DeepVinci: Organ and Tool Segmentation with Edge Supervision and a Densely Multi-Scale Pyramid Module for...

Background: Automated surgical navigation can be separated into three stages: (1) organ identification and localization, (2) identification of the organs requiring further surgery, and (3) automated planning of the operation path and steps. With its ideal visual and operating system, the da Vinci surgical system provides a promising platform for automated surgical navigation. This study focuses on the first step in automated surgical navigation by identifying organs in gynecological surgery. Methods: Due to the difficulty of collecting da Vinci gynecological endoscopy data, we propose DeepVinci, a novel end-to-end high-performance encoder-decoder network based on convolutional neural networks (CNNs) for pixel-level organ semantic segmentation. Specifically, to overcome the drawback of a limited field of view, we incorporate a densely multi-scale pyramid module and feature fusion module, which can also enhance the global context information. In addition, the system integrates an edge supervision network to refine the segmented results on the decoding side. Results: Experimental results show that DeepVinci can achieve state-of-the-art accuracy, obtaining dice similarity coefficient and mean pixel accuracy values of 0.684 and 0.700, respectively. Conclusions: The proposed DeepVinci network presents a practical and competitive semantic segmentation solution for da Vinci gynecological surgery.