Georges Hattab1, Marvin Arnold2, Leon Strenger2, Max Allan3, Darja Arsentjeva2, Oliver Gold2, Tobias Simpfendörfer4, Lena Maier-Hein5, Stefanie Speidel2. 1. Division of Translational Surgical Oncology (TSO), National Center for Tumor Diseases (NCT), Fetcherstr. 74, 01307, Dresden, Germany. georges.hattab@nct-dresden.de. 2. Division of Translational Surgical Oncology (TSO), National Center for Tumor Diseases (NCT), Fetcherstr. 74, 01307, Dresden, Germany. 3. Intuitive Surgical Inc., 5301, 1020 Kifer Rd, Sunnyvale, CA, 94086, USA. 4. Department of Urology, Heidelberg University Hospital, Im Neuenheimer Feld 110, 69120, Heidelberg, Germany. 5. Division of Computer Assisted Medical Interventions (CAMI), German Cancer Research Center (DKFZ), Im Neuenheimer Feld 581, 69120, Heidelberg, Germany.
Abstract
PURPOSE: In robotic-assisted kidney surgery, computational methods make it possible to augment the surgical scene and potentially improve patient outcome. Most often, soft-tissue registration is a prerequisite for the visualization of tumors and vascular structures hidden beneath the surface. State-of-the-art volume-to-surface registration methods, however, are computationally demanding and require a sufficiently large target surface. To overcome this limitation, the first step toward registration is the extraction of the outer edge of the kidney. METHODS: To tackle this task, we propose a deep learning-based solution. Rather than working only on the raw laparoscopic images, the network is given depth information and distance fields to predict whether a pixel of the image belongs to an edge. We evaluate our method on expert-labeled in vivo data from the EndoVis sub-challenge 2017 Kidney Boundary Detection and define the current state of the art. RESULTS: By using a leave-one-out cross-validation, we report results for the most suitable network with a median precision-like, recall-like, and intersection over union (IOU) of 39.5 px, 143.3 px, and 0.3, respectively. CONCLUSION: We conclude that our approach succeeds in predicting the edges of the kidney, except in instances where high occlusion occurs, which explains the average decrease in the IOU score. All source code, reference data, models, and evaluation results are openly available for download: https://github.com/ghattab/kidney-edge-detection/.
PURPOSE: In robotic-assisted kidney surgery, computational methods make it possible to augment the surgical scene and potentially improve patient outcome. Most often, soft-tissue registration is a prerequisite for the visualization of tumors and vascular structures hidden beneath the surface. State-of-the-art volume-to-surface registration methods, however, are computationally demanding and require a sufficiently large target surface. To overcome this limitation, the first step toward registration is the extraction of the outer edge of the kidney. METHODS: To tackle this task, we propose a deep learning-based solution. Rather than working only on the raw laparoscopic images, the network is given depth information and distance fields to predict whether a pixel of the image belongs to an edge. We evaluate our method on expert-labeled in vivo data from the EndoVis sub-challenge 2017 Kidney Boundary Detection and define the current state of the art. RESULTS: By using a leave-one-out cross-validation, we report results for the most suitable network with a median precision-like, recall-like, and intersection over union (IOU) of 39.5 px, 143.3 px, and 0.3, respectively. CONCLUSION: We conclude that our approach succeeds in predicting the edges of the kidney, except in instances where high occlusion occurs, which explains the average decrease in the IOU score. All source code, reference data, models, and evaluation results are openly available for download: https://github.com/ghattab/kidney-edge-detection/.
Entities:
Keywords:
Boundary; Deep learning; Edge; Kidney; Segmentation
Authors: Lena Maier-Hein; Matthias Eisenmann; Duygu Sarikaya; Keno März; Toby Collins; Anand Malpani; Johannes Fallert; Hubertus Feussner; Stamatia Giannarou; Pietro Mascagni; Hirenkumar Nakawala; Adrian Park; Carla Pugh; Danail Stoyanov; Swaroop S Vedula; Kevin Cleary; Gabor Fichtinger; Germain Forestier; Bernard Gibaud; Teodor Grantcharov; Makoto Hashizume; Doreen Heckmann-Nötzel; Hannes G Kenngott; Ron Kikinis; Lars Mündermann; Nassir Navab; Sinan Onogur; Tobias Roß; Raphael Sznitman; Russell H Taylor; Minu D Tizabi; Martin Wagner; Gregory D Hager; Thomas Neumuth; Nicolas Padoy; Justin Collins; Ines Gockel; Jan Goedeke; Daniel A Hashimoto; Luc Joyeux; Kyle Lam; Daniel R Leff; Amin Madani; Hani J Marcus; Ozanan Meireles; Alexander Seitel; Dogu Teber; Frank Ückert; Beat P Müller-Stich; Pierre Jannin; Stefanie Speidel Journal: Med Image Anal Date: 2021-11-18 Impact factor: 13.828
Authors: Thomas Wendler; Fijs W B van Leeuwen; Nassir Navab; Matthias N van Oosterom Journal: Eur J Nucl Med Mol Imaging Date: 2021-06-29 Impact factor: 9.236