We study the task of semantic segmentation of surgical instruments in robotic-assisted surgery scenes. We propose the Instance-based Surgical Instrument Segmentation Network (ISINet), a method that addresses this task from an instance-based segmentation perspective. Our method includes a temporal consistency module that takes into account the previously overlooked and inherent temporal information of the problem. We validate our approach on the existing benchmark for the task, the Endoscopic Vision 2017 Robotic Instrument Segmentation Dataset, and on the 2018 version of the dataset, whose annotations we extended for the fine-grained version of instrument segmentation. Our results show that ISINet significantly outperforms state-of-the-art methods, with our baseline version duplicating the Intersection over Union (IoU) of previous methods and our complete model triplicating the IoU.
hutom；Yonsei University College of Medicine（延世大学医学院）
Automated surgical instrument localization is an important technology to understand the surgical process and in order to analyze them to provide meaningful guidance during surgery or surgical index after surgery to the surgeon. We introduce a new dataset that reflects the kinematic characteristics of surgical instruments for automated surgical instrument localization of surgical videos. The hSDB(hutom Surgery DataBase)-instrument dataset consists of instrument localization information from 24 cases of laparoscopic cholecystecomy and 24 cases of robotic gastrectomy. Localization information for…
Rochester Institute of Technology（罗切斯特理工学院）；Center for Imaging Science（影像科学中心）；Biomedical Engineering（生物医学工程）
Conventional therapy approaches limit surgeons' dexterity control due to limited field-of-view. With the advent of robot-assisted surgery, there has been a paradigm shift in medical technology for minimally invasive surgery. However, it is very challenging to track the position of the surgical instruments in a surgical scene, and accurate detection & identification of surgical tools is paramount. Deep learning-based semantic segmentation in frames of surgery videos has the potential to facilitate this task. In this work, we modify the U-Net architecture named U-NetPlus, by introducing a pre-tr…
University of Chinese Academy of Sciences（中国科学院大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；CAS Center for Excellence in Brain Science and Intelligence Technology（中国科学院脑科学与智能技术卓越创新中心）
Semantic segmentation of surgical instruments plays a crucial role in robot-assisted surgery. However, accurate segmentation of cataract surgical instruments is still a challenge due to specular reflection and class imbalance issues. In this paper, an attention-guided network is proposed to segment the cataract surgical instrument. A new attention module is designed to learn discriminative features and address the specular reflection issue. It captures global context and encodes semantic dependencies to emphasize key semantic features, boosting the feature representation. This attention module…
Surgical-DeSAM: Decoupling SAM for Instrument Segmentation in Robotic Surgery
Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS)（Wellcome/EPSRC介入与外科科学中心（WEISS））；University College London（伦敦大学学院）；Dept. of Computer Science, University College London（伦敦大学学院计算机科学系）
Producing manual, pixel-accurate, image segmentation labels is tedious and time-consuming. This is often a rate-limiting factor when large amounts of labeled images are required, such as for training deep convolutional networks for instrument-background segmentation in surgical scenes. No large datasets comparable to industry standards in the computer vision community are available for this task. To circumvent this problem, we propose to automate the creation of a realistic training dataset by exploiting techniques stemming from special effects and harnessing them to target training performanc…
SurgPIS: Surgical-instrument-level Instances and Part-level Semantics for Weakly-supervised Part-aware Instance Segmentation
School of Biomedical Engineering and Imaging Sciences, King’s College London（生物医学工程与成像科学学院，伦敦国王学院）；College of Electronic and Information Engineering, Tongji University（电子与信息工程学院，同济大学）
