复杂系统管理与控制国家重点实验室知识库

Real-time guidewire segmentation and endpoint localization play a pivotal role in robot-assisted minimally invasive surgery, which is helpful to reduce radiation dose and procedure time. Nevertheless, the tasks often come with the challenge of limited computational resources. For this purpose, a real-time multi-task framework with two stages is developed. In the first stage, a Fast Attention-fused Network (FAD-Net) is proposed to obtain accurate guidewire segmentation masks. In the second stage, a lightweight localization network and a post-processing algorithm are designed to robustly predict the guidewire endpoint position. Quantitative and qualitative evaluations on intraoperative X-ray sequences from 30 patients demonstrate that the developed framework outperforms the previously-published results for the tasks, achieving state-of-the-art performance. Moreover, the inference rate of the developed framework is approximately 10.6 FPS, which meets the real-time requirement of X-ray fluoroscopy. These results indicate the proposed approach has the potential to be integrated into the robotic navigation framework for endovascular interventions, enabling robotic-assisted minimally invasive surgery.