CN112699879A - Attention-guided real-time minimally invasive surgical tool detection method and system - Google Patents
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Abstract
The invention belongs to the technical field of minimally invasive surgery video analysis, and provides a method and a system for detecting a minimally invasive surgery tool in real time based on attention guidance. The method comprises the steps of obtaining a minimally invasive surgery video and processing the minimally invasive surgery video frame by frame to obtain a surgery image; inputting the operation images into a convolutional neural network framework based on attention guidance frame by frame, and outputting an accurate operation tool boundary box; wherein the attention-directed-based convolutional neural network framework comprises a coarse detection module and a fine detection module which are cascaded; the rough detection module is used for performing rough positioning parameter regression on the operation image to obtain a fine anchor point and determining whether the fine anchor point is an operation tool or a background; the fine detection module is used for obtaining an accurate surgical tool bounding box based on the attention mechanism and the predicted fine anchor point category.
Description
Technical Field
The invention belongs to the technical field of minimally invasive surgery video analysis, and particularly relates to a real-time minimally invasive surgery tool detection method and system based on attention guidance.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The advantages of minimally invasive surgery, besides being self-evident of low invasiveness, include post-operative pain and loss of blood, low trauma, and short recovery time, which are beneficial to both hospitalized patients and clinicians. However, the indirect observation and operation method of minimally invasive surgery impairs the hand-eye coordination ability of the surgeon, and may affect the visual understanding of the surgeon during the surgery, and the surgeon needs to acquire additional information to monitor the movement of the surgical tool in the body, which hinders the worldwide popularization of this technology. The minimally invasive surgery video analysis technology can reliably monitor the surgery in the tool interaction video through sufficient image analysis and processing, not only can automatically identify the ongoing surgery task so as to generate a surgery report and reconstruct a surgery process, but also can be used for reminding a clinician of possible complications and providing accurate and real-time navigation for the surgeon.
To reduce medical accidents, medical technicians attempt to enhance the ability of surgeons to ensure patient safety through context-aware computer-assisted surgery systems. The operation tool detection is used as an important component of the system, the tool identification and positioning problems are considered simultaneously according to the visual data, accurate position estimation of two-dimensional or three-dimensional operation tools can be provided, and potential application fields of the system comprise accurate positioning and posture estimation of the operation tools, real-time reminding of operations, operation flow optimization, objective skill assessment and the like. Therefore, real-time and accurate detection of the surgical tool can provide important information for operation navigation in minimally invasive surgery.
Detection of minimally invasive surgical tools is very challenging compared to the task of target detection in natural scenes. Firstly, the number of label samples of the former data set is generally larger, and the number of label samples of the latter data set is relatively smaller; secondly, the complexity of the surgical environment and the movement of organs in the background can cause the target to be lost more easily; in addition, the appearance of the surgical tool, the surgical background, and the pose of the surgical tool lack consistency, and the data set may cause information loss due to illumination variation, specular reflection, tool shadows, motion blur, bleeding, or smoke occlusion in the surgical video, which all bring difficulties to algorithm and model training. Therefore, the inventor finds that the method adopted by the current surgical tool detection is difficult to achieve the real-time effect, and the detection precision is easily influenced by the interference factors.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the invention provides a method and a system for detecting a minimally invasive surgical tool in real time based on attention guidance.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a real-time minimally invasive surgical tool detection method based on attention guidance.
A real-time minimally invasive surgical tool detection method based on attention guidance comprises the following steps:
obtaining a minimally invasive surgery video and processing the minimally invasive surgery video frame by frame to obtain a surgery image;
inputting the operation images into a convolutional neural network framework based on attention guidance frame by frame, and outputting an accurate operation tool boundary box;
wherein the attention-directed-based convolutional neural network framework comprises a coarse detection module and a fine detection module which are cascaded; the rough detection module is used for performing rough positioning parameter regression on the operation image to obtain a fine anchor point and determining whether the fine anchor point is an operation tool or a background; the fine detection module is used for obtaining an accurate surgical tool bounding box based on the attention mechanism and the predicted fine anchor point category.
