{"id":"https://openalex.org/W4405785297","doi":"https://doi.org/10.1109/iros58592.2024.10802113","title":"CathFlow: Self-Supervised Segmentation of Catheters in Interventional Ultrasound Using Optical Flow and Transformers","display_name":"CathFlow: Self-Supervised Segmentation of Catheters in Interventional Ultrasound Using Optical Flow and Transformers","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785297","doi":"https://doi.org/10.1109/iros58592.2024.10802113"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043993154","display_name":"Alex Ranne","orcid":"https://orcid.org/0000-0002-2354-6423"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alex Ranne","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London,UK,SW7 2AZ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111020774","display_name":"Liming Kuang","orcid":"https://orcid.org/0009-0004-2853-6031"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Liming Kuang","raw_affiliation_strings":["Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089286036","display_name":"Yordanka Velikova","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yordanka Velikova","raw_affiliation_strings":["Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP),Garching,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051562079","display_name":"Ferdinando Rodriguez y Baena","orcid":"https://orcid.org/0000-0002-5199-9083"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ferdinando Rodriguez Y Baena","raw_affiliation_strings":["Hamlyn Centre for Robotic Surgery, Imperial College London,UK,SW7 2AZ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hamlyn Centre for Robotic Surgery, Imperial College London,UK,SW7 2AZ","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2436","last_page":"2443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12015","display_name":"Photoacoustic and Ultrasonic Imaging","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12015","display_name":"Photoacoustic and Ultrasonic Imaging","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12386","display_name":"Advanced X-ray and CT Imaging","score":0.9110999703407288,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10977","display_name":"Optical Imaging and Spectroscopy Techniques","score":0.9006999731063843,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.6129847764968872},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5925295948982239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5784100294113159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4659747779369354},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.463477224111557},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4463738203048706},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.4373806118965149},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.4281047582626343},{"id":"https://openalex.org/keywords/medical-physics","display_name":"Medical physics","score":0.329412579536438},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.2822014093399048},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24562782049179077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18197137117385864},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1136656105518341},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09467115998268127},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.06671607494354248}],"concepts":[{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.6129847764968872},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5925295948982239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784100294113159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4659747779369354},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.463477224111557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4463738203048706},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.4373806118965149},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.4281047582626343},{"id":"https://openalex.org/C19527891","wikidata":"https://www.wikidata.org/wiki/Q1120908","display_name":"Medical physics","level":1,"score":0.329412579536438},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.2822014093399048},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24562782049179077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18197137117385864},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1136656105518341},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09467115998268127},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.06671607494354248}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1578285471","https://openalex.org/W1755205674","https://openalex.org/W1901129140","https://openalex.org/W1990552485","https://openalex.org/W1996618888","https://openalex.org/W2048894060","https://openalex.org/W2062411790","https://openalex.org/W2078278782","https://openalex.org/W2172082065","https://openalex.org/W2194775991","https://openalex.org/W2511508505","https://openalex.org/W2560474170","https://openalex.org/W2592929672","https://openalex.org/W2783968358","https://openalex.org/W2896018630","https://openalex.org/W2938552962","https://openalex.org/W2954191198","https://openalex.org/W2962989121","https://openalex.org/W2963782415","https://openalex.org/W3003587267","https://openalex.org/W3014974815","https://openalex.org/W3016826780","https://openalex.org/W3109908659","https://openalex.org/W3170841864","https://openalex.org/W3186292497","https://openalex.org/W4289833481","https://openalex.org/W4385245566","https://openalex.org/W4386076640","https://openalex.org/W4391226294","https://openalex.org/W4401415019","https://openalex.org/W6623517193","https://openalex.org/W6784333009","https://openalex.org/W6785665406","https://openalex.org/W6798837711","https://openalex.org/W6838445263","https://openalex.org/W6846418509"],"related_works":["https://openalex.org/W2351153092","https://openalex.org/W2023355163","https://openalex.org/W4386083130","https://openalex.org/W3111737715","https://openalex.org/W2069571255","https://openalex.org/W2117442182","https://openalex.org/W2081707527","https://openalex.org/W1975907365","https://openalex.org/W3125517176","https://openalex.org/W1522196789"],"abstract_inverted_index":{"In":[0,51],"minimally":[1],"invasive":[2],"endovascular":[3],"procedures,":[4],"contrast-enhanced":[5],"angiography":[6],"remains":[7],"the":[8,42,45,90,122,133,144,192],"most":[9],"robust":[10],"imaging":[11],"technique,":[12],"but":[13],"exposes":[14],"patients":[15],"and":[16,34,36,48,95,104,120,152,175],"surgeons":[17],"to":[18,27,32,56,67,131,155,188],"prolonged":[19],"radiation.":[20],"Alternatives":[21],"such":[22],"as":[23],"ultrasound":[24,72,112],"are":[25,29],"difficult":[26],"interpret,":[28],"highly":[30],"prone":[31],"artifacts":[33],"noise,":[35],"vary":[37],"in":[38,70,92,191],"quality,":[39],"depending":[40],"on":[41,115,166],"experience":[43],"of":[44,98,171],"interventional":[46],"radiologist":[47],"machine":[49],"settings.":[50],"this":[52],"work,":[53],"we":[54,109,162],"seek":[55],"address":[57],"both":[58],"problems":[59],"by":[60,142],"introducing":[61],"a":[62,85,125,157,167],"self-supervised":[63],"deep":[64],"learning":[65,99],"architecture":[66,81],"segment":[68],"catheters":[69],"longitudinal":[71],"images,":[73],"without":[74],"demanding":[75],"any":[76],"labeled":[77],"data.":[78],"The":[79],"network":[80],"builds":[82],"upon":[83],"AiAReSeg,":[84],"segmentation":[86,134,140],"transformer":[87],"built":[88],"with":[89],"Attention":[91,93],"mechanism,":[94],"is":[96],"capable":[97],"feature":[100],"changes":[101],"across":[102],"time":[103],"space.":[105],"To":[106],"facilitate":[107],"training,":[108],"used":[110],"synthetic":[111,173],"data":[113,123,174,190],"based":[114],"physics-driven":[116],"catheter":[117],"insertion":[118],"simulations,":[119],"translated":[121],"into":[124],"unique":[126],"CT-Ultrasound":[127],"common":[128],"domain,":[129],"CACTUSS,":[130],"improve":[132],"performance.":[135],"We":[136],"generated":[137],"ground":[138],"truth":[139],"masks":[141],"computing":[143],"optical":[145],"flow":[146],"between":[147],"adjacent":[148],"frames":[149],"using":[150],"FlowNet2,":[151],"performed":[153],"thresholding":[154],"obtain":[156],"binary":[158],"mask":[159],"estimate.":[160],"Finally,":[161],"validated":[163],"our":[164],"model":[165],"test":[168],"dataset,":[169],"consisting":[170],"unseen":[172],"images":[176],"collected":[177],"from":[178],"silicon":[179],"aorta":[180],"phantoms,":[181],"thus":[182],"demonstrating":[183],"its":[184],"potential":[185],"for":[186],"applications":[187],"clinical":[189],"future.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}