Multi-stage Suture Detection for Robot Assisted Anastomosis based on Deep Learning

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling and suture detection. Due to the complexity of the surgical environment and varying patient anatomies, reliable suture detection is difficult, which is further complicated by occlusion and thread topologies. In this paper, we propose a multi-stage framework for suture thread detection based on deep learning. Fully convolutional neural networks are used to obtain the initial detection and the overlapping status of suture thread, which are later fused with the original image to learn a gradient road map of the thread. Based on the gradient road map, multiple segments of the thread are extracted and linked to form the whole thread using a curvilinear structure detector. Experiments on two different types of sutures demonstrate the accuracy of the proposed framework.Comment: Submitted to ICRA 201

Retinal Vessel Segmentation Using the 2-D Morlet Wavelet and Supervised Classification

We present a method for automated segmentation of the vasculature in retinal images. The method produces segmentations by classifying each image pixel as vessel or non-vessel, based on the pixel's feature vector. Feature vectors are composed of the pixel's intensity and continuous two-dimensional Morlet wavelet transform responses taken at multiple scales. The Morlet wavelet is capable of tuning to specific frequencies, thus allowing noise filtering and vessel enhancement in a single step. We use a Bayesian classifier with class-conditional probability density functions (likelihoods) described as Gaussian mixtures, yielding a fast classification, while being able to model complex decision surfaces and compare its performance with the linear minimum squared error classifier. The probability distributions are estimated based on a training set of labeled pixels obtained from manual segmentations. The method's performance is evaluated on publicly available DRIVE and STARE databases of manually labeled non-mydriatic images. On the DRIVE database, it achieves an area under the receiver operating characteristic (ROC) curve of 0.9598, being slightly superior than that presented by the method of Staal et al.Comment: 9 pages, 7 figures and 1 table. Accepted for publication in IEEE Trans Med Imag; added copyright notic

Retinal Blood Vessels Extraction Based on Curvelet Transform and by Combining Bothat and Tophat Morphology

Retinal image contains vital information about the health of the sensory part of the visual system. Extracting these features is the first and most important step to analysis of retinal images for various applications of medical or human recognition. The proposed method consists of preprocessing, contrast enhancement and blood vessels extraction stages. In preprocessing, since the green channel from the coloured retinal images has the highest contrast between the subbands so the green component is selected. To uniform the brightness of image adaptive histogram equalization is used since it provides an image with a uniformed, darker background and brighter grey level of the blood vessels. Furthermore Curvelet transforms is used to enhance the contrast of an image by highlighting its edges in various scales and directions. Eventually the combination of Bothat and Tophat morpholological function followed by local thresholding is provided to classify the blood vessels. Hence the retinal blood vessels are separated from the background image.DOI:http://dx.doi.org/10.11591/ijece.v4i3.632

Detection of Macula and Recognition of Aged-Related Macular Degeneration in Retinal Fundus Images

In aged people, the central vision is affected by Age-Related Macular Degeneration (AMD). From the digital retinal fundus images, AMD can be recognized because of the existence of Drusen, Choroidal Neovascularization (CNV), and Geographic Atrophy (GA). It is time-consuming and costly for the ophthalmologists to monitor fundus images. A monitoring system for automated digital fundus photography can reduce these problems. In this paper, we propose a new macula detection system based on contrast enhancement, top-hat transformation, and the modified Kirsch template method. Firstly, the retinal fundus image is processed through an image enhancement method so that the intensity distribution is improved for finer visualization. The contrast-enhanced image is further improved using the top-hat transformation function to make the intensities level differentiable between the macula and different sections of images. The retinal vessel is enhanced by employing the modified Kirsch's template method. It enhances the vasculature structures and suppresses the blob-like structures. Furthermore, the OTSU thresholding is used to segment out the dark regions and separate the vessel to extract the candidate regions. The dark region and the background estimated image are subtracted from the extracted blood vessels image to obtain the exact location of the macula. The proposed method applied on 1349 images of STARE, DRIVE, MESSIDOR, and DIARETDB1 databases and achieved the average sensitivity, specificity, accuracy, positive predicted value, F1 score, and area under curve of 97.79 %, 97.65 %, 97.60 %, 97.38 %, 97.57 %, and 96.97 %, respectively. Experimental results reveal that the proposed method attains better performance, in terms of visual quality and enriched quantitative analysis, in comparison with eminent state-of-the-art methods

Pathological Evidence Exploration in Deep Retinal Image Diagnosis

Though deep learning has shown successful performance in classifying the label and severity stage of certain disease, most of them give few evidence on how to make prediction. Here, we propose to exploit the interpretability of deep learning application in medical diagnosis. Inspired by Koch's Postulates, a well-known strategy in medical research to identify the property of pathogen, we define a pathological descriptor that can be extracted from the activated neurons of a diabetic retinopathy detector. To visualize the symptom and feature encoded in this descriptor, we propose a GAN based method to synthesize pathological retinal image given the descriptor and a binary vessel segmentation. Besides, with this descriptor, we can arbitrarily manipulate the position and quantity of lesions. As verified by a panel of 5 licensed ophthalmologists, our synthesized images carry the symptoms that are directly related to diabetic retinopathy diagnosis. The panel survey also shows that our generated images is both qualitatively and quantitatively superior to existing methods.Comment: to appear in AAAI (2019). The first two authors contributed equally to the paper. Corresponding Author: Feng L

Retinal Image Preprocessing: Background and Noise Segmentation

Medical imaging is very popular research area these days and includes computer aided diagnosis of different diseases by taking digital images as input. Digital retinal images are used for the screening and diagnosis of diabetic retinopathy, an eye disease. An automated system for the diagnosis of diabetic retinopathy should highlight all signs of disease present in the image and in order to improve the accuracy of the system, the retinal image quality must be improved. In this article, we present a method to improve the quality of input retinal image and we consider this method as a preprocessing step in automated diagnosis of diabetic retinopathy. The preprocessing consists of background estimation and noise removal from retinal image by applying coarse and fine segmentation. We perform extensive results to check the validity of proposed preprocessing technique using standard fundus image database