Guide3D: A Bi-planar X-ray Dataset for 3D Shape Reconstruction

Endovascular surgical tool reconstruction represents an important factor in advancing endovascular tool navigation, which is an important step in endovascular surgery. However, the lack of publicly available datasets significantly restricts the development and validation of novel machine learning approaches. Moreover, due to the need for specialized equipment such as biplanar scanners, most of the previous research employs monoplanar fluoroscopic technologies, hence only capturing the data from a single view and significantly limiting the reconstruction accuracy. To bridge this gap, we introduce Guide3D, a bi-planar X-ray dataset for 3D reconstruction. The dataset represents a collection of high resolution bi-planar, manually annotated fluoroscopic videos, captured in real-world settings. Validating our dataset within a simulated environment reflective of clinical settings confirms its applicability for real-world applications. Furthermore, we propose a new benchmark for guidewrite shape prediction, serving as a strong baseline for future work. Guide3D not only addresses an essential need by offering a platform for advancing segmentation and 3D reconstruction techniques but also aids the development of more accurate and efficient endovascular surgery interventions. Our project is available at https://airvlab.github.io/guide3d/.

Multi-class Road Defect Detection and Segmentation using Spatial and Channel-wise Attention for Autonomous Road Repairing

Road pavement detection and segmentation are critical for developing autonomous road repair systems. However, developing an instance segmentation method that simultaneously performs multi-class defect detection and segmentation is challenging due to the textural simplicity of road pavement image, the diversity of defect geometries, and the morphological ambiguity between classes. We propose a novel end-to-end method for multi-class road defect detection and segmentation. The proposed method comprises multiple spatial and channel-wise attention blocks available to learn global representations across spatial and channel-wise dimensions. Through these attention blocks, more globally generalised representations of morphological information (spatial characteristics) of road defects and colour and depth information of images can be learned. To demonstrate the effectiveness of our framework, we conducted various ablation studies and comparisons with prior methods on a newly collected dataset annotated with nine road defect classes. The experiments show that our proposed method outperforms existing state-of-the-art methods for multi-class road defect detection and segmentation methods.

Road Surface Defect Detection -- From Image-based to Non-image-based: A Survey

Ensuring traffic safety is crucial, which necessitates the detection and prevention of road surface defects. As a result, there has been a growing interest in the literature on the subject, leading to the development of various road surface defect detection methods. The methods for detecting road defects can be categorised in various ways depending on the input data types or training methodologies. The predominant approach involves image-based methods, which analyse pixel intensities and surface textures to identify defects. Despite their popularity, image-based methods share the distinct limitation of vulnerability to weather and lighting changes. To address this issue, researchers have explored the use of additional sensors, such as laser scanners or LiDARs, providing explicit depth information to enable the detection of defects in terms of scale and volume. However, the exploration of data beyond images has not been sufficiently investigated. In this survey paper, we provide a comprehensive review of road surface defect detection studies, categorising them based on input data types and methodologies used. Additionally, we review recently proposed non-image-based methods and discuss several challenges and open problems associated with these techniques.

Autonomous Catheterization with Open-source Simulator and Expert Trajectory

Endovascular robots have been actively developed in both academia and industry. However, progress toward autonomous catheterization is often hampered by the widespread use of closed-source simulators and physical phantoms. Additionally, the acquisition of large-scale datasets for training machine learning algorithms with endovascular robots is usually infeasible due to expensive medical procedures. In this chapter, we introduce CathSim, the first open-source simulator for endovascular intervention to address these limitations. CathSim emphasizes real-time performance to enable rapid development and testing of learning algorithms. We validate CathSim against the real robot and show that our simulator can successfully mimic the behavior of the real robot. Based on CathSim, we develop a multimodal expert navigation network and demonstrate its effectiveness in downstream endovascular navigation tasks. The intensive experimental results suggest that CathSim has the potential to significantly accelerate research in the autonomous catheterization field. Our project is publicly available at https://github.com/airvlab/cathsim.

3D Guidewire Shape Reconstruction from Monoplane Fluoroscopic Images

Endovascular navigation, essential for diagnosing and treating endovascular diseases, predominantly hinges on fluoroscopic images due to the constraints in sensory feedback. Current shape reconstruction techniques for endovascular intervention often rely on either a priori information or specialized equipment, potentially subjecting patients to heightened radiation exposure. While deep learning holds potential, it typically demands extensive data. In this paper, we propose a new method to reconstruct the 3D guidewire by utilizing CathSim, a state-of-the-art endovascular simulator, and a 3D Fluoroscopy Guidewire Reconstruction Network (3D-FGRN). Our 3D-FGRN delivers results on par with conventional triangulation from simulated monoplane fluoroscopic images. Our experiments accentuate the efficiency of the proposed network, demonstrating it as a promising alternative to traditional methods.

CathSim: An Open-source Simulator for Autonomous Cannulation

Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of training such robots such as long training duration due to sample inefficiency of machine learning algorithms and safety issues arising from the interaction between the catheter and the endovascular phantom. Physics simulators have been used in the context of endovascular procedures, but they are typically employed for staff training and generally do not conform to the autonomous cannulation goal. Furthermore, most current simulators are closed-source which hinders the collaborative development of safe and reliable autonomous systems. In this work, we introduce CathSim, an open-source simulation environment that accelerates the development of machine learning algorithms for autonomous endovascular navigation. We first simulate the high-fidelity catheter and aorta with the state-of-the-art endovascular robot. We then provide the capability of real-time force sensing between the catheter and the aorta in the simulation environment. We validate our simulator by conducting two different catheterisation tasks within two primary arteries using two popular reinforcement learning algorithms, Proximal Policy Optimization (PPO) and Soft Actor-Critic (SAC). The experimental results show that using our open-source simulator, we can successfully train the reinforcement learning agents to perform different autonomous cannulation tasks.