A second aspect of the invention provides an attention-guided real-time minimally invasive surgical tool detection system.
An attention-guided real-time minimally invasive surgical tool detection system comprising:
the operation image acquisition module is used for acquiring a minimally invasive operation video and performing frame-by-frame processing to obtain an operation image;
the surgical tool detection module is used for inputting surgical images into the convolutional neural network framework based on attention guidance frame by frame and outputting an accurate surgical tool bounding box;
wherein the attention-directed-based convolutional neural network framework comprises a coarse detection module and a fine detection module which are cascaded; the rough detection module is used for performing rough positioning parameter regression on the operation image to obtain a fine anchor point and determining whether the fine anchor point is an operation tool or a background; the fine detection module is used for obtaining an accurate surgical tool bounding box based on the attention mechanism and the predicted fine anchor point category.
A third aspect of the invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps in the method for attention-guided real-time minimally invasive surgical tool detection based on attention as described above.
A fourth aspect of the invention provides a computer apparatus.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps in the attention-directed based real-time minimally invasive surgical tool detection method as described above.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of performing rough positioning parameter regression on an operation image to obtain a fine anchor point, and determining whether the fine anchor point is an operation tool or a background; and then, based on the attention mechanism and the predicted fine anchor point category, an accurate surgical tool boundary frame is obtained, the detection speed is improved while the higher detection accuracy is ensured, and the requirement of the detection real-time performance of the minimally invasive surgical tool is met.
The invention adopts the light-weight convolutional neural network based on attention guidance, and utilizes the light-weight head module to replace standard convolution, thereby greatly reducing the number of parameters of the convolutional neural network and the complexity of calculation, improving the detection speed while ensuring higher detection accuracy, and meeting the requirement of detection real-time performance of minimally invasive surgical tools.
The method extracts the candidate surgical tool bounding boxes by adopting a method based on an attention mechanism, and utilizes the extrusion and excitation module to fuse more context information, thereby enhancing the focusing capability of the network on the related image areas, facilitating the regression and classification of minimally invasive surgical tools and further improving the accuracy of surgical tool detection.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a flow chart of a method for real-time minimally invasive surgical tool detection based on attention-guidance according to an embodiment of the present invention;
FIG. 2 is a diagram of an overall convolutional neural network framework for an embodiment of the present invention;
FIG. 3 is a detailed block diagram of a lightweight attention-directed transition connection module of an embodiment of the present invention;
FIG. 4 is a detailed block diagram of a compression and excitation module according to an embodiment of the present invention;
FIG. 5 is a detailed block diagram of a light-weight head module according to an embodiment of the invention;
FIG. 6 is a schematic structural diagram of a real-time minimally invasive surgical tool detection system based on attention guidance according to an embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Interpretation of terms
CNN, an abbreviation of volumetric Neural Network, is a type of feed-forward Neural Network that contains convolution calculation and has a depth structure, and mainly extracts features on an image for further classification and detection.
VGG-16, an abbreviation of Visual Geometry Group Network, is a convolutional neural Network with 16 layers depth, which is commonly used as a backbone Network of a detection model to extract corresponding features.
Attention-guided modeling improves the representation ability of the network by modeling the dependency of each channel, and enables channel-by-channel adjustment of features, so that the network can learn global information to selectively enhance features containing useful information and suppress useless features.
Example one
As shown in fig. 1, the present embodiment provides a method for detecting a minimally invasive surgical tool in real time based on attention guidance, which includes:
s101: and acquiring a minimally invasive surgery video, and processing the minimally invasive surgery video frame by frame to obtain a surgery image.
In a specific implementation, the process of step S101 includes:
s1011: utilize the camera to obtain the video of whole operation process when minimal access surgery goes on, for example: speed 25 FPS;
s1012: utilizing related framing software to down-sample the video with the corresponding speed acquired in the step S1011, for example, the sampling speed is 5FPS, and further storing the video as an operation image; it should be noted here that in the implementation, the original video is down-sampled to the video frame rate that can be artificially marked; the down-sampling can be used for down-sampling the original video, so that the time information among video segments is enriched, and the accuracy of the detection of the surgical tool is improved.
