Automatic tool detection from surgical imagery has a multitude of useful applications, such as real-time computer assistance for the surgeon. Using the successful residual network architecture, a system that can distinguish 21 different tools in cataract surgery videos is created. The videos are provided as part of the 2017 CATARACTS challenge and pose difficulties found in many real-world datasets, for example a strong class imbalance. The construction of the detection system is guided by a wide array of experiments that explore different design decisions.
@cite_18: Surgical workflow recognition has numerous potential medical applications, such as the automatic indexing of surgical video databases and the optimization of real-time operating room scheduling, among others. As a result, surgical phase recognition has been studied in the context of several kinds of surgeries, such as cataract, neurological, and laparoscopic surgeries. In the literature, two types of features are typically used to perform this task: visual features and tool usage signals. However, the used visual features are mostly handcrafted. Furthermore, the tool usage signals are usually collected via a manual annotation process or by using additional equipment. In this paper, we propose a novel method for phase recognition that uses a convolutional neural network (CNN) to automatically learn features from cholecystectomy videos and that relies uniquely on visual information. In previous studies, it has been shown that the tool usage signals can provide valuable information in performing the phase recognition task. Thus, we present a novel CNN architecture, called EndoNet, that is designed to carry out the phase recognition and tool presence detection tasks in a multi-task manner. To the best of our knowledge, this is the first work proposing to use a CNN for multiple recognition tasks on laparoscopic videos. Experimental comparisons to other methods show that EndoNet yields state-of-the-art results for both tasks.
@cite_4: This paper introduces a new algorithm for recognizing surgical tasks in real-time in a video stream. The goal is to communicate information to the surgeon in due time during a video-monitored surgery. The proposed algorithm is applied to cataract surgery, which is the most common eye surgery. To compensate for eye motion and zoom level variations, cataract surgery videos are first normalized. Then, the motion content of short video subsequences is characterized with spatiotemporal polynomials: a multiscale motion characterization based on adaptive spatiotemporal polynomials is presented. The proposed solution is particularly suited to characterize deformable moving objects with fuzzy borders, which are typically found in surgical videos. Given a target surgical task, the system is trained to identify which spatiotemporal polynomials are usually extracted from videos when and only when this task is being performed. These key spatiotemporal polynomials are then searched in new videos to recognize the target surgical task. For improved performances, the system jointly adapts the spatiotemporal polynomial basis and identifies the key spatiotemporal polynomials using the multiple-instance learning paradigm. The proposed system runs in real-time and outperforms the previous solution from our group, both for surgical task recognition ( @math on average, as opposed to @math previously) and for the joint segmentation and recognition of surgical tasks ( @math on average, as opposed to @math previously).
@cite_9: In recent years, tremendous progress has been made in surgical practice for example with Minimally Invasive Surgery (MIS). To overcome challenges coming from deported eye-to-hand manipulation, robotic and computer-assisted systems have been developed. Having real-time knowledge of the pose of surgical tools with respect to the surgical camera and underlying anatomy is a key ingredient for such systems. In this paper, we present a review of the literature dealing with vision-based and marker-less surgical tool detection. This paper includes three primary contributions: (1) identification and analysis of data-sets used for developing and testing detection algorithms, (2) in-depth comparison of surgical tool detection methods from the feature extraction process to the model learning strategy and highlight existing shortcomings, and (3) analysis of validation techniques employed to obtain detection performance results and establish comparison between surgical tool detectors. The papers included in the review were selected through PubMed and Google Scholar searches using the keywords: “surgical tool detection”, “surgical tool tracking”, “surgical instrument detection” and “surgical instrument tracking” limiting results to the year range 2000 2015. Our study shows that despite significant progress over the years, the lack of established surgical tool data-sets, and reference format for performance assessment and method ranking is preventing faster improvement.
@cite_16: The automatic analysis of the surgical process, from videos recorded during surgeries, could be very useful to surgeons, both for training and for acquiring new techniques. The training process could be optimized by automatically providing some targeted recommendations or warnings, similar to the expert surgeon’s guidance. In this paper, we propose to reuse videos recorded and stored during cataract surgeries to perform the analysis. The proposed system allows to automatically recognize, in real time, what the surgeon is doing: what surgical phase or, more precisely, what surgical step he or she is performing. This recognition relies on the inference of a multilevel statistical model which uses 1) the conditional relations between levels of description (steps and phases) and 2) the temporal relations among steps and among phases. The model accepts two types of inputs: 1) the presence of surgical tools, manually provided by the surgeons, or 2) motion in videos, automatically analyzed through the Content Based Video retrieval (CBVR) paradigm. Different data-driven statistical models are evaluated in this paper. For this project, a dataset of 30 cataract surgery videos was collected at Brest University hospital. The system was evaluated in terms of area under the ROC curve. Promising results were obtained using either the presence of surgical tools (A z = 0.983) or motion analysis (A z = 0.759). The generality of the method allows to adapt it to other kinds of surgeries. The proposed solution could be used in a computer assisted surgery tool to support surgeons during the surgery.
@cite_20: 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 parts: one to detect the instruments at the beginning of the surgery and one to update the list of instruments every time a change is detected in the scene. In the first part, the goal is to separate the instruments from the background and from irrelevant objects. For the second, we are interested in detecting the instruments that appear and disappear whenever the surgeon interacts with the table. Experiments on a dataset of 36 cataract surgeries validate the good performance of the proposed solution.
@cite_11: In ophthalmology, it is now common practice to record every surgical procedure and to archive the resulting videos for documentation purposes. In this paper, we present a solution to automatically segment and categorize surgical tasks in real-time during the surgery, using the video recording. The goal would be to communicate information to the surgeon in due time, such as recommendations to the less experienced surgeons. The proposed solution relies on the content-based video retrieval paradigm: it reuses previously archived videos to automatically analyze the current surgery, by analogy reasoning. Each video is segmented, in real-time, into an alternating sequence of idle phases, during which no clinically-relevant motions are visible, and action phases. As soon as an idle phase is detected, the previous action phase is categorized and the next action phase is predicted. A conditional random field is used for categorization and prediction. The proposed system was applied to the automatic segmentation and categorization of cataract surgery tasks. A dataset of 186 surgeries, performed by ten different surgeons, was manually annotated: ten possibly overlapping surgical tasks were delimited in each surgery. Using the content of action phases and the duration of idle phases as sources of evidence, an average recognition performance of @math was achieved.
Much of the work related to visual surgical tool detection from 2000 to 2015 has been reviewed in @cite_9 . While the goals vary from detecting presence to estimating tool poses in 3D, all 28 reviewed methods have in common that they use hand-crafted image features as input to different modeling strategies. The same holds true for more recent publications @cite_11 @cite_4 @cite_20 @cite_16 that also work with cataract surgery datasets. Additionally, @cite_16 employs preprocessing methods specifically tuned to the cataract surgery dataset that prevents easy application to different tool detection problems. Work using CNNs in this application domain is just beginning to emerge. EndoNet @cite_18 is similar to this work: AlexNet is fine-tuned to detect different tools and surgical phases in laparoscopic videos. The main difference is a three-times smaller amount of tools in their dataset. Furthermore, there is concurrent work with CNNs being done by other authors for the CATARACTS challenge.