Cross-modal self-supervised representation learning for gesture and skill recognition in robotic surgery.

PURPOSE: Multi- and cross-modal learning consolidates information from multiple data sources which may offer a holistic representation of complex scenarios. Cross-modal learning is particularly interesting, because synchronized data streams are immediately useful as self-supervisory signals. The prospect of achieving self-supervised continual learning in surgical robotics is exciting as it may enable lifelong learning that adapts to different surgeons and cases, ultimately leading to a more general machine understanding of surgical processes. METHODS: We present a learning paradigm using synchronous video and kinematics from robot-mediated surgery. Our approach relies on an encoder-decoder network that maps optical flow to the corresponding kinematics sequence. Clustering on the latent representations reveals meaningful groupings for surgeon gesture and skill level. We demonstrate the generalizability of the representations on the JIGSAWS dataset by classifying skill and gestures on tasks not used for training. RESULTS: For tasks seen in training, we report a 59 to 70% accuracy in surgical gestures classification. On tasks beyond the training setup, we note a 45 to 65% accuracy. Qualitatively, we find that unseen gestures form clusters in the latent space of novice actions, which may enable the automatic identification of novel interactions in a lifelong learning scenario. CONCLUSION: From predicting the synchronous kinematics sequence, optical flow representations of surgical scenes emerge that separate well even for new tasks that the model had not seen before. While the representations are useful immediately for a variety of tasks, the self-supervised learning paradigm may enable research in lifelong and user-specific learning.

Pediatric Otoscopy Video Screening With Shift Contrastive Anomaly Detection.

Ear related concerns and symptoms represent the leading indication for seeking pediatric healthcare attention. Despite the high incidence of such encounters, the diagnostic process of commonly encountered diseases of the middle and external presents a significant challenge. Much of this challenge stems from the lack of cost effective diagnostic testing, which necessitates the presence or absence of ear pathology to be determined clinically. Research has, however, demonstrated considerable variation among clinicians in their ability to accurately diagnose and consequently manage ear pathology. With recent advances in computer vision and machine learning, there is an increasing interest in helping clinicians to accurately diagnose middle and external ear pathology with computer-aided systems. It has been shown that AI has the capacity to analyze a single clinical image captured during the examination of the ear canal and eardrum from which it can determine the likelihood of a pathognomonic pattern for a specific diagnosis being present. The capture of such an image can, however, be challenging especially to inexperienced clinicians. To help mitigate this technical challenge, we have developed and tested a method using video sequences. The videos were collected using a commercially available otoscope smartphone attachment in an urban, tertiary-care pediatric emergency department. We present a two stage method that first, identifies valid frames by detecting and extracting ear drum patches from the video sequence, and second, performs the proposed shift contrastive anomaly detection (SCAD) to flag the otoscopy video sequences as normal or abnormal. Our method achieves an AUROC of 88.0% on the patient level and also outperforms the average of a group of 25 clinicians in a comparative study, which is the largest of such published to date. We conclude that the presented method achieves a promising first step toward the automated analysis of otoscopy video.