Knowledge Commons of Institute of Automation,CAS
A Dual-Stream Architecture for Real-Time Morphological Analysis of Aneurysm in Robot-Assisted Minimally Invasive Surgery | |
Zhou, Yan-Jie1,2; Liu, Shi-Qi1; Xie, Xiao-Liang1,2; Zhou, Xiao-Hu1; Hou, Zeng-Guang1,2,3,4; Li, Rui-Qi1,2; Ni, Zhen-Liang1,2; Fan, Chen-Chen1,2 | |
2022-05 | |
会议名称 | International Conference on Robotics and Automation (ICRA) |
会议日期 | 2022.05.23-27 |
会议地点 | Philadelphia, PA, USA |
出版者 | IEEE |
摘要 | Real-time and precise morphological analysis of intraoperative AAA is a significant pre-imperative for robot-assisted minimally invasive surgery (RMIS). However, this task is frequently accompanied by the difficulties of ambiguous boundaries and obscured surfaces of aneurysms. To remedy these problems, we propose a Light-Weight Dual-Stream Boundary-Aware Network (DSB-Net) and a novel diagnosis algorithm for real-time morphological analysis of AAA. In the network, the features at the boundaries are preserved by incorporating a boundary localization stream, while the interior segmentation accuracy is guaranteed with a mask prediction stream. Moreover, the diagnosis algorithm is developed to measure the exact size of AAA. Quantitative and qualitative assessments of two different types of datasets illustrate that (1) The presented DSB-Net remarkably outperforms the other previously proposed medical networks with the inference rate of 10.8 FPS, which meets the real-time clinical necessities. (2) The developed algorithm provides accurate size measurements for AAA, which indicates the proposed approach can be integrated into the robotic navigation framework for RMIS. |
收录类别 | EI |
资助项目 | Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000] |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48545 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Hou, Zeng-Guang |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.CAS Center for Excellence in Brain Science and Intelligence Technology 4.Joint Laboratory of Intelligence Science and Technology, Institute of Systems Engineering, Macau University of Science and Technology |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhou, Yan-Jie,Liu, Shi-Qi,Xie, Xiao-Liang,et al. A Dual-Stream Architecture for Real-Time Morphological Analysis of Aneurysm in Robot-Assisted Minimally Invasive Surgery[C]:IEEE,2022. |
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4-A Dual-Stream Arch(1377KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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