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In the field of computer- and robot-assisted minimally invasive surgery, enormous progress has been made in recent years based on the recognition of surgical instruments in endoscopic images and videos. In particular, the determination of the position and type of instruments is of great interest. Current work involves both spatial and temporal information, with the idea that predicting the movement of surgical tools over time may improve the quality of the final segmentations. The provision of publicly available datasets has recently encouraged the development of new methods, mainly based on deep learning. In this review, we identify and characterize datasets used for method development and evaluation and quantify their frequency of use in the literature. We further present an overview of the current state of research regarding the segmentation and tracking of minimally invasive surgical instruments in endoscopic images and videos. The paper focuses on methods that work purely visually, without markers of any kind attached to the instruments, considering both single-frame semantic and instance segmentation approaches, as well as those that incorporate temporal information. The publications analyzed were identified through the platforms Google Scholar, Web of Science, and PubMed. The search terms used were “instrument segmentation”, “instrument tracking”, “surgical tool segmentation”, and “surgical tool tracking”, resulting in a total of 741 articles published between 01/2015 and 07/2023, of which 123 were included using systematic selection criteria. A discussion of the reviewed literature is provided, highlighting existing shortcomings and emphasizing the available potential for future developments.
Aims
Human-computer interactions (HCI) may have a relevant impact on the performance of Artificial Intelligence (AI). Studies show that although endoscopists assessing Barrett’s esophagus (BE) with AI improve their performance significantly, they do not achieve the level of the stand-alone performance of AI. One aspect of HCI is the impact of AI on the degree of certainty and confidence displayed by the endoscopist. Indirectly, diagnostic confidence when using AI may be linked to trust and acceptance of AI. In a BE video study, we aimed to understand the impact of AI on the diagnostic confidence of endoscopists and the possible correlation with diagnostic performance.
Methods
22 endoscopists from 12 centers with varying levels of BE experience reviewed ninety-six standardized endoscopy videos. Endoscopists were categorized into experts and non-experts and randomly assigned to assess the videos with and without AI. Participants were randomized in two arms: Arm A assessed videos first without AI and then with AI, while Arm B assessed videos in the opposite order. Evaluators were tasked with identifying BE-related neoplasia and rating their confidence with and without AI on a scale from 0 to 9.
Results
The utilization of AI in Arm A (without AI first, with AI second) significantly elevated confidence levels for experts and non-experts (7.1 to 8.0 and 6.1 to 6.6, respectively). Only non-experts benefitted from AI with a significant increase in accuracy (68.6% to 75.5%). Interestingly, while the confidence levels of experts without AI were higher than those of non-experts with AI, there was no significant difference in accuracy between these two groups (71.3% vs. 75.5%). In Arm B (with AI first, without AI second), experts and non-experts experienced a significant reduction in confidence (7.6 to 7.1 and 6.4 to 6.2, respectively), while maintaining consistent accuracy levels (71.8% to 71.8% and 67.5% to 67.1%, respectively).
Conclusions
AI significantly enhanced confidence levels for both expert and non-expert endoscopists. Endoscopists felt significantly more uncertain in their assessments without AI. Furthermore, experts with or without AI consistently displayed higher confidence levels than non-experts with AI, irrespective of comparable outcomes. These findings underscore the possible role of AI in improving diagnostic confidence during endoscopic assessment.