目的:在光学显微镜中集成手术机器人器械跟踪模块具有推进显微手术实践的潜力,因为它促进了相机的自动移动,从而增强外科医生执行外科手术的能力。
方法:在目前的工作中,实现了基于空间注意力模块的创新检测骨干,以提高图像中小物体的检测精度。此外,我们引入了一种强大的数据关联技术,能够重新跟踪手术器械,主要基于双仪器机器人系统的知识,联合度量和卡尔曼滤波器的交集。
结果:通过对包含十个手动注释的涉及动物或幻影血管的吻合程序视频的数据集进行测试,评估了该管道的有效性。利用Symani®手术系统-一种专为显微外科设计的专用机器人平台。多目标跟踪精度(MOTP)和多目标跟踪精度(MOTA)用于评估所提出的方法的性能,并且计算新的度量来证明沿着视频帧稳定跟踪结果的功效。在测试视频中发现74±0.06%的平均MOTP和99±0.03%的MOTA。
结论:这些结果证实了所提出的方法在提高显微外科器械跟踪的精度和可靠性方面的潜力。因此,注意力机制和量身定制的数据关联模块的集成可能是自动化光学显微镜运动的坚实基础。
OBJECTIVE: The integration of a surgical robotic instrument
tracking module within optical microscopes holds the potential to advance microsurgery practices, as it facilitates automated camera movements, thereby augmenting the surgeon\'s capability in executing surgical procedures.
METHODS: In the present work, an innovative detection backbone based on spatial attention module is implemented to enhance the detection accuracy of small objects within the image. Additionally, we have introduced a robust data association technique, capable to re-track surgical instrument, mainly based on the knowledge of the dual-instrument robotics system, Intersection over Union metric and Kalman filter.
RESULTS: The effectiveness of this pipeline was evaluated through testing on a dataset comprising ten manually annotated videos of anastomosis procedures involving either animal or phantom vessels, exploiting the Symani®Surgical System-a dedicated robotic platform designed for microsurgery. The multiple object
tracking precision (MOTP) and the multiple object
tracking accuracy (MOTA) are used to evaluate the performance of the proposed approach, and a new metric is computed to demonstrate the efficacy in stabilizing the
tracking result along the video frames. An average MOTP of 74±0.06% and a MOTA of 99±0.03% over the test videos were found.
CONCLUSIONS: These results confirm the potential of the proposed approach in enhancing precision and reliability in microsurgical instrument
tracking. Thus, the integration of attention mechanisms and a tailored data association module could be a solid base for automatizing the motion of optical microscopes.