Visual-Kinematics Graph Learning for Procedure-Agnostic Instrument Tip Segmentation in Robotic Surgeries
Jiaqi Liu,Yonghao Long,Kai Chen,Cheuk Hei Leung,Zerui Wang,Qi Dou,Jiaqi Liu,Yonghao Long,Kai Chen,Cheuk Hei Leung,Zerui Wang,Qi Dou
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical autonomy. However, this task is very challenging due to the small sizes of surgical instrument tips, and significant variance of surgical scenes across different proced...
