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An Anchor-free Convolutional Neural Network for Real-Time Surgical Tool Detection in Robot-assisted Surgery

Yuying Liu, Zijian Zhao, Faliang Chang, Sanyuan Hu
2020 IEEE Access  
Automatic video analysis of RAS is an active research area, where precise surgical tool detection in real time is an important step.  ...  However, most deep learning methods currently employed for surgical tool detection are based on anchor boxes, which results in low detection speeds.  ...  surgical tool detection in robot-assisted surgery.  ... 
doi:10.1109/access.2020.2989807 fatcat:mco6krlb3rfkhhclosf3tug6qa

Surgical Tools Detection Based on Modulated Anchoring Network in Laparoscopic Videos

Beibei Zhang, Shengsheng Wang, Liyan Dong, Peng Chen
2020 IEEE Access  
In this paper, we propose a novel Modulated Anchoring Network for detection of laparoscopic surgery tools based on Faster R-CNN, which inherits the merits of two-stage approaches while also maintains high  ...  efficiency of comparable speed as state-ofthe-art one-stage methods.  ...  Thus, we propose a detection network to locate surgical tools accurately for automated surgical video analysis in real-time to assess performance faster and better.  ... 
doi:10.1109/access.2020.2969885 fatcat:d5hnuplpzfaypbfxk22psqa35i

Applications of Haptic Technology, Virtual Reality, and Artificial Intelligence in Medical Training During the COVID-19 Pandemic

Mohammad Motaharifar, Alireza Norouzzadeh, Parisa Abdi, Arash Iranfar, Faraz Lotfi, Behzad Moshiri, Alireza Lashay, Seyed Farzad Mohammadi, Hamid D. Taghirad
2021 Frontiers in Robotics and AI  
The current method of surgery training needs the novice surgeons to attend some courses, watch some procedure, and conduct their initial operations under the direct supervision of an expert surgeon.  ...  This survey paper reviews recent technological breakthroughs along with new areas in which assistive technologies might provide a viable solution to reduce the physical contact in the medical institutes  ...  On the other hand, the assistive technologies based on virtual reality and haptic feedback have introduced alternative surgical training tools to increase the safety and efficiency of the surgical training  ... 
doi:10.3389/frobt.2021.612949 pmid:34476241 pmcid:PMC8407078 fatcat:t7ovepl2orcrfg5xvz33xrki2a

Product of tracking experts for visual tracking of surgical tools

Suren Kumar, Madusudanan Sathia Narayanan, Pankaj Singhal, Jason J. Corso, Venkat Krovi
2013 2013 IEEE International Conference on Automation Science and Engineering (CASE)  
Our tracker is causal which makes it suitable for real-time applications. This framework has been tested on real surgical videos and is shown to significantly improve upon the baseline results.  ...  This paper proposes a novel tool detection and tracking approach using uncalibrated monocular surgical videos for computer-aided surgical interventions.  ...  In this work, we are motivated by the diverse perspectives to develop a novel, robust and efficient tool tracking solution for use in challenging real surgical videos. II.  ... 
doi:10.1109/coase.2013.6654037 dblp:conf/case/KumarNSCK13 fatcat:3co7edjkkvf57czaz6bmdha32e

Unsupervised anomaly detection for a Smart Autonomous Robotic Assistant Surgeon (SARAS)using a deep residual autoencoder [article]

Dinesh Jackson Samuel, Fabio Cuzzolin
2021 arXiv   pre-print
In this work we thus propose an unsupervised approach to anomaly detection for robotic-assisted surgery based on deep residual autoencoders.  ...  The end-to-end system was developed and deployed as part of the SARAS demonstration platform for real-time anomaly detection with a processing time of about 25 ms per frame.  ...  CONCLUSIONS Overall, the proposed architecture has been shown capable of accurately detect anomalies in real-time in robotic-assisted systems in an unsupervised fashion.  ... 
arXiv:2104.11008v1 fatcat:bvpmpb7gjjfzzg35dixagf7b2m

