FF-ViT:用于机器人辅助内分显微镜组织扫描的探针方向回归
Chi Xu1, Alfie Roddan2, Haozheng Xu2
1Hamlyn Centre for Robotic Surgery Department of Surgery and Cancer, Imperial College London, London, SW7 2AZ, UK. chi.xu20@imperial.ac.uk.
概括
这项研究引入了一种使用快速富里埃视觉变换器的新人工智能方法,用于在手术期间准确指导基于探针的共聚焦激光内分显微镜 (pCLE). 这提高了组织可视化和机器人扫描精度.
科学领域:
- 医学成像医学成像
- 机器人手术是一种机器人手术.
- 人工智能的人工智能是人工智能.
背景情况:
- 基于探头的共聚焦激光内显微镜 (pCLE) 对于手术内细胞组织可视化至关重要.
- 精确的探头定位 (接触和垂直) 对于高质量的PCLE成像至关重要.
- 目前的机器人系统由于依赖宏观视觉而缺乏精确的探头位置.
研究的目的:
- 开发一种自动化方法来回归与组织表面相对的PCLE探针方向.
- 在机器人扫描过程中使用内微镜视觉来实现精确的探头定位.
主要方法:
- 一种使用快速富里埃视觉变压器 (FF-ViT) 进行探头方向回归的新方法.
- FF-ViT使用模糊映射注意力 (BMA) 来改进表示.
- 与金字塔角度回归器 (PAR) 集成,用于精确的方向估计.
主要成果:
- 创建了第一个PCLE探针-组织方向 (pCLE-PTO) 数据集.
- 与现有方法相比,拟议的网络实现了卓越的准确性,稳定性和通用性.
- 该系统表现出低计算复杂性 (1.8G FLOPs) 和高推断速度 (90 fps).
结论:
- 开发的框架对于手术内组织扫描具有显著的临床价值.
- 在手术机器人平台中实现无集成的潜力.
- 提高了机器人辅助PCLE程序的精度和可靠性.
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