International Journal of Computer Assisted Radiology and Surgery最新文献

{"title":"HybGrip: a synergistic hybrid gripper for enhanced robotic surgical instrument grasping.","authors":"Jorge Badilla-Solórzano, Sontje Ihler, Thomas Seel","doi":"10.1007/s11548-024-03245-5","DOIUrl":"10.1007/s11548-024-03245-5","url":null,"abstract":"<p><strong>Purpose: </strong>A fundamental task of a robotic scrub nurse is handling surgical instruments. Thus, a gripper capable of consistently grasping a wide variety of tools is essential. We introduce a novel gripper that combines granular jamming and pinching technologies to achieve a synergistic improvement in surgical instrument grasping.</p><p><strong>Methods: </strong>A reliable hybrid gripper is constructed by integrating a pinching mechanism and a standard granular jamming gripper, achieving enhanced granular interlocking. For our experiments, our prototype is affixed to the end-effector of a collaborative robot. A novel grasping strategy is proposed and utilized to evaluate the robustness and performance of our prototype on 18 different surgical tools with diverse geometries.</p><p><strong>Results: </strong>It is demonstrated that the integration of the pinching mechanism significantly enhances grasping performance compared with standard granular jamming grippers, with a success rate above 98%. It is shown that with the combined use of our gripper with an underlying grid, i.e., a complementary device placed beneath the instruments, robustness and performance are further enhanced.</p><p><strong>Conclusion: </strong>Our prototype's performance in surgical instrument grasping stands on par with, if not surpasses, that of comparable contemporary studies, ensuring its competitiveness. Our gripper proves to be robust, cost-effective, and simple, requiring no instrument-specific grasping strategies. Future research will focus on addressing the sterilizability of our prototype and assessing the viability of the introduced grid for intra-operative use.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2363-2370"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607091/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142019487","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Non-rigid scene reconstruction of deformable soft tissue with monocular endoscopy in minimally invasive surgery.","authors":"Enpeng Wang, Yueang Liu, Jiangchang Xu, Xiaojun Chen","doi":"10.1007/s11548-024-03149-4","DOIUrl":"10.1007/s11548-024-03149-4","url":null,"abstract":"<p><strong>Purpose: </strong>The utilization of image-guided surgery has demonstrated its ability to improve the precision and safety of minimally invasive surgery (MIS). Non-rigid scene reconstruction is a challenge in image-guided system duo to uniform texture, smoke, and instrument occlusion, etc. METHODS: In this paper, we introduced an algorithm for 3D reconstruction aimed at non-rigid surgery scenes. The proposed method comprises two main components: firstly, the front-end process involves the initial reconstruction of 3D information for deformable soft tissues using embedded deformation graph (EDG) on the basis of dual quaternions, enabling the reconstruction without the need for prior knowledge of the target. Secondly, the EDG is integrated with isometric nonrigid structure from motion (Iso-NRSFM) to facilitate centralized optimization of the observed map points and camera motion across different time instances in deformable scenes.</p><p><strong>Results: </strong>For the quantitative evaluation of the proposed method, we conducted comparative experiments with both synthetic datasets and publicly available datasets against the state-of-the-art 3D reconstruction method, DefSLAM. The test results show that our proposed method achieved a maximum reduction of 1.6 mm in average reconstruction error compared to method DefSLAM across all datasets. Additionally, qualitative experiments were performed on video scene datasets involving surgical instrument occlusions.</p><p><strong>Conclusion: </strong>Our method proved to outperform DefSLAM on both synthetic datasets and public datasets through experiments, demonstrating its robustness and accuracy in the reconstruction of soft tissues in dynamic surgical scenes. This success highlights the potential clinical application of our method in delivering surgeons with critical shape and depth information for MIS.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2433-2443"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140858914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Deep learning to predict risk of lateral skull base cerebrospinal fluid leak or encephalocele.","authors":"Steven D Curry, Kieran S Boochoon, Geoffrey C Casazza, Daniel L Surdell, Justin A Cramer","doi":"10.1007/s11548-024-03259-z","DOIUrl":"10.1007/s11548-024-03259-z","url":null,"abstract":"<p><strong>Purpose: </strong>Skull base features, including increased foramen ovale (FO) cross-sectional area, are associated with lateral skull base spontaneous cerebrospinal fluid (sCSF) leak and encephalocele. Manual measurement requires skill in interpreting imaging studies and is time consuming. The goal of this study was to develop a fully automated deep learning method for FO segmentation and to determine the predictive value in identifying patients with sCSF leak or encephalocele.