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Magnetic resonance imaging (MRI) possesses the unique versatility to acquire images under a diverse array of distinct tissue contrasts, which makes multicontrast super-resolution (SR) techniques possible and needful. Compared with single-contrast MRI SR, multicontrast SR is expected to produce higher quality images by exploiting a variety of complementary information embedded in different imaging contrasts. However, existing approaches still have two shortcomings: 1) most of them are convolution-based methods and, hence, weak in capturing long-range dependencies, which are essential for MR images with complicated anatomical patterns and 2) they ignore to make full use of the multicontrast features at different scales and lack effective modules to match and aggregate these features for faithful SR. To address these issues, we develop a novel multicontrast MRI SR network via transformer-empowered multiscale feature matching and aggregation, dubbed McMRSR $^{++}$ . First, we tame transformers to model long-range dependencies in both reference and target images at different scales. Then, a novel multiscale feature matching and aggregation method is proposed to transfer corresponding contexts from reference features at different scales to the target features and interactively aggregate them. Furthermore, a texture-preserving branch and a contrastive constraint are incorporated into our framework for enhancing the textural details in the SR images. Experimental results on both public and clinical in vivo datasets show that McMRSR $^{++}$ outperforms state-of-the-art methods under peak signal to noise ratio (PSNR), structure similarity index measure (SSIM), and root mean square error (RMSE) metrics significantly. Visual results demonstrate the superiority of our method in restoring structures, demonstrating its great potential to improve scan efficiency in clinical practice.

Intraoperative imaging techniques for reconstructing deformable tissues in vivo are pivotal for advanced surgical systems. Existing methods either compromise on rendering quality or are excessively computationally intensive, often demanding dozens of hours to perform, which significantly hinders their practical application. In this paper, we introduce Fast Orthogonal Plane (Forplane), a novel, efficient framework based on neural radiance fields (NeRF) for the reconstruction of deformable tissues. We conceptualize surgical procedures as 4D volumes, and break them down into static and dynamic fields comprised of orthogonal neural planes. This factorization discretizes the four-dimensional space, leading to a decreased memory usage and faster optimization. A spatiotemporal importance sampling scheme is introduced to improve performance in regions with tool occlusion as well as large motions and accelerate training. An efficient ray marching method is applied to skip sampling among empty regions, significantly improving inference speed. Forplane accommodates both binocular and monocular endoscopy videos, demonstrating its extensive applicability and flexibility. Our experiments, carried out on two in vivo datasets, the EndoNeRF and Hamlyn datasets, demonstrate the effectiveness of our framework. In all cases, Forplane substantially accelerates both the optimization process (by over 100 times) and the inference process (by over 15 times) while maintaining or even improving the quality across a variety of non-rigid deformations. This significant performance improvement promises to be a valuable asset for future intraoperative surgical applications. The code of our project is now available at https://github.com/Loping151/ForPlane.

Aneurysmal subarachnoid hemorrhage is a medical emergency of brain that has high mortality and poor prognosis. Causal effect estimation of treatment strategies on patient outcomes is crucial for aneurysmal subarachnoid hemorrhage treatment decision-making. However, most existing studies on treatment decision-making support of this disease are unable to simultaneously compare the potential outcomes of different treatments for a patient. Furthermore, these studies fail to harmoniously integrate the imaging data with non-imaging clinical data, both of which are useful in clinical scenarios. In this paper, we estimate the causal effect of various treatments on patients with aneurysmal subarachnoid hemorrhage by integrating plain CT with non-imaging clinical data, which is represented using structured tabular data. Specifically, we first propose a novel scheme that uses multi-modality confounders distillation architecture to predict the treatment outcome and treatment assignment simultaneously. With these distilled confounder features, we design an imaging and non-imaging interaction representation learning strategy to use the complementary information extracted from different modalities to balance the feature distribution of different treatment groups. We have conducted extensive experiments using a clinical dataset of 656 subarachnoid hemorrhage cases, which was collected from the Hospital Authority Data Collaboration Laboratory in Hong Kong. Our method shows consistent improvements on the evaluation metrics of treatment effect estimation, achieving state-of-the-art results over strong competitors. Code is released at https://github.com/med-air/TOP-aSAH.

