CASIA OpenIR  > 精密感知与控制研究中心  > 精密感知与控制
Surgical instrument segmentation for endoscopic vision with data fusion of CNN prediction and kinematic pose
Fangbo Qin1,2; Yangming Li3; Yun-Hsuan Su4; De Xu1,2; Blake Hannaford4
2019-08
Conference Name2019 International Conference on Robotics and Automation (ICRA)
Conference Date2019-5-20
Conference PlaceMontreal, Canada
PublisherIEEE
Abstract

The real-time and robust surgical instrument segmentation is an important issue for endoscopic vision. We propose an instrument segmentation method fusing the convolutional neural networks (CNN) prediction and the kinematic pose information. First, the CNN model ToolNet-C is designed, which cascades a convolutional feature extractor trained over numerous unlabeled images and a pixel-wise segmentor trained on few labeled images. Second, the silhouette projection of the instrument body onto the endoscopic image is implemented based on the measured kinematic pose. Third, the particle filter with the shape matching likelihood and the weight suppression is proposed for data fusion, whose estimate refines the kinematic pose. The refined pose determines an accurate silhouette mask, which is the final segmentation output. The experiments are conducted with a surgical navigation system, several animal-tissue backgrounds, and a debrider instrument.

DOI10.1109/ICRA.2019.8794122
URL查看原文
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25772
Collection精密感知与控制研究中心_精密感知与控制
Corresponding AuthorBlake Hannaford
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
3.Rochester Institute of Technology, Rochester, NY 14623, USA.
4.University of Washington, Seattle, WA 98195-2500, USA
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Fangbo Qin,Yangming Li,Yun-Hsuan Su,et al. Surgical instrument segmentation for endoscopic vision with data fusion of CNN prediction and kinematic pose[C]:IEEE,2019.
Files in This Item: Download All
File Name/Size DocType Version Access License
Surgical instrument (645KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Fangbo Qin]'s Articles
[Yangming Li]'s Articles
[Yun-Hsuan Su]'s Articles
Baidu academic
Similar articles in Baidu academic
[Fangbo Qin]'s Articles
[Yangming Li]'s Articles
[Yun-Hsuan Su]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Fangbo Qin]'s Articles
[Yangming Li]'s Articles
[Yun-Hsuan Su]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Surgical instrument segmentation for endoscopic vision with data fusion of CNN prediction and kinematic pose.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.