Most surgeons are skeptical as to the feasibility of autonomous actions in surgery. Interestingly, many examples of autonomous actions already exist and have been around for years. Since the beginning of this millennium, the field of artificial intelligence (AI) has grown exponentially with the development of machine learning (ML), deep learning (DL), computer vision (CV) and natural language processing (NLP). All of these facets of AI will be fundamental to the development of more autonomous actions in surgery, unfortunately, only a limited number of surgeons have or seek expertise in this rapidly evolving field. As opposed to AI in medicine, AI surgery (AIS) involves autonomous movements. Fortuitously, as the field of robotics in surgery has improved, more surgeons are becoming interested in technology and the potential of autonomous actions in procedures such as interventional radiology, endoscopy and surgery. The lack of haptics, or the sensation of touch, has hindered the wider adoption of robotics by many surgeons; however, now that the true potential of robotics can be comprehended, the embracing of AI by the surgical community is more important than ever before. Although current complete surgical systems are mainly only examples of tele-manipulation, for surgeons to get to more autonomously functioning robots, haptics is perhaps not the most important aspect. If the goal is for robots to ultimately become more and more independent, perhaps research should not focus on the concept of haptics as it is perceived by humans, and the focus should be on haptics as it is perceived by robots/computers. This article will discuss aspects of ML, DL, CV and NLP as they pertain to the modern practice of surgery, with a focus on current AI issues and advances that will enable us to get to more autonomous actions in surgery. Ultimately, there may be a paradigm shift that needs to occur in the surgical community as more surgeons with expertise in AI may be needed to fully unlock the potential of AIS in a safe, efficacious and timely manner.

Purpose Contact endoscopy (CE) is a minimally invasive procedure providing real-time information about the cellular and vascular structure of the superficial layer of laryngeal mucosa. This method can be combined with optical enhancement methods such as narrow band imaging (NBI). However, these techniques have some problems like subjective interpretation of vascular patterns and difficulty in differentiation between benign and malignant lesions. We propose a novel automated approach for vessel pattern characterization of larynx CE + NBI images in order to solve these problems.Methods In this approach, five indicators were computed to characterize the level of vessel’s disorder based on evaluation of consistency of gradient and two-dimensional curvature analysis and then 24 features were extracted from these indicators. The method evaluated the ability of the extracted features to classify CE + NBI images based on the vascular pattern and based on the laryngeal lesions. Four datasets were generated from 32 patients involving 1485 images. The classification scenarios were implemented using four supervised classifiers.Results For classification of CE + NBI images based on the vascular pattern, polykernel support vector machine (SVM), SVM with radial basis function (RBF), k-nearest neighbor (kNN), and random forest (RF) show an accuracy of 97%, 96%, 96%, and 96%, respectively. For the classification based on the histopathology, Polykernel SVM showed an accuracy of 84%, 86% and 84%, RBF SVM showed an accuracy of 81%, 87% and 83%, kNN showed an accuracy of 89%, 87%, 91%, RF showed an accuracy of 90%, 88% and 91% for classification between benign histopathologies, between malignant histopathologies and between benign and malignant lesions, respectively.Conclusion These promising results show that the proposed method could solve the problem of subjectivity in interpretation of vascular patterns and also support the clinicians in the early detection of benign, pre-malignant and malignant lesions.

The thyroid is one of the largest endocrine glands in the human body, which is involved in several body mechanisms like controlling protein synthesis and the body's sensitivity to other hormones and use of energy sources. Hence, it is of prime importance to track the shape and size of thyroid over time in order to evaluate its state. Thyroid segmentation and volume computation are important tools that can be used for thyroid state tracking assessment. Most of the proposed approaches are not automatic and require long time to correctly segment the thyroid. In this work, we compare three different nonautomatic segmentation algorithms (i.e., active contours without edges, graph cut, and pixel-based classifier) in freehand three-dimensional ultrasound imaging in terms of accuracy, robustness, ease of use, level of human interaction required, and computation time. We figured out that these methods lack automation and machine intelligence and are not highly accurate. Hence, we implemented two machine learning approaches (i.e., random forest and convolutional neural network) to improve the accuracy of segmentation as well as provide automation. This comparative study intends to discuss and analyse the advantages and disadvantages of different algorithms. In the last step, the volume of the thyroid is computed using the segmentation results, and the performance analysis of all the algorithms is carried out by comparing the segmentation results with the ground truth.

