Introduction
Related work
Method
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a source domain \(D_s = (X_s,Y_s)\) associated with a feature space \(|X_s|\) and a label space \(|Y_s|\) and containing \(n_s\) labeled samples \(\{ (x_i^s, y_i^s) \}_{i=1}^{n_s}\) where, \(x_i \in X_s\) and \(y_i \in Y_s\) denote the i-th pair of image and label data, respectively
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a target domain \(D_t = (X_t)\) associated with a feature space \(|X_t|\) and a label space \(|Y_t|\) and containing \(n_t\) unlabeled samples \(\{ x_i^t \}_{i=1}^{n_t}\) where, \(x_i \in X_t\) denote the i-th image of the unlabeled data
Dataset | Training | Testing | Instruments |
---|---|---|---|
Simulation | 20,000 (10 | 33%) | n.a. | Two |
Cholec15 | 5034 (10 | 12%) | 2136 (5 | 13%) | Six \(+\) specimenbag |
EndoVis | 160 (4 | 0%) | 140 (6 | 0%) | Seven |
RobustMIS | 5983 (16 | 17%) | 4057 (14 | 20%) | Six \(+\) trocar |
Stage 1 | 663 (2 | 15%) | – | |
Stage 2 | 514 (2 | 13%) | – | |
Stage 3 | 2880 (10 | 23%) | – |
Experimental setup
Data
Approach | EndoVis | Cholec | R-MIS (S 1) | R-MIS (S 2) | R-MIS (S 3) |
---|---|---|---|---|---|
Simulation only | .42 (.29) | .30 (.30) | .30 (.28) | .36 (.30) | .20 (.24) |
I2I [23] | n.a. | .68 (.30) | n.a. | n.a. | n.a. |
Endo-Sim2Real [27] | .76 (.17) | .68 (.31) | .57 (.33) | .60 (.32) | .51 (.35) |
Teacher–student | .80 (.16) | .72 (.30) | .61 (.32) | .65 (.31) | .58 (.34) |
Real only | .93 (.06) | .86 (.24) | .82 (.27) | .83 (.25) | .78 (.30) |
Empty frames | 0% | 13% | 15% | 13% | 23% |
Implementation
Results and discussion
Comparison with baseline and state-of-the-art
Analysis on EndoVis
Analysis on Cholec
No. | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
---|---|---|---|---|---|---|---|
# | 1802 | 1173 | 229 | 31 | 3 | – | 1 |
DSC | .61 (.34) | .72 (.22) | .73 (.18) | .76 (.11) | .76 (.13) | – | .77 (.00) |