Xinan Sun1,2, Yuelin Zou1,2, Shuxin Wang1,2, He Su3,4, Bo Guan1,2. 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China. 2. School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. 3. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China. suhe@tju.edu.cn. 4. School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. suhe@tju.edu.cn.
Abstract
PURPOSE: Automatic image segmentation of surgical instruments is a fundamental task in robot-assisted minimally invasive surgery, which greatly improves the context awareness of surgeons during the operation. A novel method based on Mask R-CNN is proposed in this paper to realize accurate instance segmentation of surgical instruments. METHODS: A novel feature extraction backbone is built, which could extract both local features through the convolutional neural network branch and global representations through the Swin-Transformer branch. Moreover, skip fusions are applied in the backbone to fuse both features and improve the generalization ability of the network. RESULTS: The proposed method is evaluated on the dataset of MICCAI 2017 EndoVis Challenge with three segmentation tasks and shows state-of-the-art performance with an mIoU of 0.5873 in type segmentation and 0.7408 in part segmentation. Furthermore, the results of ablation studies prove that the proposed novel backbone contributes to at least 17% improvement in mIoU. CONCLUSION: The promising results demonstrate that our method can effectively extract global representations as well as local features in the segmentation of surgical instruments and improve the accuracy of segmentation. With the proposed novel backbone, the network can segment the contours of surgical instruments' end tips more precisely. This method can provide more accurate data for localization and pose estimation of surgical instruments, and make a further contribution to the automation of robot-assisted minimally invasive surgery.
PURPOSE: Automatic image segmentation of surgical instruments is a fundamental task in robot-assisted minimally invasive surgery, which greatly improves the context awareness of surgeons during the operation. A novel method based on Mask R-CNN is proposed in this paper to realize accurate instance segmentation of surgical instruments. METHODS: A novel feature extraction backbone is built, which could extract both local features through the convolutional neural network branch and global representations through the Swin-Transformer branch. Moreover, skip fusions are applied in the backbone to fuse both features and improve the generalization ability of the network. RESULTS: The proposed method is evaluated on the dataset of MICCAI 2017 EndoVis Challenge with three segmentation tasks and shows state-of-the-art performance with an mIoU of 0.5873 in type segmentation and 0.7408 in part segmentation. Furthermore, the results of ablation studies prove that the proposed novel backbone contributes to at least 17% improvement in mIoU. CONCLUSION: The promising results demonstrate that our method can effectively extract global representations as well as local features in the segmentation of surgical instruments and improve the accuracy of segmentation. With the proposed novel backbone, the network can segment the contours of surgical instruments' end tips more precisely. This method can provide more accurate data for localization and pose estimation of surgical instruments, and make a further contribution to the automation of robot-assisted minimally invasive surgery.
Authors: Thomas Kurmann; Pablo Márquez-Neila; Max Allan; Sebastian Wolf; Raphael Sznitman Journal: Int J Comput Assist Radiol Surg Date: 2021-06-18 Impact factor: 2.924