</p><p><strong>Methods: </strong>A retrospective cohort study at a tertiary care academic hospital of 34 adults with lateral skull base sCSF leak or encephalocele were compared with 815 control patients from 2013-2021. A convolutional neural network (CNN) was constructed for image segmentation of axial computed tomography (CT) studies. Predicted FO segmentations were compared to manual segmentations, and receiver operating characteristic (ROC) curves were constructed.</p><p><strong>Results: </strong>295 CTs were used for training and validation of the CNN. A separate dataset of 554 control CTs was matched 5:1 on age and sex with the sCSF leak/encephalocele group. The mean Dice score was 0.81. The sCSF leak/encephalocele group had greater mean (SD) FO cross-sectional area compared to the control group, 29.0 (7.7) mm² versus 24.3 (7.6) mm² (P = .002, 95% confidence interval 0.02-0.08). The area under the ROC curve was 0.69.</p><p><strong>Conclusion: </strong>CNNs can be used to segment the cross-sectional area of the FO accurately and efficiently. Used together with other predictors, this method could be used as part of a clinical tool to predict the risk of sCSF leak or encephalocele.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2453-2461"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142114556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysis of the implementation of a circuit for intra-operative superposition and comparison of the surgical outcomes using ICBCT in maxillofacial surgery.","authors":"Núria Adell-Gómez, Adaia Valls-Ontañón, Albert Malet-Contreras, Andrés García-Piñeiro, Marta Gómez-Chiari, Arnau Valls-Esteve, Lucas Krauel, Josep Rubio-Palau","doi":"10.1007/s11548-024-03196-x","DOIUrl":"10.1007/s11548-024-03196-x","url":null,"abstract":"<p><strong>Purpose: </strong>This paper describes a novel circuit for intraoperative analysis with ICBCT in maxillofacial surgery. The aim is to establish guidelines, define indications, and conduct an analysis of the implementation of the circuit for intraoperative comparison of surgical outcomes in relation to 3D virtual planning in maxillofacial surgery.</p><p><strong>Methods: </strong>The study included 150 maxillofacial surgical procedures. Intraoperative actions involved fluoroscopy localization, intraoperative CBCT acquisition, segmentation, and superimposition, among other steps. Surgical times due to intraoperative superposition were measured, including time required for ICBCT positioning and acquisition, image segmentation, and comparison of 3D surfaces from the surgical planning.</p><p><strong>Results: </strong>Successful intraoperative comparison was achieved in all 150 cases, enabling surgeons to detect and address modifications before concluding the surgery. Out of the total, 26 patients (17.33%) required intraoperative revisions, with 11 cases (7.33%) needing major surgical revisions. On average, the additional surgical time with this circuit implementation was 10.66 ± 3.03 min (n = 22).</p><p><strong>Conclusion: </strong>The results of our research demonstrate the potential for performing intraoperative surgical revision, allowing for immediate evaluation, enhancing surgical outcomes, and reducing the need for re-interventions.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2463-2470"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141200301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Noctopus: a novel device and method for patient registration and navigation in image-guided cranial surgery.","authors":"Yusuf Özbek, Zoltán Bárdosi, Wolfgang Freysinger","doi":"10.1007/s11548-024-03135-w","DOIUrl":"10.1007/s11548-024-03135-w","url":null,"abstract":"<p><strong>Purpose: </strong>A patient registration and real-time surgical navigation system and a novel device and method (Noctopus) is presented. With any tracking system technology and a patient/target-specific registration marker configuration, submillimetric target registration error (TRE), high-precise application accuracy for single or multiple anatomical targets in image-guided neurosurgery or ENT surgery is realized.</p><p><strong>Methods: </strong>The system utilizes the advantages of marker-based registration technique and allows to perform automatized patient registration using on the device attached and with patient scanned four fiducial markers. The best possible sensor/marker positions around the patient's head are determined for single or multiple region(s) of interest (target/s) in the anatomy. Once brought at the predetermined positions the device can be operated with any tracking system for registration purposes.</p><p><strong>Results: </strong>Targeting accuracy was evaluated quantitatively at various target positions on a phantom skull. The target registration error (TRE) was measured on individual targets using an electromagnetic tracking system. The overall averaged TRE was 0.22 ± 0.08 mm for intraoperative measurements.</p><p><strong>Conclusion: </strong>An automatized patient registration system using optimized patient-/target-specific marker configurations is proposed. High-precision and user-error-free intraoperative surgical navigation with minimum number of registration markers and sensors is realized. The targeting accuracy is significantly improved in minimally invasive neurosurgical and ENT interventions.