S1013: step S1012 is repeated until all the minimally invasive surgery videos are converted into surgery images.
S102: and inputting the operation images into the convolutional neural network framework based on attention guidance frame by frame, and outputting an accurate operation tool bounding box.
Wherein the attention-directed-based convolutional neural network framework comprises a coarse detection module and a fine detection module which are cascaded; the rough detection module is used for performing rough positioning parameter regression on the operation image to obtain a fine anchor point and determining whether the fine anchor point is an operation tool or a background; the fine detection module is used for obtaining an accurate surgical tool bounding box based on the attention mechanism and the predicted fine anchor point category.
Specifically, the category of the surgical tool appearing in the minimally invasive surgery video is C, and since seven surgical tools are shared in the processed surgery video, C is set to 7. The seven surgical tools are respectively a grasper, a two-stage clip, a hook, scissors, a forceps, a flusher and a collection bag. The original resolution of each frame of image is 854 × 480, and in order to improve the network processing efficiency, the resolution of the image is uniformly set to be 320 × 320 before the training of the convolutional neural network framework based on attention guidance. The attention-directed convolutional neural network framework is fine-tuned using the stochastic gradient descent principle.
Such as: initializing learning rates of all layers of an attention-directed convolutional neural network framework to 5 × 10-5Momentum of 0.9, weight decay of 5 × 10-5。
It should be noted here that, in other embodiments, the learning-related parameters of the convolutional neural network framework based on attention-guiding may also be set by a person skilled in the art according to actual situations, and will not be described here again.
Before the rough detection module carries out rough positioning parameter regression on the operation images to obtain the fine anchor points, the input minimally invasive operation images are processed in batches.
Specifically, the input batch images are preprocessed, and the preprocessing comprises two data enhancement operations of optical transformation and geometric transformation, wherein the data enhancement operation comprises random brightness adjustment and contrast adjustment, and the data enhancement operation comprises random expansion, original training frame clipping and random horizontal turning frame level turning. Most of these operations are stochastic processes to ensure as much data enrichment as possible, thereby increasing the number of training data set samples.
In the process of training the convolutional neural network framework based on attention guidance, as shown in fig. 2, the backbone network selected by the rough detection module is a modification of VGG-16 pre-trained on the ImageNet standard data set, wherein the fully connected layers 6 and 7 are modified into convolutional layers 6 and 7, respectively, and then two additional convolutional layers 6-1 and 6-2 are added after the VGG-16 for extracting richer features;
performing multi-scale prediction by using the characteristics extracted by the convolutional layer 4-3, the convolutional layer 5-3, the convolutional layer 7 and the convolutional layer 6-2 of the modified VGG-16;
obtaining a fine anchor point through the rough regression positioning parameters, and providing a better initialization method for a fine detection module;
meanwhile, the obtained fine anchor points are classified, whether the anchor points are tools or backgrounds is judged, a large number of negative anchor points are filtered, and the problem of unbalance of positive samples and negative samples is solved.
As shown in fig. 2, the fine detection module comprises four cascaded lightweight attention-directed distracting link modules that incorporate the squeeze-and-fire module and the lightweight head module.
In the fine detection module, the fine anchor point will go through four transition connection modules to adaptively fuse the low-level and high-level features derived from the coarse detection module.
Detailed structural view of the transfer link module referring to fig. 3, it neatly combines the compression and excitation module and the light-weight head module.
As shown in fig. 4, the squeeze and fire module includes a global pooling layer, two complete connection layers, and a Sigmoid activation function, the most important operation of which is squeeze and fire. By analyzing the relationship among the channels, the network can automatically focus on the channel characteristics with the most abundant information and restrain the unimportant channel characteristics.
