Behavior cloning facilitates the learning of dexterous manipulation skills, yet the complexity of surgical environments, the difficulty and expense of obtaining patient data, and robot calibration errors present unique challenges for surgical robot learning. We provide an enhanced surgical digital twin with photorealistic human anatomical organs, integrated into a comprehensive simulator designed to generate high-quality synthetic data to solve fundamental tasks in surgical autonomy. We present SuFIA-BC: visual Behavior Cloning policies for Surgical First Interactive Autonomy Assistants. We investigate visual observation spaces including multi-view cameras and 3D visual representations extracted from a single endoscopic camera view. Through systematic evaluation, we find that the diverse set of photorealistic surgical tasks introduced in this work enables a comprehensive evaluation of prospective behavior cloning models for the unique challenges posed by surgical environments. We observe that current state-of-the-art behavior cloning techniques struggle to solve the contact-rich and complex tasks evaluated in this work, regardless of their underlying perception or control architectures. These findings highlight the importance of customizing perception pipelines and control architectures, as well as curating larger-scale synthetic datasets that meet the specific demands of surgical tasks. Project website: orbit-surgical.github.io/sufia-bc/

Shape reconstruction from sparse point clouds/images is a challenging and relevant task required for a variety of applications in computer vision and medical image analysis (e.g. surgical navigation, cardiac motion analysis, augmented/virtual reality systems). A subset of such methods, viz. 3D shape reconstruction from 2D contours, is especially relevant for computer-aided diagnosis and intervention applications involving meshes derived from multiple 2D image slices, views or projections. We propose a deep learning architecture, coined Mesh Reconstruction Network (MR-Net), which tackles this problem. MR-Net enables accurate 3D mesh reconstruction in real-time despite missing data and with sparse annotations. Using 3D cardiac shape reconstruction from 2D contours defined on short-axis cardiac magnetic resonance image slices as an exemplar, we demonstrate that our approach consistently outperforms state-of-the-art techniques for shape reconstruction from unstructured point clouds. Our approach can reconstruct 3D cardiac meshes to within 2.5-mm point-to-point error, concerning the ground-truth data (the original image spatial resolution is ∼1.8×1.8×10mm3). We further evaluate the robustness of the proposed approach to incomplete data, and contours estimated using an automatic segmentation algorithm. MR-Net is generic and could reconstruct shapes of other organs, making it compelling as a tool for various applications in medical image analysis.

Glaucoma is one of the leading causes of irreversible but preventable blindness in working age populations. Color fundus photography (CFP) is the most cost-effective imaging modality to screen for retinal disorders. However, its application to glaucoma has been limited to the computation of a few related biomarkers such as the vertical cup-to-disc ratio. Deep learning approaches, although widely applied for medical image analysis, have not been extensively used for glaucoma assessment due to the limited size of the available data sets. Furthermore, the lack of a standardize benchmark strategy makes difficult to compare existing methods in a uniform way. In order to overcome these issues we set up the Retinal Fundus Glaucoma Challenge, REFUGE (https://refuge.grand-challenge.org), held in conjunction with MICCAI 2018. The challenge consisted of two primary tasks, namely optic disc/cup segmentation and glaucoma classification. As part of REFUGE, we have publicly released a data set of 1200 fundus images with ground truth segmentations and clinical glaucoma labels, currently the largest existing one. We have also built an evaluation framework to ease and ensure fairness in the comparison of different models, encouraging the development of novel techniques in the field. 12 teams qualified and participated in the online challenge. This paper summarizes their methods and analyzes their corresponding results. In particular, we observed that two of the top-ranked teams outperformed two human experts in the glaucoma classification task. Furthermore, the segmentation results were in general consistent with the ground truth annotations, with complementary outcomes that can be further exploited by ensembling the results.

Recent works show that generative adversarial networks (GANs) can be successfully applied to image synthesis and semi-supervised learning, where, given a small labeled database and a large unlabeled database, the goal is to train a powerful classifier. In this paper, we trained a retinal image synthesizer and a semi-supervised learning method for automatic glaucoma assessment using an adversarial model on a small glaucoma-labeled database and a large unlabeled database. Various studies have shown that glaucoma can be monitored by analyzing the optic disc and its surroundings, and for that reason, the images used in this paper were automatically cropped around the optic disc. The novelty of this paper is to propose a new retinal image synthesizer and a semi-supervised learning method for glaucoma assessment based on the deep convolutional GANs. In addition, and to the best of our knowledge, this system is trained on an unprecedented number of publicly available images (86926 images). This system, hence, is not only able to generate images synthetically but to provide labels automatically. Synthetic images were qualitatively evaluated using t-SNE plots of features associated with the images and their anatomical consistency was estimated by measuring the proportion of pixels corresponding to the anatomical structures around the optic disc. The resulting image synthesizer is able to generate realistic (cropped) retinal images, and subsequently, the glaucoma classifier is able to classify them into glaucomatous and normal with high accuracy (AUC = 0.9017). The obtained retinal image synthesizer and the glaucoma classifier could then be used to generate an unlimited number of cropped retinal images with glaucoma labels.