JRM Vol.34 No.6 pp. 1245-1252
doi: 10.20965/jrm.2022.p1245


Real-Time Suture Thread Detection with an Image Classifier

Kyotaro Horio*1, Kanako Harada*1, Jun Muto*2, Hirofumi Nakatomi*3, Nobuhito Saito*3, Akio Morita*4, Eiju Watanabe*5, and Mamoru Mitsuishi*1

*1The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

*2Fujita Health University Hospital
1-98 Dengakugakubo, Kutsukake-cho, Toyoake, Aichi 470-1192, Japan

*3The University of Tokyo Hospital
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8655, Japan

*4Nippon Medical School
1-1-5 Sendagi, Bunkyo-ku, Tokyo 113-8602, Japan

*5Jichi Medical School Hospital
3311-1 Yakushiji, Shimotsuke-shi, Tochigi 329-0498, Japan

May 27, 2022
September 23, 2022
December 20, 2022
surgical robot, deep learning, object detection

Micro-anastomosis is considered to be a difficult task even for skilled surgeons. Our group has developed a surgical robotic system to assist surgeons. Going further, the detection of surgically relevant objects in the microscopic view is indispensable for the automation or semi-automation of the system. This paper proposes a novel surgical thread detector inspired by an automatic crack detection method. The proposed method achieved a Dice score of 76.30% and an intersection over union (IOU) of 66.08% at 34.50 fps.

Result of thread detection

Result of thread detection

Cite this article as:
K. Horio, K. Harada, J. Muto, H. Nakatomi, N. Saito, A. Morita, E. Watanabe, and M. Mitsuishi, “Real-Time Suture Thread Detection with an Image Classifier,” J. Robot. Mechatron., Vol.34 No.6, pp. 1245-1252, 2022.
Data files:
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Last updated on Jun. 03, 2024