Department of Sysyem Engineeering and Automation Irene Rivas Blanco Department of System Engineering and Automation University of Malaga MANEUVERS RECOGNITION IN LAPAROSCOPIC SURGERY: ARTIFICIAL NEURAL NETWORK AND HIDDEN MARKOV MODEL APPROACHES
[24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches
Jul 16, 2015
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![Page 1: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/1.jpg)
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Irene Rivas Blanco
Department of System Engineering and Automation
University of Malaga
MANEUVERS RECOGNITION IN
LAPAROSCOPIC SURGERY: ARTIFICIAL
NEURAL NETWORK AND HIDDEN
MARKOV MODEL APPROACHES
![Page 2: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/2.jpg)
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I. Introduction
II. Maneuver Recognition System
III. Implementation & Experiments
IV. Conclusions
INDEX
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I. INTRODUCTION
![Page 4: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/4.jpg)
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I. INTRODUCTION
• Surgical assistant robot interfaces:
Direct-Teleoperation Head tracking
Voice commands
Eyes trackingVision algorithms
![Page 5: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/5.jpg)
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I. INTRODUCTION
(HMM) (HMM)
• Intuitive and natural Human-Machine Interface: Maneuver Recognition System
• Based on modeling the surgeon’s movements
• Comparison between two modeling approaches: Artificial Neural Networks (ANN) and Hidden Markov Models (HMM)
Four degrees of freedom
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II. MANEUVER RECOGNITION
SYSTEM
![Page 7: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/7.jpg)
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II. MANUEVER RECOGNITION SYSTEM
Surgical Protocol Maneuver
![Page 8: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/8.jpg)
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II. MANUEVER RECOGNITION SYSTEM
SENSORIAL SYSTEM
PREPROCESSING DATA
CODING DATA
Surgical Tools’ movement
Kalman filter
Two Tracking 3D sensors
ANN Fourier
RECOGNITION SYSTEM
HMM ANN
Maneuver code
Maneuver code
Data numerical description
Modeling of surgeon’s movements
![Page 9: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/9.jpg)
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II. MANUEVER RECOGNITION SYSTEM
• ANN: Recognizes the trajectory of the tools’ tip
FOURIERTrajectories ANNManeuver
Code
Set of vectors
CODING DATA RECOGNITION SYSTEM
• HMM: Recognizes the interaction between the tools
ANNCharacteristic
vector
HMM1
Maneuver Code
Observablecode
CODING DATA
RECOGNITION SYSTEM
HMM2
HMMn
…
MAX
PROB.
![Page 10: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/10.jpg)
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III. IMPLEMENTATION &
EXPERIMENTS
![Page 11: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/11.jpg)
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III. IMPLEMENTATION & EXPERIMENTS
Polaris Spectra
Markers
CODE MANEUVER
1 Cutting
2 Suturing
3 Transporting
![Page 12: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/12.jpg)
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III. IMPLEMENTATION & EXPERIMENTS
• Experiments: maneuvers recognition
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Maneuver Training Validation Hits
Suturing 150 35 94,29%
Cutting 150 35 91,43%
Transporting 150 35 94,29%
ANN
Maneuver Training Validation Hits
Suturing 150 35 88,57%
Cutting 150 35 82,86%
Transporting 150 35 85,71%
HMM
III. IMPLEMENTATION & EXPERIMENTS
• Experiments results:
![Page 14: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/14.jpg)
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IV. CONCLUSIONS
![Page 15: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/15.jpg)
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IV. CONCLUSIONS
• Human-Machine interface to recognize maneuvers during a laparoscopic surgery
• Comparison between two modeling approaches: Artificial Neural Networks and Hidden Markov Models
• ANN is an intuitive approach, but it is based on trajectories analysis in a specific reference frame.
• HMM provides an independent reference movement frame recognition system.
![Page 16: [24-27 Jun 2012] Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches](https://reader040.cupdf.com/reader040/viewer/2022032421/55a735a51a28abd9528b4580/html5/page/16.jpg)
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THANK YOU FOR YOUR ATTENTION
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