Video-Instrument Synergistic Network for Referring Video Instrument Segmentation in Robotic Surgery
Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Imperial College London（帝国理工学院）；Hong Kong University of Science and Technology（香港科技大学）；The General Hospital of Southern Theatre Command of PLA（中国人民解放军南部战区总医院）；National University of Singapore（新加坡国立大学）
Minimally invasive surgeries and related applications demand surgical tool classification and segmentation at the instance level. Surgical tools are similar in appearance and are long, thin, and handled at an angle. The fine-tuning of state-of-the-art (SOTA) instance segmentation models trained on natural images for instrument segmentation has difficulty discriminating instrument classes. Our research demonstrates that while the bounding box and segmentation mask are often accurate, the classification head mis-classifies the class label of the surgical instrument. We present a new neural netwo…
Tecnologico de Monterrey（蒙特雷科技大学）；University of Oxford（牛津大学）；Oxford NIHR Biomedical Research Centre（牛津国家卫生研究院生物医学研究中心）
Precise instrument segmentation aid surgeons to navigate the body more easily and increase patient safety. While accurate tracking of surgical instruments in real-time plays a crucial role in minimally invasive computer-assisted surgeries, it is a challenging task to achieve, mainly due to 1) complex surgical environment, and 2) model design with both optimal accuracy and speed. Deep learning gives us the opportunity to learn complex environment from large surgery scene environments and placements of these instruments in real world scenarios. The Robust Medical Instrument Segmentation 2019 cha…
Comparative validation of surgical phase recognition, instrument keypoint estimation, and instrument instance segmentation in endoscopy: Results of the PhaKIR 2024 challenge
Regensburg Medical Image Computing (ReMIC), OTH Regensburg（雷根萨大学医学影像计算中心）；Research Group MITI, TUM University Hospital, School of Medicine and Health（技术大学慕尼黑大学医院MITI研究组）；Regensburg Center of Biomedical Engineering (RCBE), OTH Regensburg（雷根萨生物医学工程研究中心）；Regensburg University（雷根萨大学）；Regensburg Center of Health Sciences and Technology (RCHST), OTH Regensburg（雷根萨健康科学与技术研究中心）；AI Centre of Excellence, Medtronic Ltd.（医学影像人工智能卓越中心）；Engineering Sciences, University College London（伦敦大学学院工程科学系）；Augmented Intelligence Lab, Kyung Hee University（庆熙大学增强智能实验室）；University of Minho, Braga（明霍大学）；Jmees Inc.（Jmees公司）；School of Sciences, São Paulo State University (UNESP), Bauru（圣保罗州立大学科学学院）；KIST HARILAB, Center for Humanoid Research, Artificial Intelligence and Robot Institute, Korea Institute of Science and Technology (KIST)（韩国科学技术院HARILAB中心）；King's College London（伦敦国王学院）；The Chinese University of Hong Kong（香港中文大学）；Division of Intelligent Medical Systems, German Cancer Research Center (DKFZ)（德国癌症研究中心智能医疗系统部门）；Muroran Institute of Technology, Hokkaido（北海道Muroran技术学院）；Niigata University of Health and Welfare（Niigata医疗福利大学）；Konica Minolta, Inc.（东宝株式会社）；Department of Computer Science and Engineering, The Hong Kong University of Science and Technology（香港科技大学计算机科学与工程系）；Department of Chemical and Biological Engineering, The Hong Kong University of Science and Technology（香港科技大学化学与生物工程系）；HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Shenzhen（香港科技大学深圳-香港协同创新研究院）；Center for Research and Formation in Artificial Intelligence (CinfonIA), Los Andes University, Bogota（安第斯大学人工智能研究与培养中心）；Department of Biomedical Engineering, Medical Image Analysis Group, Eindhoven University of Technology（埃因霍温理工大学生物医学工程系）；Institute of Information Technology (ITEC), Klagenfurt University（克雷格夫大学信息技术研究所）；Center for Tactile Internet with Human-in-the-loop (CeTI), TU Dresden（德累斯顿技术大学触觉互联网中心）
ASI-Seg: Audio-Driven Surgical Instrument Segmentation with Surgeon Intention Understanding
Centre for Artificial Intelligence and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院人工智能与机器人中心）；State Key Laboratory of Multimodal Artificial Intelligence Systems (MAIS), Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）；Chinese University of Hong Kong（香港中文大学）
LACOSTE: Exploiting stereo and temporal contexts for surgical instrument segmentation
