Surgical-tools detection based on Convolutional Neural Network in laparoscopic robot-assisted surgery.

Laparoscopic surgery, a type of minimally invasive surgery, is used in a variety of clinical surgeries because it has a faster recovery rate and causes less pain. However, in general, the robotic system used in laparoscopic surgery can cause damage to the surgical instruments, organs, or tissues during surgery due to a narrow field of view and operating space, and insufficient tactile feedback. This study proposes real-time models for the detection of surgical instruments during laparoscopic surgery by using a CNN(Convolutional Neural Network). A dataset included information of the 7 surgical tools is used for learning CNN. To track surgical instruments in real time, unified architecture of YOLO apply to the models. So as to evaluate performance of the suggested models, degree of recall and precision is calculated and compared. Finally, we achieve 72.26% mean average precision over our dataset.