Surgical instrument segmentation and depth estimation are crucial steps to improve autonomy in robotic surgery. Most recent works treat these problems separately, making the deployment challenging. In this paper, we propose a unified framework for depth estimation and surgical tool segmentation in laparoscopic images. The network has an encoder-decoder architecture and comprises two branches for simultaneously performing depth estimation and segmentation. To train the network end to end, we propose a new multi-task loss function that effectively learns to estimate depth in an unsupervised manner, while requiring only semi-ground truth for surgical tool segmentation. We conducted extensive experiments on different datasets to validate these findings. The results showed that the end-to-end network successfully improved the state-of-the-art for both tasks while reducing the complexity during their deployment.

Deformable image registration, the estimation of the spatial transformation between different images, is an important task in medical imaging. Deep learning techniques have been shown to perform 3D image registration efficiently. However, current registration strategies often only focus on the deformation smoothness, which leads to the ignorance of complicated motion patterns (e.g., separate or sliding motions), especially for the intersection of organs. Thus, the performance when dealing with the discontinuous motions of multiple nearby objects is limited, causing undesired predictive outcomes in clinical usage, such as misidentification and mislocalization of lesions or other abnormalities. Consequently, we proposed a novel registration method to address this issue: a new Motion Separable backbone is exploited to capture the separate motion, with a theoretical analysis of the upper bound of the motions' discontinuity provided. In addition, a novel Residual Aligner module was used to disentangle and refine the predicted motions across the multiple neighboring objects/organs. We evaluate our method, Residual Aligner-based Network (RAN), on abdominal Computed Tomography (CT) scans and it has shown to achieve one of the most accurate unsupervised inter-subject registration for the 9 organs, with the highest-ranked registration of the veins (Dice Similarity Coefficient (%)/Average surface distance (mm): 62%/4.9mm for the vena cava and 34%/7.9mm for the portal and splenic vein), with a smaller model structure and less computation compared to state-of-the-art methods. Furthermore, when applied to lung CT, the RAN achieves comparable results to the best-ranked networks (94%/3.0mm), also with fewer parameters and less computation.

Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of training such robots, such as long training duration and safety issues arising from the interaction between the catheter and the aorta. Recently, endovascular simulators have been employed for medical training but generally do not conform to autonomous catheterization due to the lack of standardization and RL framework compliance. Furthermore, most current simulators are closed-source, which hinders the collaborative development of safe and reliable autonomous systems through shared learning and community-driven enhancements. In this work, we introduce CathSim, an open-source simulation environment that accelerates the development of machine learning algorithms for autonomous endovascular navigation. We first simulate the high-fidelity catheter and aorta with a state-of-the-art endovascular robot. We then provide the capability of real-time force sensing between the catheter and the aorta in simulation. Furthermore, we validate our simulator by conducting two different catheterization tasks using two popular reinforcement learning algorithms, namely SAC and PPO. The experimental results show that our open-source simulator can mimic the behavior of real-world endovascular robots and facilitate the development of different autonomous catheterization tasks. Our simulator is publicly available at https://github.com/airvlab/cathsim.