Introduction
Methodology
Spectral clustering
Gaussian mixture models
Aligned cluster analysis and hierarchical aligned cluster analysis
Experimental evaluation
Dataset
Task | Name | Mean time (s) | Standard deviation time (s) |
---|---|---|---|
1 | Two-handed robotic suturing | 1329.2 | 733.9 |
2 | Uterine horn dissection | 2159.7 | 492.6 |
3 | Suspensary ligament dissection | 1999.3 | 1097.5 |
4 | Running robotic suturing | 617.6 | 126.7 |
5 | Rectal artery skeletonization and clipping | 1474.7 | 276.3 |
Kinematic data
Events
Parameter estimation
Evaluation metric
SC | GMM | ACA | HACA | |
---|---|---|---|---|
SSC |
\(71.1 \pm 16.4\)
|
\(50.6 \pm 6.2\)
|
\(70.8 \pm 17.1\)
|
\(79.0 \pm 12.3\)
|
SI |
\(80.6 \pm 7.5\)
|
\(51.2 \pm 7.0\)
|
\(82.7 \pm 8.6\)
|
\(85.5 \pm 8.3\)
|
SSC \(+\) SI |
\(\mathbf{84.1 } \pm \mathbf{13.9 }\)
|
\(\mathbf{54.9 } \pm \mathbf{6.5 }\)
|
\(78.1 \pm 15.8\)
|
\(82.3 \pm 8.0\)
|
SSC \(+\) EVT |
\(72.2 \pm 14.9\)
|
\(53.6 \pm 6.0\)
|
\(73.2 \pm 13.9\)
|
\(73.9 \pm 14.6\)
|
SI \(+\) EVT |
\(81.9 \pm 11.2\)
|
\(53.9 \pm 6.2\)
|
\(\mathbf{82.9 } \pm \mathbf{11.0 }\)
|
\(\mathbf{88.0 } \pm \mathbf{7.1 }\)
|
SSC \(+\) SI \(+\) EVT |
\(77.3 \pm 17.6\)
|
\(52.3 \pm 3.1\)
|
\(79.9 \pm 14.0\)
|
\(84.1 \pm 9.2\)
|
Precision | Recall | |||||||
---|---|---|---|---|---|---|---|---|
SC | GMM | ACA | HACA | SC | GMM | ACA | HACA | |
Task1 | 52.4 | 48.8 | 73.2 | 89.2 | 63.1 | 49.3 | 68.3 | 87.4 |
Task2 | 85.0 | 52.7 | 69.3 | 80.3 | 74.6 | 59.5 | 85.7 | 81.5 |
Task3 | 76.6 | 47.5 | 86.4 | 73.7 | 80.3 | 59.7 | 99.7 | 99.7 |
Task4 | 42.1 | 37.8 | 73.0 | 59.7 | 36.0 | 19.6 | 43.3 | 37.3 |
Task5 | 77.9 | 57.4 | 94.8 | 90.0 | 81.2 | 53.6 | 85.8 | 81.1 |
Results and discussion
T1 | T2 | T3 | T4 | T5 | |
---|---|---|---|---|---|
ACA |
\(66.4 \pm 44.3\)
|
\(71.8 \pm 33.9\)
|
\(84.8 \pm 13.6\)
|
\(74.4 \pm 45.9\)
|
\(94.6 \pm 8.0\)
|
HACA |
\(87.5 \pm 35.4\)
|
\(81.2 \pm 20.4\)
|
\(80.2 \pm 20.4\)
|
\(61.7 \pm 51.0\)
|
\(88.2 \pm 26.4\)
|