title: Auto localization and segmentation of occluded vessels in robot-assisted partial nephrectomy.
abstract: Hilar dissection is an important and delicate stage in partial nephrectomy during which surgeons remove connective tissue surrounding renal vasculature. Potentially serious complications arise when vessels occluded by fat are missed in the endoscopic view and are not appropriately clamped. To aid in vessel discovery, we propose an automatic method to localize and label occluded vasculature. Our segmentation technique is adapted from phase-based video magnification, in which we measure subtle motion from periodic changes in local phase information albeit for labeling rather than magnification. We measure local phase through spatial decomposition of each frame of the endoscopic video using complex wavelet pairs. We then assign segmentation labels based on identifying responses of regions exhibiting temporal local phase changes matching the heart rate frequency. Our method is evaluated with a retrospective study of eight real robot-assisted partial nephrectomies demonstrating utility for surgical guidance that could potentially reduce operation times and complication rates.
authors.forename: Alborz
authors.initials: A
authors.lastname: Amir-Khalili
authors.forename: Jean-Marc
authors.initials: JM
authors.lastname: Peyrat
authors.forename: Julien
authors.initials: J
authors.lastname: Abinahed
authors.forename: Osama
authors.initials: O
authors.lastname: Al-Alao
authors.forename: Abdulla
authors.initials: A
authors.lastname: Al-Ansari
authors.forename: Ghassan
authors.initials: G
authors.lastname: Hamarneh
authors.forename: Rafeef
authors.initials: R
authors.lastname: Abugharbieh
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D004724:Endoscopy / Q000379:methods*; D006801:Humans; D007090:Image Interpretation, Computer-Assisted / Q000379:methods; D009392:Nephrectomy / Q000379:methods*; D010363:Pattern Recognition, Automated / Q000379:methods*; D012078:Renal Artery Obstruction / Q000473:pathology* / Q000601:surgery*; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000379:methods*