Real-Time Suture Thread Detection with an Image Classifier

被引：0

作者：

Horio, Kyotaro ^{[1
]}

Harada, Kanako ^{[1
]}

Muto, Jun ^{[2
]}

Nakatomi, Hirofumi ^{[3
]}

Saito, Nobuhito ^{[3
]}

Morita, Akio ^{[4
]}

Watanabe, Eiju ^{[5
]}

Mitsuishi, Mamoru ^{[1
]}

机构：

[1] Univ Tokyo, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan

[2] Fujita Hlth Univ Hosp, 1-98 Dengakugakubo,Kutsukake Cho, Toyoake, Aichi 4701192, Japan

[3] Univ Tokyo Hosp, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138655, Japan

[4] Nippon Med Sch, Bunkyo Ku, 1-1-5 Sendagi, Tokyo 1138602, Japan

[5] Jichi Med Sch Hosp, 3311-1 Yakushiji, Shimotsuke, Tochigi 3290498, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2022年 / 34卷 / 06期

关键词：

surgical robot; deep learning; object detection; ROBOT;

D O I：

10.20965/jrm.2022.p1245

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Micro-anastomosis is considered to be a difficult task even for skilled surgeons. Our group has developed a surgical robotic system to assist surgeons. Going further, the detection of surgically relevant objects in the microscopic view is indispensable for the automation or semi-automation of the system. This paper proposes a novel surgical thread detector inspired by an automatic crack detection method. The proposed method achieved a Dice score of 76.30% and an intersection over union (IOU) of 66.08% at 34.50 fps.

引用

页码：1245 / 1252

页数：8

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