Rethinking causality-driven robot tool segmentation with temporal constraints.

Journal: International journal of computer assisted radiology and surgery
Published Date: Apr 7, 2023

Abstract

PURPOSE: Vision-based robot tool segmentation plays a fundamental role in surgical robots perception and downstream tasks. CaRTS, based on a complementary causal model, has shown promising performance in unseen counterfactual surgical environments in the presence of smoke, blood, etc. However, CaRTS requires over 30 iterations of optimization to converge for a single image due to limited observability.

Authors

  • Hao Ding
  • Jie Ying Wu
    Department of Computer Science, Johns Hopkins University, Baltimore, MD, 21218, USA. jieying@jhu.edu.
  • Zhaoshuo Li
    Department of Computer Science, Johns Hopkins University Whiting School of Engineering, Baltimore, Maryland.
  • Mathias Unberath
    Johns Hopkins University, Baltimore, MD, USA.

Keywords

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