Stable distance regression via spatial-frequency state space model for robot-assisted endomicroscopy.

purposeProbe-based confocal laser endomicroscopy (pCLE) is a noninvasive technique that enables the direct visualization of tissue at a microscopic level in real time. One of the main challenges in using pCLE is maintaining the probe within a working range of micrometer scale. As a result, the need arises for automatically regressing the probe-tissue distance to enable precise robotic tissue scanning.

methodsIn this paper, we propose the spatial frequency bidirectional structured state space model (SF-BiS4D) for pCLE probe-tissue distance regression. This model advances traditional state space models by processing image sequences bidirectionally and analyzing data in both the frequency and spatial domains. Additionally, we introduce a guided trajectory planning strategy that generates pseudo-distance labels, facilitating the training of sequential models to generate smooth and stable robotic scanning trajectories. To improve inference speed, we also implement a hierarchical guided fine-tuning (GF) approach that efficiently reduces the size of the BiS4D model while maintaining performance.

resultsThe performance of our proposed model has been evaluated both qualitatively and quantitatively using the pCLE regression dataset (PRD). In comparison with existing state-of-the-art (SOTA) methods, our approach demonstrated superior performance in terms of accuracy and stability.

conclusionOur proposed deep learning-based framework effectively improves distance regression for microscopic visual servoing and demonstrates its potential for integration into surgical procedures requiring precise real-time intraoperative imaging.