School of Biomedical Engineering, Division of Life Sciences and Medicine, University of Science and Technology of China (USTC)（中国科学技术大学生命科学与医学部生物医学工程学院）；Suzhou Institute for Advanced Research, USTC（中国科学技术大学苏州研究院）；Key Laboratory of Precision and Intelligent Chemistry, USTC（中国科学技术大学精准与智能化学重点实验室）
Oxford Brookes University（牛津布鲁克斯大学）；Imperial College London（帝国理工学院）
Nowadays, there are more surgical procedures that are being performed using minimally invasive surgery (MIS). This is due to its many benefits, such as minimal post-operative problems, less bleeding, minor scarring, and a speedy recovery. However, the MIS's constrained field of view, small operating room, and indirect viewing of the operating scene could lead to surgical tools colliding and potentially harming human organs or tissues. Therefore, MIS problems can be considerably reduced, and surgical procedure accuracy and success rates can be increased by using an endoscopic video feed to dete…
SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo Vision
Department of Computing, Imperial College London（帝国理工学院计算系）；Hamlyn Centre for Robotic Surgery, Department of Surgery and Cancer, Imperial College London（帝国理工学院外科与癌症部门机器人手术中心）
Exploring Optical Flow Inclusion into nnU-Net Framework for Surgical Instrument Segmentation
Life and Health Sciences Research Institute (ICVS)（生命与健康科学研究所（ICVS））；School of Medicine, University of Minho（米尼奥大学医学院）；ICVS/3B’s - PT Government Associate Laboratory（ICVS/3B's - 葡萄牙政府附属实验室）；School of Technology, IPCA（IPCA 技术学院）；LASI – Associate Laboratory of Intelligent Systems（LASI——智能系统附属实验室）；Algoritmi Center, School of Engineering, University of Minho（米尼奥大学工程学院 Algoritmi 中心）；KARL STORZ SE & Co. KG（卡尔史托斯有限两合公司）
National University of Sciences and Technology（国家科技大学）；National Center for Artificial Intelligence（国家人工智能中心）
Autonomous surgical procedures, in particular minimal invasive surgeries, are the next frontier for Artificial Intelligence research. However, the existing challenges include precise identification of the human anatomy and the surgical settings, and modeling the environment for training of an autonomous agent. To address the identification of human anatomy and the surgical settings, we propose a deep learning based semantic segmentation algorithm to identify and label the tissues and organs in the endoscopic video feed of the human torso region. We present an annotated dataset, m2caiSeg, creat…
NUS Graduate School for Integrative Sciences and Engineering (NGS)（新加坡国立大学综合科学与工程研究生院（NGS））；National University of Singapore（新加坡国立大学）；University of Moratuwa（莫拉图瓦大学）；NIT Trichy（印度国立理工学院蒂鲁吉拉伯利分校）
Robot-assisted surgery is an emerging technology which has undergone rapid growth with the development of robotics and imaging systems. Innovations in vision, haptics and accurate movements of robot arms have enabled surgeons to perform precise minimally invasive surgeries. Real-time semantic segmentation of the robotic instruments and tissues is a crucial step in robot-assisted surgery. Accurate and efficient segmentation of the surgical scene not only aids in the identification and tracking of instruments but also provided contextual information about the different tissues and instruments be…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；CAS Center for Excellence in Brain Science and Intelligence Technology（中国科学院脑科学与智能技术卓越创新中心）
Segmentation for tracking surgical instruments plays an important role in robot-assisted surgery. Segmentation of surgical instruments contributes to capturing accurate spatial information for tracking. In this paper, a novel network, Refined Attention Segmentation Network, is proposed to simultaneously segment surgical instruments and identify their categories. The U-shape network which is popular in segmentation is used. Different from previous work, an attention module is adopted to help the network focus on key regions, which can improve the segmentation accuracy. To solve the class imbala…
The Chinese University of Hong Kong（香港中文大学）；Imperial College London（帝国理工学院）；National University of Singapore（新加坡国立大学）；Shun Hing Institute of Advanced Engineering（信兴高等工程研究所）
