Abstract
Purpose
In the context of aviation and automotive navigation technology, assistance functions are associated with predictive planning and wayfinding tasks. In endoscopic minimally invasive surgery, however, assistance so far relies primarily on image-based localization and classification. We show that navigation workflows can be described and used for the prediction of navigation steps.
Methods
A natural description vocabulary for observable anatomical landmarks in endoscopic images was defined to create 3850 navigation workflow sentences from 22 annotated functional endoscopic sinus surgery (FESS) recordings. Resulting FESS navigation workflows showed an imbalanced data distribution with over-represented landmarks in the ethmoidal sinus. A transformer model was trained to predict navigation sentences in sequence-to-sequence tasks. The training was performed with the Adam optimizer and label smoothing in a leave-one-out cross-validation study. The sentences were generated using an adapted beam search algorithm with exponential decay beam rescoring. The transformer model was compared to a standard encoder-decoder-model, as well as HMM and LSTM baseline models.
Results
The transformer model reached the highest prediction accuracy for navigation steps at 0.53, followed by 0.35 of the LSTM and 0.32 for the standard encoder-decoder-network. With an accuracy of sentence generation of 0.83, the prediction of navigation steps at sentence-level benefits from the additional semantic information. While standard class representation predictions suffer from an imbalanced data distribution, the attention mechanism also considered underrepresented classes reasonably well.
Conclusion
We implemented a natural language-based prediction method for sentence-level navigation steps in endoscopic surgery. The sentence-level prediction method showed a potential that word relations to navigation tasks can be learned and used for predicting future steps. Further studies are needed to investigate the functionality of path prediction. The prediction approach is a first step in the field of visuo-linguistic navigation assistance for endoscopic minimally invasive surgery.
Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery