surgery is an established clinical practice. The automatic identification of surgical actions is needed for a range of applications, including performance assessment of trainees and surgical process modeling for autonomous execution and monitoring. However, supervised action identification is not feasible, due to the burden of manually annotating recordings of potentially complex and long surgical executions. Moreover, often few example executions of a surgical procedure can be recorded. This paper proposes a novel fast algorithm for unsupervised identification of surgical actio…
Future Slot Prediction for Unsupervised Object Discovery in Surgical Video
PCASO Laboratory, Department of Surgery, University of Pennsylvania（匹兹堡大学外科实验室、外科系、匹兹堡大学）；Department of Computer and Information Science, University of Pennsylvania（计算机与信息科学系、匹兹堡大学）
NELVT, Department of Computer Science, Peking University（北京大学计算机科学技术系数字视频编解码技术国家工程实验室）；Deepwise AI Lab（深睿医疗人工智能实验室）；Center on Frontiers of Computing Studies, Peking University（北京大学前沿计算研究中心）；Advanced Institute of Information Technology, Peking University（北京大学信息技术高等研究院）；Peking University Cancer Hospital（北京大学肿瘤医院）
Surgical instrument segmentation is a key component in developing context-aware operating rooms. Existing works on this task heavily rely on the supervision of a large amount of labeled data, which involve laborious and expensive human efforts. In contrast, a more affordable unsupervised approach is developed in this paper. To train our model, we first generate anchors as pseudo labels for instruments and background tissues respectively by fusing coarse handcrafted cues. Then a semantic diffusion loss is proposed to resolve the ambiguity in the generated anchors via the feature correlation bet…
Capital Normal University（首都师范大学）；Beijing Advanced Innovation Center for Imaging Technology（北京成像理论与技术高精尖创新中心）
To improve the efficiency of surgical trajectory segmentation for robot learning in robot-assisted minimally invasive surgery, this paper presents a fast unsupervised method using video and kinematic data, followed by a promoting procedure to address the over-segmentation issue. Unsupervised deep learning network, stacking convolutional auto-encoder, is employed to extract more discriminative features from videos in an effective way. To further improve the accuracy of segmentation, on one hand, wavelet transform is used to filter out the noises existed in the features from video and kinematic …
Data-driven approaches to assist operating room (OR) workflow analysis depend on large curated datasets that are time consuming and expensive to collect. On the other hand, we see a recent paradigm shift from supervised learning to self-supervised and/or unsupervised learning approaches that can learn representations from unlabeled datasets. In this paper, we leverage the unlabeled data captured in robotic surgery ORs and propose a novel way to fuse the multi-modal data for a single video frame or image. Instead of producing different augmentations (or 'views') of the same image or video frame…
University of Strasbourg（斯特拉斯堡大学）；CNRS（法国国家科学研究中心）；IHU Strasbourg（斯特拉斯堡大学医院）；Politecnico di Milano（米兰理工大学）
Automatic surgical instrument segmentation of endoscopic images is a crucial building block of many computer-assistance applications for minimally invasive surgery. So far, state-of-the-art approaches completely rely on the availability of a ground-truth supervision signal, obtained via manual annotation, thus expensive to collect at large scale. In this paper, we present FUN-SIS, a Fully-UNsupervised approach for binary Surgical Instrument Segmentation. FUN-SIS trains a per-frame segmentation model on completely unlabelled endoscopic videos, by solely relying on implicit motion information an…
CoRe-DA: Contrastive Regression for Unsupervised Domain Adaptation in Surgical Skill Assessment
UCL Hawkes Institute, University College London（伦敦大学学院霍克斯研究所）；Dept of Computer Science, University College London（伦敦大学学院计算机科学系）；The Griffin Institute（格里芬研究所）
DenseTRF: Texture-Aware Unsupervised Representation Adaptation for Surgical Scene Dense Prediction
GRASP Laboratory, University of Pennsylvania（宾夕法尼亚大学GRASP实验室）；PCASO Laboratory, Department of Surgery, University of Pennsylvania（宾夕法尼亚大学外科PCASO实验室）；Department of Computer and Information Science, University of Pennsylvania（宾夕法尼亚大学计算机与信息科学系）
Hyperspectral imaging has the potential to improve intraoperative decision making if tissue characterisation is performed in real-time and with high-resolution. Hyperspectral snapshot mosaic sensors offer a promising approach due to their fast acquisition speed and compact size. However, a demosaicking algorithm is required to fully recover the spatial and spectral information of the snapshot images. Most state-of-the-art demosaicking algorithms require ground-truth training data with paired snapshot and high-resolution hyperspectral images, but such imagery pairs with the exact same scene are…
Surgical tool segmentation in endoscopic images is an important problem: it is a crucial step towards full instrument pose estimation and it is used for integration of pre- and intra-operative images into the endoscopic view. While many recent approaches based on convolutional neural networks have shown great results, a key barrier to progress lies in the acquisition of a large number of manually-annotated images which is necessary for an algorithm to generalize and work well in diverse surgical scenarios. Unlike the surgical image data itself, annotations are difficult to acquire and may be o…
National Center for Tumor Diseases (NCT)（国家肿瘤疾病中心（NCT））；TU Dresden（德累斯顿工业大学）；Technische Universität Dresden（德累斯顿工业大学）
