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Comparative evaluation of instrument segmentation and tracking methods in minimally invasive surgery

Bodenstedt, S; Allan, M; Agustinos, A; Du, X; García-Peraza-Herrera, LC; Kenngott, H; Kurmann, T; ... Speidel, S; + view all (2018) Comparative evaluation of instrument segmentation and tracking methods in minimally invasive surgery. ArXiv Green open access

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Abstract

Intraoperative segmentation and tracking of minimally invasive instruments is a prerequisite for computer- and robotic-assisted surgery. Since additional hardware like tracking systems or the robot encoders are cumbersome and lack accuracy, surgical vision is evolving as promising techniques to segment and track the instruments using only the endoscopic images. However, what is missing so far are common image data sets for consistent evaluation and benchmarking of algorithms against each other. The paper presents a comparative validation study of different vision-based methods for instrument segmentation and tracking in the context of robotic as well as conventional laparoscopic surgery. The contribution of the paper is twofold: we introduce a comprehensive validation data set that was provided to the study participants and present the results of the comparative validation study. Based on the results of the validation study, we arrive at the conclusion that modern deep learning approaches outperform other methods in instrument segmentation tasks, but the results are still not perfect. Furthermore, we show that merging results from different methods actually significantly increases accuracy in comparison to the best stand-alone method. On the other hand, the results of the instrument tracking task show that this is still an open challenge, especially during challenging scenarios in conventional laparoscopic surgery.

Type: Working / discussion paper
Title: Comparative evaluation of instrument segmentation and tracking methods in minimally invasive surgery
Open access status: An open access version is available from UCL Discovery
Publisher version: https://arxiv.org/abs/1805.02475
Language: English
Keywords: Endoscopic Vision Challenge, Instrument segmentation, Instrument tracking, Laparoscopic surgery, Robot-assisted surgery
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10050041
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