Role of Hybrid Operating Room: Present and Future [chapter]

Evan Qize Yuan, Calvin Sze Hang Ng
2020 Minimally Invasive Thoracic Surgery - Current Trends and Future Developments [Working Title]  
tool for different surgical scenarios.  ...  Furthermore, the unparalleled real-time imaging capabilities and the ability to perform multiple tasks within the hybrid OR can facilitate image-guided single-port video-assisted thoracic surgery (iSPVATS  ...  In contrast to conventional approaches, a hybrid OR can provide real-time imaging and increase the success rate for a hookwire insertion or ENB, and also functions as an adjunct in the intraprocedural  ... 
doi:10.5772/intechopen.91187 fatcat:ni6vjb5h4necndzhcf5zxlbova

The SARAS Endoscopic Surgeon Action Detection (ESAD) dataset: Challenges and methods [article]

Vivek Singh Bawa, Gurkirt Singh, Francis KapingA, Inna Skarga-Bandurova, Elettra Oleari, Alice Leporini, Carmela Landolfo, Pengfei Zhao, Xi Xiang, Gongning Luo, Kuanquan Wang, Liangzhi Li (+7 others)
2021 arXiv   pre-print
We believe that ESAD will serve in the future as a useful benchmark for all researchers active in surgeon action detection and assistive robotics at large.  ...  For an autonomous robotic system, monitoring surgeon actions and assisting the main surgeon during a procedure can be very challenging.  ...  This intervention is the gold standard for robotic-assisted surgery.  ... 
arXiv:2104.03178v1 fatcat:2fcevt6upvf6jkpvooxo4dsovm

Trauma Pod: a semi-automated telerobotic surgical system

Pablo Garcia, Jacob Rosen, Chetan Kapoor, Mark Noakes, Greg Elbert, Michael Treat, Tim Ganous, Matt Hanson, Joe Manak, Chris Hasser, David Rohler, Richard Satava
2009 International Journal of Medical Robotics and Computer Assisted Surgery  
The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures, autonomously or in a teleoperative mode, on wounded soldiers  ...  Methods In the first phase of a project pursuing this vision, a robotic TP system was developed and its capability demonstrated by performing selected surgical procedures on a patient phantom.  ...  The simulator also included a high-fidelity collision detection and real-time model update based on the manipulator encoders in the system.  ... 
doi:10.1002/rcs.238 pmid:19222048 fatcat:3eypaga56jclzi4uwnw6ywkcg4

A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon's Situation Awareness in Robot-Assisted Laparoscopic Surgery

Jiwon Ryu, Youngjin Moon, Jaesoon Choi, Hee Chan Kim
2018 Journal of Healthcare Engineering  
Although the use of the surgical robot is rapidly expanding for various medical treatments, there still exist safety issues and concerns about robot-assisted surgeries due to limited vision through a laparoscope  ...  The average recall and precision of the instrument detection in four prostate surgery videos were 96% and 86%, and the accuracy of the hemorrhage detection in two prostate surgery videos was 98%.  ...  detect and track both the hemorrhage and the surgical instruments in laparoscopic video images taken during real robot-assisted surgery.  ... 
doi:10.1155/2018/8079713 pmid:29854366 pmcid:PMC5954863 fatcat:bfpqyc6gtngmrg3cnbdgjtzzuq

Development and preliminary results of bimanual smart micro-surgical system using a ball-lens coupled OCT distance sensor

Dongwoo Koo, Hyun-Cheol Park, Peter L. Gehlbach, Cheol Song
2016 Biomedical Optics Express  
This system effectively suppresses asynchronous hand tremor using two PZT motors in feedback control loop and efficiently assists ambidextrous tasks.  ...  It allows precise bimanual dissection of biological tissues with a reduction in operating time as compared to the same tasks performed with conventional one-handed approaches.  ...  Following performance of four time trials, Fig. 7(a) shows the height from target variation of each tool over time for both the SMART-assisted and freehand cases.  ... 
doi:10.1364/boe.7.004816 pmid:27896018 pmcid:PMC5119618 fatcat:njzuawgx5bffjhd5kg3liaknia