Firstly, performing global pooling on the feature maps input into the extrusion and excitation module to obtain a real number array with the length of M, so that the feature maps on each channel have a global receptive field, and thus, the low-level feature maps with smaller receptive fields can utilize global information to improve the feature extraction capability of a network and obtain richer semantic information of images; secondly, inputting a real number row with the length of M into a full connection layer, firstly reducing the dimension into a vector with the dimension of 1 multiplied by M/r, using a ReLU activation function, then increasing the dimension into a vector with the dimension of 1 multiplied by M, and adopting a Sigmoid activation function to calculate the weight coefficient of a channel; finally, the weighting coefficient is multiplied by the corresponding characteristic channel, so as to update the characteristic diagram.
In the embodiment, a candidate surgical tool boundary frame is extracted by adopting an attention mechanism-based method, more context information is fused by utilizing the extrusion and excitation module, the focusing capability of the network on the related image area is enhanced, the regression and classification of the minimally invasive surgical tool are facilitated, and the accuracy of surgical tool detection is improved.
As shown in fig. 5, the lightweight headblock is based on a deep separable convolution design, replacing the traditional 3 x 3 standard convolution with a fusion of two-way features.
The depth separable convolution is two steps, which have different functions:
1. separating the depth information;
2. size was reduced using 1 x 1 convolution to fuse channels. The calculation amount of the depth separable convolution is about 1/9 of the calculation amount of the traditional convolution operation, and the detection speed is obviously improved.
In the light-weight head module, one path is the characteristic generated by the standard convolution of 1 multiplied by 1, the other path is the characteristic generated by the standard convolution of 1 multiplied by 1 and the characteristic generated by the depth separable convolution of 3 multiplied by 3, and through the fusion of the two paths, the network can directly output the coordinates and the classification scores of the surgical tools only by the convolution of 1 multiplied by 1, thereby reducing the number of parameters and the calculation complexity of the network, greatly improving the detection speed and meeting the requirement of the real-time property of the minimally invasive surgery.
Specifically, in the fine detection module, through fusion of low-level features and high-level features, the class of the surgical tool and the size of a bounding box are finally obtained through regression by using an L1 loss function, and then the position of the surgical tool in the image is output.
According to the embodiment, the light-weight convolutional neural network based on attention guidance is adopted, and the light-weight head module is used for replacing standard convolution, so that the number of parameters of the convolutional neural network and the complexity of calculation are greatly reduced, the higher detection accuracy is ensured, the detection speed is increased, and the requirement of detection real-time performance of minimally invasive surgical tools is met.
The attention-guided real-time detection method for the minimally invasive surgical tool ensures the detection real-time performance of the minimally invasive surgical tool and improves the detection accuracy of the surgical tool.
Example two
As shown in fig. 6, the present embodiment provides an attention-guided real-time minimally invasive surgical tool detection system, which includes:
the operation image acquisition module is used for acquiring a minimally invasive operation video and performing frame-by-frame processing to obtain an operation image;
the surgical tool detection module is used for inputting surgical images into the convolutional neural network framework based on attention guidance frame by frame and outputting an accurate surgical tool bounding box;
wherein the attention-directed-based convolutional neural network framework comprises a coarse detection module and a fine detection module which are cascaded; the rough detection module is used for performing rough positioning parameter regression on the operation image to obtain a fine anchor point and determining whether the fine anchor point is an operation tool or a background; the fine detection module is used for obtaining an accurate surgical tool bounding box based on the attention mechanism and the predicted fine anchor point category.
It should be noted that, each module in the attention-guided real-time minimally invasive surgical tool detection system according to the present embodiment corresponds to each step in the attention-guided real-time minimally invasive surgical tool detection method according to the first embodiment one by one, and the specific implementation process thereof is the same, and will not be described herein again.
EXAMPLE III
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps in the attention-guided real-time minimally invasive surgical tool detection method according to the first embodiment.
Example four
The embodiment provides a computer device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for detecting a minimally invasive surgical tool based on attention guidance according to the embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described in terms of flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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