Automated classification of breast cancer subtypes from digital pathology images has been an extremely challenging task due to the complicated spatial patterns of cells in the tissue micro-environment. While newly proposed graph transformers are able to capture more long-range dependencies to enhance accuracy, they largely ignore the topological connectivity between graph nodes, which is nevertheless critical to extract more representative features to address this difficult task. In this paper, we propose a novel connectivity-aware graph transformer (CGT) for phenotyping the topology connectivity of the tissue graph constructed from digital pathology images for breast cancer classification. Our CGT seamlessly integrates connectivity embedding to node feature at every graph transformer layer by using local connectivity aggregation, in order to yield more comprehensive graph representations to distinguish different breast cancer subtypes. In light of the realistic intercellular communication mode, we then encode the spatial distance between two arbitrary nodes as connectivity bias in self-attention calculation, thereby allowing the CGT to distinctively harness the connectivity embedding based on the distance of two nodes. We extensively evaluate the proposed CGT on a large cohort of breast carcinoma digital pathology images stained by Haematoxylin & Eosin. Experimental results demonstrate the effectiveness of our CGT, which outperforms state-of-the-art methods by a large margin. Codes are released on https://github.com/wang-kang-6/CGT.

Purpose: The healthcare industry has a growing need for realistic modeling and efficient simulation of surgical scenes. With effective models of deformable surgical scenes, clinicians are able to conduct surgical planning and surgery training on scenarios close to real-world cases. However, a significant challenge in achieving such a goal is the scarcity of high-quality soft tissue models with accurate shapes and textures. To address this gap, we present a data-driven framework that leverages emerging neural radiance field technology to enable high-quality surgical reconstruction and explore its application for surgical simulations. Method: We first focus on developing a fast NeRF-based surgical scene 3D reconstruction approach that achieves state-of-the-art performance. This method can significantly outperform traditional 3D reconstruction methods, which have failed to capture large deformations and produce fine-grained shapes and textures. We then propose an automated creation pipeline of interactive surgical simulation environments through a closed mesh extraction algorithm. Results: Our experiments have validated the superior performance and efficiency of our proposed approach in surgical scene 3D reconstruction. We further utilize our reconstructed soft tissues to conduct FEM and MPM simulations, showcasing the practical application of our method in data-driven surgical simulations. Conclusion: We have proposed a novel NeRF-based reconstruction framework with an emphasis on simulation purposes. Our reconstruction framework facilitates the efficient creation of high-quality surgical soft tissue 3D models. With multiple soft tissue simulations demonstrated, we show that our work has the potential to benefit downstream clinical tasks, such as surgical education.

This paper presents an effective and general data augmentation framework for medical image segmentation. We adopt a computationally efficient and data-efficient gradient-based meta-learning scheme to explicitly align the distribution of training and validation data which is used as a proxy for unseen test data. We improve the current data augmentation strategies with two core designs. First, we learn class-specific training-time data augmentation (TRA) effectively increasing the heterogeneity within the training subsets and tackling the class imbalance common in segmentation. Second, we jointly optimize TRA and test-time data augmentation (TEA), which are closely connected as both aim to align the training and test data distribution but were so far considered separately in previous works. We demonstrate the effectiveness of our method on four medical image segmentation tasks across different scenarios with two state-of-the-art segmentation models, DeepMedic and nnU-Net. Extensive experimentation shows that the proposed data augmentation framework can significantly and consistently improve the segmentation performance when compared to existing solutions. Code is publicly available at https://github.com/ZerojumpLine/JCSAugment.

ABSTRACTWith growing popularity of robotic surgery, education becomes increasingly important and urgently needed. However, experienced surgeons have limited accessibility due to busy clinical schedules or working in a distant city, thus can hardly provide sufficient education resources for novices. Remote mentoring, as an effective way, can solve this problem, but traditional methods are limited to plain text, audio, or 2D video, which are not intuitive nor vivid. Augmented reality (AR) offers new possibilities for interactive teaching. In this paper, we propose a novel AR-based robotic surgery remote mentoring system with efficient 3D scene visualisation and natural hand interaction. Using a head-mounted display, mentors can remotely monitor the procedure streamed from trainees’ operation side. Mentors can also provide feedback directly with hand gestures, which is transmitted to trainees and viewed in robot console as guidance. We comprehensively validate the system on both real surgery videos and ex-vivo training tasks (peg-transfer and suturing). Promising results are demonstrated regarding fidelity of streamed scene visualisation, accuracy of feedback with hand interaction, and low-latency of each component in the system. This work showcases the feasibility of leveraging AR for reliable, flexible and low-cost solutions to robotic surgical education, and holds great potential for clinical applications.

Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a challenge, and the online laparoscopic tracking primarily relies on external sensors, which increases system complexity. Methods: Here, we propose a learning-driven framework, in which an image-guided laparoscopic localization with 3D reconstructions of anatomical structures is obtained. To reconstruct the structure of the whole surgical environment, we first fine-tune a learning-based stereoscopic depth perception method, which is robust to texture-less and variant soft tissues, for depth estimation. Then, we develop a dense reconstruction algorithm to represent the scene by surfels, estimate the laparoscope poses and fuse the depth into a unified reference coordinate for tissue reconstruction. To estimate poses of new laparoscope views, we achieve a coarse-to-fine localization method, which incorporates our reconstructed model. Results: We evaluate the reconstruction method and the localization module on three datasets, namely, the stereo correspondence and reconstruction of endoscopic data (SCARED), the ex-vivo data collected with Universal Robot (UR) and Karl Storz Laparoscope, and the in-vivo DaVinci robotic surgery dataset, where the reconstructed structures have rich details of surface texture with an error under 1.71 mm and the localization module can accurately track the laparoscope with images as input. Conclusions: Experimental results demonstrate the superior performance of the proposed method in anatomy reconstruction and laparoscopic localization. Significance: The proposed framework can be potentially extended to the current surgical navigation system.

Federated learning (FL) allows multiple medical institutions to collaboratively learn a global model without centralizing client data. It is difficult, if possible at all, for such a global model to commonly achieve optimal performance for each individual client, due to the heterogeneity of medical images from various scanners and patient demographics. This problem becomes even more significant when deploying the global model to unseen clients outside the FL with unseen distributions not presented during federated training. To optimize the prediction accuracy of each individual client for medical imaging tasks, we propose a novel unified framework for both Inside and Outside model Personalization in FL (IOP-FL). Our inside personalization uses a lightweight gradient-based approach that exploits the local adapted model for each client, by accumulating both the global gradients for common knowledge and the local gradients for client-specific optimization. Moreover, and importantly, the obtained local personalized models and the global model can form a diverse and informative routing space to personalize an adapted model for outside FL clients. Hence, we design a new test-time routing scheme using the consistency loss with a shape constraint to dynamically incorporate the models, given the distribution information conveyed by the test data. Our extensive experimental results on two medical image segmentation tasks present significant improvements over SOTA methods on both inside and outside personalization, demonstrating the potential of our IOP-FL scheme for clinical practice. Code is available at https://github.com/med-air/IOP-FL.

With progressive advancements in modern technologies, image-guided automation, which plans and manipulates particular tasks by utilizing visual cues, is becoming an emerging sector in medical robotics. Its prevalence nowadays requires a reliable hand-to-eye calibration owing to various configurations of surgical robots, especially for those with remote center of motion (RCM) constraints, e.g., da Vinci Research Kit (dVRK). In this article, we proposed a novel unified calibration method, which leverages the structure characteristics and establishes an explicit geometric model to solve the hand-to-eye relationship only with a monocular camera’s feedback. By freely moving the patient side manipulator in dVRK, our method can first recover the 3-D poses of its shaft at various configurations using Plücker coordinates. To obtain the hand-to-eye translation relationship, these recovered poses are further converged by softly intersecting them within a minimal spatial sphere while preserving their coordinates using an aggregating sphere loss. Meanwhile, the orientation mapping can be recovered by leveraging the corresponding longitudinal-axis information. To improve the calibration accuracy, a local optimization strategy that utilizes the bundle adjustment to refine the transformation using the previous outcomes is also introduced. With such a hierarchical calibration scheme, the hand-to-eye relationship of any RCM constrained robot can be successfully achieved. Extensive simulations and experiments are conducted based on dVRK platform. By comparing with the traditional method, the validation results prove the feasibility and superiority of our unified algorithm in calibration accuracy and robustness.

Purpose: Real-time surgical workflow analysis has been a key component for computer-assisted intervention system to improve cognitive assistance. Most existing methods solely rely on conventional temporal models and encode features with a successive spatial–temporal arrangement. Supportive benefits of intermediate features are partially lost from both visual and temporal aspects. In this paper, we rethink feature encoding to attend and preserve the critical information for accurate workflow recognition and anticipation. Methods: We introduce Transformer in surgical workflow analysis, to reconsider complementary effects of spatial and temporal representations. We propose a hybrid embedding aggregation Transformer, named Trans-SVNet, to effectively interact with the designed spatial and temporal embeddings, by employing spatial embedding to query temporal embedding sequence. We jointly optimized by loss objectives from both analysis tasks to leverage their high correlation. Results: We extensively evaluate our method on three large surgical video datasets. Our method consistently outperforms the state-of-the-arts across three datasets on workflow recognition task. Jointly learning with anticipation, recognition results can gain a large improvement. Our approach also shows its effectiveness on anticipation with promising performance achieved. Our model achieves a real-time inference speed of 0.0134 second per frame. Conclusion: Experimental results demonstrate the efficacy of our hybrid embeddings integration by rediscovering the crucial cues from complementary spatial–temporal embeddings. The better performance by multi-task learning indicates that anticipation task brings the additional knowledge to recognition task. Promising effectiveness and efficiency of our method also show its promising potential to be used in operating room.

