CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference NameInternational Conference on Robotics and Automation (ICRA)
Conference Date2022.05.23-27
Conference PlacePhiladelphia, PA, USA
PublisherIEEE
Abstract

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.

Indexed ByEI
Funding ProjectStrategic Priority Research Program of Chinese Academy of Science[XDB32040000] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32040000]
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/48545
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHou, Zeng-Guang
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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