The endoscopic detection of perpendicular vascular changes (PVC) of the vocal folds has been associated with vocal fold cancer, dysplastic lesions, and papillomatosis, according to a classification proposed by the European Laryngological Society (ELS). The combination of contact endoscopy with narrow-band imaging (NBI-CE) allows intraoperatively a highly contrasted, real-time visualization of vascular changes of the vocal folds. Aim of the present study was to determine the association of PVC to specific histological diagnoses, the level of interobserver agreement in the detection of PVC, and their diagnostic effectiveness in diagnosing laryngeal malignancy. The evaluation of our data confirmed the association of PVC to vocal fold cancer, dysplastic lesions, and papillomatosis. The level of agreement between the observers in the identification of PVC was moderate for the less-experienced observers and almost perfect for the experienced observers. The identification of PVC during NBI-CE proved to be a valuable indicator for diagnosing malignant and premalignant lesions.

Abstract-Since its inception forty years ago as a way to control birth process, the cardiotocograph (CTG) has emerged over time and became the undisputed leader worldwide of noninvasive intrapartum foetal monitoring systems. The CTG signals conveying a lot of information, it is very difficult to interpret them and act accordingly even for specialists; hence, researchers have started looking for characteristics which could be correlated with a particular pathological state of the foetus. Thereby, many features appeared in the literature, ranging from the most common ones to artificially generated features, and computed using a wide variety of signal processing-based analysis tools: time scale, spectral or non-linear analysis, to name but a few. This survey paper, presents in a hierarchical order the most common processing steps of a CTG signal and focuses primarily on the feature extraction methods for foetal heart rate (FHR) analysis reported in the literature during the last decade. Also, some feature classification methods are reported before a brief discussion which concludes this work.

Longitudinal and perpendicular changes in the vocal fold’s blood vessels are associated with the development of benign and malignant laryngeal lesions. The combination of Contact Endoscopy (CE) and Narrow Band Imaging (NBI) can provide intraoperative real-time visualization of the vascular changes in the laryngeal mucosa. However, the visual evaluation of vascular patterns in CE-NBI images is challenging and highly depends on the clinicians’ experience. The current study aims to evaluate and compare the performance of a manual and an automatic approach for laryngeal lesion’s classification based on vascular patterns in CE-NBI images. In the manual approach, six observers visually evaluated a series of CE+NBI images that belong to a patient and then classified the patient as benign or malignant. For the automatic classification, an algorithm based on characterizing the level of the vessel’s disorder in combination with four supervised classifiers was used to classify CE-NBI images. The results showed that the manual approach’s subjective evaluation could be reduced by using a computer-based approach. Moreover, the automatic approach showed the potential to work as an assistant system in case of disagreements among clinicians and to reduce the manual approach’s misclassification issue.

Ultrasound (US) is a widely used as a low-cost alternative to computed tomography (CT) or magnetic resonance (MRI) and primarily for preliminary imaging. Since speckle intensity in US images is inherently stochastic, readers are often challenged in their ability to identify the pathological regions in a volume of a large number of images. This paper introduces a generalized approach for volumetric segmentation of structures in US images and volumes. We employ an iterative random walks (IRW) solver, random forest (RF) learning model, and a gradient vector flow (GVF) based inter-frame belief propagation technique for achieving cross-frame volumetric segmentation. At the start, a weak estimate the tissue structure is obtained using estimates of parameters of a statistical mechanics model of ultrasound tissue interaction. Ensemble learning of these parameters further using a random forest is used to initialize the segmentation pipeline. IRW is used for correcting the contour in various steps of the algorithm. Subsequently, a GVF based inter-frame belief propagation is applied to adjacent frames based on initialization of contour using information in the current frame to segment the complete volume by frame-wise processing. We have experimentally evaluated our approach using two different datasets. Intravascular Ultrasound (IVUS) segmentation was evaluated using 10 pullbacks acquired at 20 MHz and thyroid ultrasound segmentation is evaluated on 16 volumes acquired at 11 - 16 MHz. Our approach obtains a Jaccard score of 0.937 ± 0.022 for IVUS segmentation and 0.908 ± 0.028 for thyroid segmentation while processing each frame in 1.15 ± 0.05 s for IVUS and in 1.23 ± 0.27 s for thyroid segmentation without the need of any computing accelerators like GPUs.

We propose a new and complementary approach to image guidance for monitoring medical interventional devices (MID) with human tissue interaction and surgery augmentation by acquiring acoustic emission data from the proximal end of the MID outside the patient to extract dynamical characteristics of the interaction between the distal tip and the tissue touched or penetrated by the MID. We conducted phantom based experiments (n = 955) to show dynamic tool/tissue interaction during tissue needle passage (a) and vessel perforation caused by guide wire artery perforation (b). We use time-varying auto-regressive (TV-AR) modelling to characterize the dynamic changes and time-varying maximal energy pole (TV-MEP) to compute subsequent analysis of MID/tissue interaction characterization patterns. Qualitative and quantitative analysis showed that the TV-AR spectrum and the TV-MEP indicated the time instants of the needle path through different phantom objects (a) and clearly showed a perforation versus other generated artefacts (b). We demonstrated that audio signals acquired from the proximal part of an MID could provide valuable additional information to surgeons during minimally invasive procedures.