Purpose: Automatic segmentation of surgical instruments in robot-assisted minimally invasive surgery plays a fundamental role in improving context awareness. In this work, we present an instance segmentation model based on refined Mask R-CNN for accurately segmenting the instruments as well as identifying their types. Methods: We re-formulate the instrument segmentation task as an instance segmentation task. Then we optimize the Mask R-CNN with anchor optimization and improved Region Proposal Network for instrument segmentation. Moreover, we perform cross-dataset evaluation with different sampling strategies. Results: We evaluate our model on a public dataset of the MICCAI 2017 Endoscopic Vision Challenge with two segmentation tasks, and both achieve new state-of-the-art performance. Besides, cross-dataset training improved the performance on both segmentation tasks compared with those tested on the public dataset. Conclusion: Results demonstrate the effectiveness of the proposed instance segmentation network for surgical instruments segmentation. Cross-dataset evaluation shows our instance segmentation model presents certain cross-dataset generalization capability, and cross-dataset training can significantly improve the segmentation performance. Our empirical study also provides guidance on how to allocate the annotation cost for surgeons while labelling a new dataset in practice.

Purpose: Automatic surgical workflow recognition in video is an essentially fundamental yet challenging problem for developing computer-assisted and robotic-assisted surgery. Existing approaches with deep learning have achieved remarkable performance on analysis of surgical videos, however, heavily relying on large-scale labelled datasets. Unfortunately, the annotation is not often available in abundance, because it requires the domain knowledge of surgeons. Even for experts, it is very tedious and time-consuming to do a sufficient amount of annotations. Methods: In this paper, we propose a novel active learning method for cost-effective surgical video analysis. Specifically, we propose a non-local recurrent convolutional network, which introduces non-local block to capture the long-range temporal dependency (LRTD) among continuous frames. We then formulate an intra-clip dependency score to represent the overall dependency within this clip. By ranking scores among clips in unlabelled data pool, we select the clips with weak dependencies to annotate, which indicates the most informative ones to better benefit network training. Results: We validate our approach on a large surgical video dataset (Cholec80) by performing surgical workflow recognition task. By using our LRTD based selection strategy, we can outperform other state-of-the-art active learning methods who only consider neighbor-frame information. Using only up to 50% of samples, our approach can exceed the performance of full-data training. Conclusion: By modeling the intra-clip dependency, our LRTD based strategy shows stronger capability to select informative video clips for annotation compared with other active learning methods, through the evaluation on a popular public surgical dataset. The results also show the promising potential of our framework for reducing annotation workload in the clinical practice.

An artificial intelligence–based contouring tool improved tumor target contouring accuracy for nasopharyngeal carcinoma, which could have a positive impact on tumor control and patient survival.

Our previous studies showed that biomodification of demineralized dentin collagen with proanthocyanidin (PA) for a clinically practical duration improves the mechanical properties of the dentin matrix and the immediate resin–dentin bond strength. The present study sought to evaluate the ability of PA biomodification to reduce collagenase-induced biodegradation of demineralized dentin matrix and dentin/adhesive interfaces in a clinically relevant manner. The effects of collagenolytic and gelatinolytic activity on PA-biomodified demineralized dentin matrix were analysed by hydroxyproline assay and gelatin zymography. Then, resin-/dentin-bonded specimens were prepared and challenged with bacterial collagenases. Dentin treated with 2% chlorhexidine and untreated dentin were used as a positive and negative control, respectively. Collagen biodegradation, the microtensile bond strengths of bonded specimens and the micromorphologies of the fractured interfaces were assessed. The results revealed that both collagenolytic and gelatinolytic activity on demineralized dentin were notably inhibited in the PA-biomodified groups, irrespective of PA concentration and biomodification duration. When challenged with exogenous collagenases, PA-biomodified bonded specimens exhibited significantly less biodegradation and maintained higher bond strengths than the untreated control. These results suggest that PA biomodification was effective at inhibiting proteolytic activity on demineralized dentin matrix and at stabilizing the adhesive/dentin interface against enzymatic degradation, is a new concept that has the potential to improve bonding durability.

The singularly perturbed systems for the nonlinear three-species food-chain reaction systems with time delay are considered. By using the method of the stretched variable, the formal asymptotic solution is obtained under suitable conditions.