A Review on Deep Learning in Minimally Invasive Surgery

Irene Rivas-Blanco, Carlos J. Perez-Del-Pulgar, Isabel Garcia-Morales, Victor F. Munoz
2021 IEEE Access  
[19] presented in 2017 the first approach that incorporates DNNs for tools detection and localization in robot-assisted surgery.  ...  Real-time tracking of the surgical tools is addressed in [36] .  ...  Additionally, since 2010, he has been a Part-Time Assistant Lecturer in the Electrical Engineering Faculty, where he is responsible for various subjects related to automation and robotics.  ... 
doi:10.1109/access.2021.3068852 fatcat:gfpghqfptzdktlody5z263cdju

Computer Assisted Orthopedic Surgery in TKA [chapter]

Eun Kyoo, Jong Keun
2012 Recent Advances in Hip and Knee Arthroplasty  
By using kinematic and surface registration data, the system determines in real-time the location of the bone resection site, placement and alignment of the cutting block, and joint alignment for the prosthesis  ...  The ROBODOC and CASPAR systems were introduced almost simultaneously in Germany in 2000, and used to conduct the first robotic TKA in the same year.  ...  Disadvantages Pin fixation In a navigation assisted surgery, pins are fixed on to the bones to acquire real-time information of the limb alignment.  ... 
doi:10.5772/26898 fatcat:em76kytnuzhkfok2ks4imn5ura

Real-time retinal vessel mapping and localization for intraocular surgery

Brian C. Becker, Cameron N. Riviere
2013 2013 IEEE International Conference on Robotics and Automation  
The dynamic nature of the surgical workspace during intraocular surgery makes mapping, tracking, and localizing vasculature in real time a challenge.  ...  On video of porcine and human retina, we demonstrate real-time performance, rapid convergence, and robustness to variable illumination and tool occlusion.  ...  R01EB000526, R21EY016359, and R01EB007969), the American Society for Laser Medicine and Surgery, the National Science Foundation (Graduate Research Fellowship), and the ARCS Foundation.  ... 
doi:10.1109/icra.2013.6631345 pmid:24488000 pmcid:PMC3905955 dblp:conf/icra/BeckerR13 fatcat:ztbguycjn5hjjahzh6rblil7la

Affine-invariant anisotropic detector for soft tissue tracking in minimally invasive surgery

Stamatia Giannarou, Marco Visentini-Scarzanella, Guang-Zhong Yang
2009 2009 IEEE International Symposium on Biomedical Imaging: From Nano to Macro  
A novel scale-space representation is proposed for scale adaptation based on the strength of the anisotropic pattern whereas affine adaptation relies on its intrinsic Fourier properties with an efficient  ...  The proposed detector is compared against the current state-of-the-art feature detectors and their respective performance is evaluated with in vivo video sequences recorded from robotic assisted minimally  ...  from robotic assisted MIS procedures.  ... 
doi:10.1109/isbi.2009.5193238 dblp:conf/isbi/GiannarouSY09 fatcat:4ttfdl26m5a23b5xuh2dizm4we

From medical images to minimally invasive intervention: Computer assistance for robotic surgery

Su-Lin Lee, Mirna Lerotic, Valentina Vitiello, Stamatia Giannarou, Ka-Wai Kwok, Marco Visentini-Scarzanella, Guang-Zhong Yang
2010 Computerized Medical Imaging and Graphics  
5 6 7 surgery 24 a b s t r a c t Minimally invasive surgery has been established as an important way forward in surgery for reducing patient trauma and hospitalization with improved prognosis.  ...  Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.  ...  613 With the development of stereo consoles for robotic assisted 614 surgery, such as the da Vinci robotic surgical console as shown in 615 Fig. 5, the surgeon can regain depth perception.  ... 
doi:10.1016/j.compmedimag.2009.07.007 pmid:19699056 fatcat:bby32m73fjev3hd6ns55m4mvde
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