Data diversity and volume are crucial to the success of training deep learning models, while in the medical imaging field, the difficulty and cost of data collection and annotation are especially huge. Specifically in robotic surgery, data scarcity and imbalance have heavily affected the model accuracy and limited the design and deployment of deep learning-based surgical applications such as surgical instrument segmentation. Considering this, we rethink the surgical instrument segmentation task and propose a one-to-many data generation solution that gets rid of the complicated and expensive pr…
Balgrist University Hospital, University of Zurich（苏黎世大学巴尔格利斯特大学医院）；ETH Zurich（苏黎世联邦理工学院）；OR-X Translational Center for Surgery, Balgrist University Hospital, University of Zurich（苏黎世大学巴尔格利斯特大学医院OR-X外科转化中心）；Technical University Munich（慕尼黑工业大学）
Surgical Action Triplet Detection by Mixed Supervised Learning of Instrument-Tissue Interactions
ICube Laboratory（ICube实验室）；University of Strasbourg（斯特拉斯堡大学）；IHU Strasbourg（斯特拉斯堡大学医院研究所）；University Hospital of Strasbourg（斯特拉斯堡大学医院）；CNRS（法国国家科学研究中心）
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…
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…
University of Zagreb（萨格勒布大学）；University of Twente（特文特大学）；University of Groningen（格罗宁根大学）；Radboud University Medical Center（拉德堡德大学医学中心）；Canisius-Wilhelmina Hospital（卡尼修斯-威廉明娜医院）
Video Dataset for Surgical Phase, Keypoint, and Instrument Recognition in Laparoscopic Surgery (PhaKIR)
Regensburg Medical Image Computing (ReMIC), OTH Regensburg（雷根斯堡医学影像计算中心（ReMIC））；Regensburg Center of Biomedical Engineering (RCBE), OTH Regensburg（雷根斯堡生物医学工程中心（RCBE））；Regensburg University（雷根斯堡大学）；Regensburg Center of Health Sciences（雷根斯堡健康科学中心）；Technical University of Munich (TUM)（慕尼黑技术大学）；TUM University Hospital（慕尼黑技术大学医院）；Biomedical Image Analysis Group, Department of Computing, Imperial College London（生物医学影像分析组，计算部门，伦敦帝国学院）；Research Group MITI, TUM University Hospital, School of Medicine（MITI研究组，慕尼黑技术大学医院，医学学院）；Department of Surgery, TUM University Hospital, School of Medicine（外科部门，慕尼黑技术大学医院，医学学院）
SurgeoNet: Realtime 3D Pose Estimation of Articulated Surgical Instruments from Stereo Images using a Synthetically-trained Network
German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心（DFKI））；University of Kaiserslautern-Landau (RPTU)（凯泽斯劳滕-兰道大学（RPTU））；NUST-SEECS（国家科技大学工程与应用科学学院（NUST-SEECS））；University of Prince Mugrin (UPM)（穆格林王子大学（UPM））
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection. However, both can only predict 2D information, which is limiting for application to real-world surgery. An accurate 3D surgical instrument model is a prerequisite for precise predictions of the pose and depth of the instrument. Recent single-view 3D reconstruction methods are only used in natural object reconstruction and do not achieve satisfying reconstruc…
Computer Aided Medical Procedures (CAMP), TU Munich（慕尼黑工业大学计算机辅助医疗程序）；Johns Hopkins University（约翰斯·霍普金斯大学）；Carl Zeiss MEDITEC München（卡尔蔡司医疗技术公司）
Real-time instrument tracking is a crucial requirement for various computer-assisted interventions. In order to overcome problems such as specular reflections and motion blur, we propose a novel method that takes advantage of the interdependency between localization and segmentation of the surgical tool. In particular, we reformulate the 2D instrument pose estimation as heatmap regression and thereby enable a concurrent, robust and near real-time regression of both tasks via deep learning. As demonstrated by our experimental results, this modeling leads to a significantly improved performance …
The Chinese University of Hong Kong（香港中文大学）；Shun Hing Institute of Advanced Engineering, CUHK（香港中文大学晨兴先进工程研究所）；T Stone Robotics Institute, CUHK（香港中文大学T Stone机器人研究所）
Performing low hertz labeling for surgical videos at intervals can greatly releases the burden of surgeons. In this paper, we study the semi-supervised instrument segmentation from robotic surgical videos with sparse annotations. Unlike most previous methods using unlabeled frames individually, we propose a dual motion based method to wisely learn motion flows for segmentation enhancement by leveraging temporal dynamics. We firstly design a flow predictor to derive the motion for jointly propagating the frame-label pairs given the current labeled frame. Considering the fast instrument motion, …
