ST-ITEF: Spatio-Temporal Intraoperative Task Estimating Framework to recognize surgical phase and predict instrument path based on multi-object tracking in keratoplasty

Abstract

Computer-assisted cognition guidance for surgical robotics by computer vision is a potential future outcome, which could facilitate the surgery for both operation accuracy and autonomy level. In this paper, multiple-object segmentation and feature extraction from this segmentation are combined to determine and predict surgical manipulation. A novel three-stage Spatio-Temporal Intraoperative Task Estimating Framework is proposed, with a quantitative expression derived from ophthalmologists’ visual information process and also with the multi-object tracking of surgical instruments and human corneas involved in keratoplasty. In the estimation of intraoperative workflow, quantifying the operation parameters is still an open challenge. This problem is tackled by extracting key geometric properties from multi-object segmentation and calculating the relative position among instruments and corneas. A decision framework is further proposed, based on prior geometric properties, to recognize the current surgical phase and predict the instrument path for each phase. Our framework is tested and evaluated by real human keratoplasty videos. The optimized DeepLabV3 with image filtration won the competitive class-IoU in the segmentation task and the mean phase jaccard reached 55.58 % for the phase recognition. Both the qualitative and quantitative results indicate that our framework can achieve accurate segmentation and surgical phase recognition under complex disturbance. The Intraoperative Task Estimating Framework would be highly potential to guide surgical robots in clinical practice.