Estimating the remaining surgery duration (RSD) during surgical procedures can be useful for OR planning and anesthesia dose estimation. With the recent success of deep learning-based methods in computer vision, several neural network approaches have been proposed for fully automatic RSD prediction based solely on visual data from the endoscopic camera. We investigate whether RSD prediction can be improved using unsupervised temporal video segmentation as an auxiliary learning task. As opposed to previous work, which presented supervised surgical phase recognition as auxiliary task, we avoid t…
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；University of Heidelberg（海德堡大学）
Computer-assisted surgery (CAS) aims to provide the surgeon with the right type of assistance at the right moment. Such assistance systems are especially relevant in laparoscopic surgery, where CAS can alleviate some of the drawbacks that surgeons incur. For many assistance functions, e.g. displaying the location of a tumor at the appropriate time or suggesting what instruments to prepare next, analyzing the surgical workflow is a prerequisite. Since laparoscopic interventions are performed via endoscope, the video signal is an obvious sensor modality to rely on for workflow analysis. Image-ba…
MIT（麻省理工学院）；Massachusetts General Hospital（麻省总医院）；Olympus Corporation（奥林巴斯公司）
Comprehension of surgical workflow is the foundation upon which artificial intelligence (AI) and machine learning (ML) holds the potential to assist intraoperative decision-making and risk mitigation. In this work, we move beyond mere identification of past surgical phases, into the prediction of future surgical steps and specification of the transitions between them. We use a novel Generative Adversarial Network (GAN) formulation to sample future surgical phases trajectories conditioned on past video frames from laparoscopic cholecystectomy (LC) videos and compare it to state-of-the-art appro…
State-Change Learning for Prediction of Future Events in Endoscopic Videos
University of Strasbourg, CNRS, INSERM, ICube, UMR7357, France（斯特拉斯堡大学，法国国家科学研究中心，法国国家医学研究院，ICube，UMR7357，法国）；University Hospital of Strasbourg, France（斯特拉斯堡大学医院，法国）
Intuitive Surgical Inc.（直觉外科公司）；California Institute of Technology（加州理工学院）
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such predictions are a necessary first step towards shared control and supervised autonomy of surgical subtasks. Minute-long surgical subtasks, such as suturing or ultrasound scanning, often have distinguishable tool kinematics and visual features, and can be described as a series of fine-grained states with transition schematics. We propose daVinciNet - an end-to-end dual…
The Chinese University of Hong Kong（香港中文大学）；T Stone Robotics Institute（T Stone机器人研究所）
Predicting future frames for robotic surgical video is an interesting, important yet extremely challenging problem, given that the operative tasks may have complex dynamics. Existing approaches on future prediction of natural videos were based on either deterministic models or stochastic models, including deep recurrent neural networks, optical flow, and latent space modeling. However, the potential in predicting meaningful movements of robots with dual arms in surgical scenarios has not been tapped so far, which is typically more challenging than forecasting independent motions of one arm rob…
SurgGMF: Fully Causal Gaussian Motion Forecasting for Anticipatory Surgical Scene Rendering
Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University（同济大学上海自主智能无人系统科学中心）；School of Mechanical Engineering, Tongji University（同济大学机械工程学院）；Shanghai Innovation Institute（上海创新研究院）
SurgMotion: A Video-Native Foundation Model for Universal Understanding of Surgical Videos
Center for Artificial Intelligence and Robotics, Hong Kong Institute of Science and Innovation, Chinese Academy of Sciences, Hong Kong, China（人工智能与机器人中心，香港科学与创新研究院，中国科学院，香港，中国）；State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院，北京，中国）；Computer Aided Medical Procedures, Technical University of Munich, Munich, Germany（医学辅助程序，慕尼黑技术大学，德国慕尼黑）；Electronic Engineering Department, The Chinese University of Hong Kong, Hong Kong, China（电子工程系，香港中文大学，香港，中国）；Neuromedical Centre, Hong Kong University Shenzhen Hospital, Shenzhen, China（神经医学中心，香港大学深圳医院，深圳，中国）；University of Chinese Academy of Sciences, Beijing, China（中国科学院大学，北京，中国）；Department of Respiratory Medicine, The First Affiliated Hospital of Sun Yat-sen University, Guangzhou, China（呼吸科，中山大学附属第一医院，广州，中国）
Purpose: Basic surgical skills of suturing and knot tying are an essential part of medical training. Having an automated system for surgical skills assessment could help save experts time and improve training efficiency. There have been some recent attempts at automated surgical skills assessment using either video analysis or acceleration data. In this paper, we present a novel approach for automated assessment of OSATS based surgical skills and provide an analysis of different features on multi-modal data (video and accelerometer data). Methods: We conduct the largest study, to the best of o…
Encoding Surgical Videos as Latent Spatiotemporal Graphs for Object and Anatomy-Driven Reasoning
University of Strasbourg（斯特拉斯堡大学）；IHU-Strasbourg, Institute of Image-Guided Surgery（斯特拉斯堡图像引导外科研究所（IHU-Strasbourg））；Fondazione Policlinico Universitario Agostino Gemelli IRCCS（阿戈斯蒂诺·杰梅利大学综合医院基金会IRCCS）；Institute for Research Against Digestive Cancer (IRCAD)（消化道癌症研究所（IRCAD））
Towards Surgical World-Action Modeling: A Preliminary Joint Visual-Trajectory Forecasting for Surgical Motion Planning
University of Macau（澳门大学）；University of Macau Advanced Research Institute in Hengqin（澳门大学横琴研究院）；The Chinese University of Hong Kong（香港中文大学）；The Hong Kong Polytechnic University（香港理工大学）；Shanghai Jiao Tong University（上海交通大学）；Tongren Hospital（同仁医院）；Duke University（杜克大学）
CoPESD: A Multi-Level Surgical Motion Dataset for Training Large Vision-Language Models to Co-Pilot Endoscopic Submucosal Dissection
The Chinese University of Hong Kong（香港中文大学）；Shanghai AI Laboratory（上海人工智能实验室）；The Qilu Hospital of Shandong University（山东大学齐鲁医院）；National University o（国立大学）