Inserm, UMR 1101（法国国家健康与医学研究院）；Univ Bretagne Occidentale（西布列塔尼大学）；INSTITUT TELECOM（法国电信学院；布雷斯特电信学院）；TELECOM Bretagne（布雷斯特大学医院）；CHRU Brest
The amount of surgical data, recorded during video-monitored surgeries, has extremely increased. This paper aims at improving existing solutions for the automated analysis of cataract surgeries in real time. Through the analysis of a video recording the operating table, it is possible to know which instruments exit or enter the operating table, and therefore which ones are likely being used by the surgeon. Combining these observations with observations from the microscope video should enhance the overall performance of the systems. To this end, the proposed solution is divided into two main pa…
Asan Medical Center（峨山医疗中心）；Johns Hopkins University（约翰斯·霍普金斯大学）；Chungnam National University School of Medicine（忠南大学医学院）
Some endoscopic surgeries require a surgeon to hold the endoscope with one hand and the surgical instruments with the other hand to perform the actual surgery with correct vision. Recent technical advances in deep learning as well as in robotics can introduce robotics to these endoscopic surgeries. This can have numerous advantages by freeing one hand of the surgeon, which will allow the surgeon to use both hands and to use more intricate and sophisticated techniques. Recently, deep learning with convolutional neural network achieves state-of-the-art results in computer vision. Therefore, the …
National Center for Tumor Diseases (NCT)（国家肿瘤疾病中心）
Intra-operative anticipation of instrument usage is a necessary component for context-aware assistance in surgery, e.g. for instrument preparation or semi-automation of robotic tasks. However, the sparsity of instrument occurrences in long videos poses a challenge. Current approaches are limited as they assume knowledge on the timing of future actions or require dense temporal segmentations during training and inference. We propose a novel learning task for anticipation of instrument usage in laparoscopic videos that overcomes these limitations. During training, only sparse instrument annotati…
GroundedSurg: A Multi-Procedure Benchmark for Language-Conditioned Surgical Tool Segmentation
King Abdullah University of Science and Technology (KAUST)（卡奥尔大学科学与技术学院）；Thapar Institute of Engineering and Technology（塔帕尔工程与技术学院）；The University of Queensland（昆士兰大学）；Gaash Research Lab, National Institute of Technology Srinagar（加什研究实验室，锡纳加尔国家理工学院）
Label-supervised surgical instrument segmentation using temporal equivariance and semantic continuity
School of Biomedical Engineering, Division of Life Sciences and Medicine, University of Science and Technology of China（中国科学技术大学生物医学工程学院，生命科学与医学系）；Center for Medical Imaging, Robotics, Analytic Computing & Learning(MIRACLE), Suzhou Institute for Advanced Research, University of Science and Technology of China（中国科学技术大学苏州先进研究院医学影像中心、机器人与分析计算与学习中心）；Key Laboratory of Precision and Intelligent Chemistry, University of Science and Technology of China（中国科学技术大学精密与智能化学重点实验室）；Key Lab of Intelligent Information Processing of Chinese Academy of Sciences(CAS), Institute of Computing Technology, CAS（中国科学院智能信息处理重点实验室，计算技术研究所）；Faculty of Hepato-Biliary-Pancreatic Surgery, The First Medical Center, Chinese PLA General Hospital（中国人民解放军总医院肝胆胰外科系）
The Chinese University of Hong Kong（香港中文大学）；T stone Robotics Institute（T石头机器人研究所）；Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems（粤港澳人机协同智能系统联合实验室）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
Surgical instrument segmentation in robot-assisted surgery (RAS) - especially that using learning-based models - relies on the assumption that training and testing videos are sampled from the same domain. However, it is impractical and expensive to collect and annotate sufficient data from every new domain. To greatly increase the label efficiency, we explore a new problem, i.e., adaptive instrument segmentation, which is to effectively adapt one source model to new robotic surgical videos from multiple target domains, only given the annotated instruments in the first frame. We propose MDAL, a…