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2371-2380"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607009/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140923684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Model-based individual life-spanning documentation in visceral surgery: a proof of concept.","authors":"Maximilian Berlet, Alissa Jell, Lars Wagner, Lukas Bernhard, Jonas Fuchtmann, Luca Wegener, Hubertus Feussner, Helmut Friess, Dirk Wilhelm","doi":"10.1007/s11548-024-03214-y","DOIUrl":"10.1007/s11548-024-03214-y","url":null,"abstract":"<p><strong>Introduction: </strong>Surgical documentation has many implications. However, its primary function is to transfer information about surgical procedures to other medical professionals. Thereby, written reports describing procedures in detail are the current standard, impeding comprehensive understanding of patient-individual life-spanning surgical course, especially if surgeries are performed at a timely distance and in diverse facilities. Therefore, we developed a novel model-based approach for documentation of visceral surgeries, denoted as 'Surgical Documentation Markup-Modeling' (SDM-M).</p><p><strong>Material and methods: </strong>For scientific evaluation, we developed a web-based prototype software allowing for creating hierarchical anatomical models that can be modified by individual surgery-related markup information. Thus, a patient's cumulated 'surgical load' can be displayed on a timeline deploying interactive anatomical 3D models. To evaluate the possible impact on daily clinical routine, we performed an evaluation study with 24 surgeons and advanced medical students, elaborating on simulated complex surgical cases, once with classic written reports and once with our prototypical SDM-M software.</p><p><strong>Results: </strong>Leveraging SDM-M in an experimental environment reduced the time needed for elaborating simulated complex surgical cases from 354 ± 85 s with the classic approach to 277 ± 128 s. (p = 0.00109) The perceived task load measured by the Raw NASA-TLX was reduced significantly (p = 0.00003) with decreased mental (p = 0.00004) and physical (p = 0.01403) demand. Also, time demand (p = 0.00041), performance (p = 0.00161), effort (p = 0.00024), and frustration (p = 0.00031) were improved significantly.</p><p><strong>Discussion: </strong>Model-based approaches for life-spanning surgical documentation could improve the daily clinical elaboration and understanding of complex cases in visceral surgery. Besides reduced workload and time sparing, even a more structured assessment of individual surgical cases could foster improved planning of further surgeries, information transfer, and even scientific evaluation, considering the cumulative 'surgical load.'</p><p><strong>Conclusion: </strong>Life-spanning model-based documentation of visceral surgical cases could significantly improve surgery and workload.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2421-2431"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607003/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141332470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysis of convolutional neural networks for fronto-temporal dementia biomarker discovery.","authors":"Alfonso Estudillo Romero, Raffaella Migliaccio, Bénédicte Batrancourt, Pierre Jannin, John S H Baxter","doi":"10.1007/s11548-024-03197-w","DOIUrl":"10.1007/s11548-024-03197-w","url":null,"abstract":"<p><strong>Purpose: </strong>Frontotemporal lobe dementia (FTD) results from the degeneration of the frontal and temporal lobes. It can manifest in several different ways, leading to the definition of variants characterised by their distinctive symptomatologies. As these variants are detected based on their symptoms, it can be unclear if they represent different types of FTD or different symptomatological axes. The goal of this paper is to investigate this question with a constrained cohort of FTD patients in order to see if the heterogeneity within this cohort can be inferred from medical images rather than symptom severity measurements.</p><p><strong>Methods: </strong>An ensemble of convolutional neural networks (CNNs) is used to classify diffusion tensor images collected from two databases consisting of 72 patients with behavioural variant FTD and 120 healthy controls. FTD biomarkers were found using voxel-based analysis on the sensitivities of these CNNs. Sparse principal components analysis (sPCA) is then applied on the sensitivities arising from the patient cohort in order to identify the axes along which the patients express these biomarkers. Finally, this is correlated with their symptom severity measurements in order to interpret the clinical presentation of each axis.</p><p><strong>Results: </strong>The CNNs result in sensitivities and specificities between 83 and 92%. As expected, our analysis determines that all the robust biomarkers arise from the frontal and temporal lobes. sPCA identified four axes in terms of biomarker expression which are correlated with symptom severity measurements.</p><p><strong>Conclusion: </strong>Our analysis confirms that behavioural variant FTD is not a singular type or spectrum of FTD, but rather that it has multiple symptomatological axes that relate to distinct regions of the frontal and temporal lobes. This analysis suggests that medical images can be used to understand the heterogeneity of FTD patients and the underlying anatomical changes that lead to their different clinical presentations.