A Kalman-Filter-Based Common Algorithm Approach for Object Detection in Surgery Scene to Assist Surgeon’s Situation Awareness in Robot-Assisted Laparoscopic Surgery

Figure 3

Selected frames of hemorrhage region detection and instrument detection results. In (a), (b), and (c), the left figures display the manual detection of the hemorrhage, and the right figures display the automatic detection by the proposed method: (a) both the segmentation-only method (red boundary) and the proposed technique (square mark) correctly detected the hemorrhage region; (b) manually undetectable hemorrhage has been detected accurately by the proposed technique using the previous frame information, but falsely segmented by the segmentation-only method; (c) the hemorrhage was not detected by the segmentation-only method, but accurately detected by the proposed method. (d) Sample frames of multiple instrument detection.

(a)

(b)

(c)

(d)