Institutional Repository of Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Surgical instrument segmentation for endoscopic vision with data fusion of CNN prediction and kinematic pose | |
Fangbo Qin1,2![]() ![]() | |
2019-08 | |
Conference Name | 2019 International Conference on Robotics and Automation (ICRA) |
Conference Date | 2019-5-20 |
Conference Place | Montreal, Canada |
Publisher | IEEE |
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. |
DOI | 10.1109/ICRA.2019.8794122 |
URL | 查看原文 |
Indexed By | EI |
Language | 英语 |
Citation statistics | |
Document Type | 会议论文 |
Identifier | http://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 Author | Blake Hannaford |
Affiliation | 1.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 Affilication | Institute 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. |
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Surgical instrument (645KB) | 会议论文 | 开放获取 | CC BY-NC-SA | View Download |
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