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2339-2349"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141318870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Assessment of intracranial aneurysm neck deformation after contour deployment.","authors":"Lena Spitz, Jana Korte, Franziska Gaidzik, Naomi Larsen, Bernhard Preim, Sylvia Saalfeld","doi":"10.1007/s11548-024-03189-w","DOIUrl":"10.1007/s11548-024-03189-w","url":null,"abstract":"<p><strong>Purpose: </strong>The contour neurovascular system (CNS) is a novel device to treat intracranial wide-necked bifurcation aneurysms, with few studies assessing its long-term effects. Particularly its impact on aneurysm morphology has not been explored yet. We present a preliminary study to explore this impact for the first time, focusing on the neck curve and ostium of the aneurysm.</p><p><strong>Methods: </strong>We investigated seven aneurysms treated with the CNS to assess ostium deformation after CNS deployment by comparing models extracted from in vivo medical pre-treatment and follow-up scans via morphological analysis. Time between pre- and follow-up scans was ten months on average. Size and shape indices like area, neck diameter, ellipticity index, undulation index, and more were assessed.</p><p><strong>Results: </strong>Ostium size was reduced after treatment. On average, ostium area was reduced at a rate of <math><mo>-</mo></math> 0.58 (± 4.88) mm² per year, from 15.52 (± 3.51) mm² to 13.30 (± 2.27) mm², and ostium width from 5.01 (± 0.54) mm to 4.49 (± 0.45) mm, with an average reduction of <math><mo>-</mo></math> 0.59 (± 0.87) mm. This shrinking positively correlated with time passing. Shape deformation was low, though notably mean ellipticity index was reduced by 0.06 (± 0.15) on average, indicating ostia were less elongated after treatment.</p><p><strong>Conclusion: </strong>We interpret the shrinking of the ostium as part of the healing process. Shape changes were found to be small enough to conclude no shape deformation of the ostium from CNS deployment, but the analysis of more cases with more parameters and information is necessary.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2321-2327"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607031/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141181437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"MRI-compatible abdomen phantom to mimic respiratory-triggered organ movement while performing needle-based interventions.","authors":"Ivan Vogt, Katja Engel, Anton Schlünz, Robert Kowal, Bennet Hensen, Marcel Gutberlet, Frank Wacker, Georg Rose","doi":"10.1007/s11548-024-03188-x","DOIUrl":"10.1007/s11548-024-03188-x","url":null,"abstract":"<p><strong>Purpose: </strong>In vivo studies are often required to prove the functionality and safety of medical devices. Clinical trials are costly and complex, adding to ethical scrutiny of animal testing. Anthropomorphic phantoms with versatile functionalities can overcome these issues with regard to medical education or an effective development of assistance systems during image-guided interventions (e.g., robotics, navigation/registration algorithms). In this work, an MRI-compatible and customizable motion phantom is presented to mimic respiratory-triggered organ movement as well as human anatomy.</p><p><strong>Methods: </strong>For this purpose, polyvinyl alcohol cryogel (PVA-C) was the foundation for muscles, liver, kidneys, tumors, and remaining abdominal tissue in different sizes of the abdominal phantom body (APB) with the ability to mimic human tissue in various properties. In addition, a semi-flexible rib cage was 3D-printed. The motion unit (MU) with an electromagnetically shielded stepper motor and mechanical extensions simulated a respiration pattern to move the APB.</p><p><strong>Results: </strong>Each compartment of the APB complied the relaxation times, dielectricity, and elasticity of human tissue. It showed resistance against mold and provided a resealable behavior after needle punctures. During long-term storage, the APB had a weight loss of 2.3%, followed by changes to relaxation times of 9.3% and elasticity up to 79%. The MU was able to physiologically appropriately mimic the organ displacement without reducing the MRI quality.</p><p><strong>Conclusion: </strong>This work presents a novel modularizable and low-cost PVA-C based APB to mimic fundamental organ motion. Beside a further organ motion analysis, an optimization of APB's chemical composition is needed to ensure a realistic motion simulation and reproducible long-term use. This phantom enhances diverse and varied training environments for prospective physicians as well as effective R&D of medical devices with the possibility to reduce in vivo experiments.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2329-2338"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607006/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141263344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A dual-instrument Kalman-based tracker to enhance robustness of microsurgical tools tracking.","authors":"Mattia Magro, Nicola Covallero, Elena Gambaro, Emanuele Ruffaldi, Elena De Momi","doi":"10.1007/s11548-024-03246-4","DOIUrl":"10.1007/s11548-024-03246-4","url":null,"abstract":"<p><strong>Purpose: </strong>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.</p><p><strong>Methods: </strong>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.</p><p><strong>Results: </strong>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.</p><p><strong>Conclusion: </strong>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.</p>","PeriodicalId":51251,"journal":{"name":"International Journal of Computer Assisted Radiology and Surgery","volume":" ","pages":"2351-2362"},"PeriodicalIF":2.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11607016/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141918025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}