# Incision trajectory tracing for electrosurgical navigation by CNN-based knife contacting frames extraction method

arXiv: https://arxiv.org/abs/2608.14749 · HTML: https://mlsanity.com/paper/2608.14749/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 43 references that are in the map.
- First posted on arXiv 14 Aug 2026.

## Builds on (most cited first, 7 of 7)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Axiomatic Attribution for Deep Networks](https://mlsanity.com/paper/1703.01365/) (2017)
- [ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging](https://mlsanity.com/paper/1904.06830/) (2019)
- [Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration](https://mlsanity.com/paper/2011.07785/) (2020)
- [A CNN-based methodology for breast cancer diagnosis using thermal images](https://mlsanity.com/paper/1910.13757/) (2019)

## Abstract (arXiv)

Background and Objective: Image-guided surgical navigation has been actively studied because of its advantage of identifying subsurface targets and critical structures, whereas it requires incision trajectories to update the preoperative three-dimensional model dynamically during the surgery. The novelty of this study is the thermal feature distinguishment of whether the electric tools contacting the tissue by Convolutional Neural Network (CNN), and the extraction of the knife contacting frames, to form incision trajectories which can meet with the requirement during the surgery. Methods: This study firstly verified that CNN can classify the thermal images of electric knife and ultrasonic cutter operations separately, and can raise the accuracy of the incision trajectories derived from the connection of the thermal intensity centroid of the frames predicted by CNN as contacting. Results: Our results obtained by employing the electric knife not only reveal a remarkably high accuracy 97.2 % in CNNs identification, but also can achieve an error reduction as high as more than 2.5 times of the incision trajectory prediction as compared to those proceeded in the conventional method. Besides electric knife, the results obtained by employing another electric tool, ultrasonic cutter, reveal a high accuracy up to 93.7 %. Conclusion: In this study, we ensured the possibility of CNN in distinguishing electric tools contacting with the tissue, and confirmed that the proposed method has not only overcome the problem of missing trajectories which usually occurs in the convolutional long-short term memory method but also achieved a remarkable improvement of the accuracy with less limitation.