Intelligent ultrasonic aspirator: Advancing tissue differentiation through hierarchical classification during hand-held resection

Abstract

Modern neurosurgery strives to maximize tumor removal while preserving healthy tissue integrity. Accurate intraoperative differentiation between tumor and healthy tissue is crucial yet challenging. Often neurosurgeons rely on their experience and haptic feedback during palpation to distinguish between tumor and healthy tissue. A commonly used hand-held tool for tissue removal during neurosurgery is the ultrasonic aspirator, which changes its electrical properties as it interacts with tissue. The goal is to equip the ultrasonic aspirator with the ability to differentiate between different types of tissue while at the same time not interfering with the surgical workflow and providing comprehensible outcomes. To this end, a hierarchical classification approach is employed as a proof of concept, enabling precise identification of tissue stiffness during resection.

The hierarchical approach is compared with the standard flat classification, commonly used in machine learning. Within the hierarchical approach, two strategies are employed: mandatory leaf-node predictions (MLNP) and non-mandatory leaf-node predictions (NMLNP). The NMLNP allows prediction to revert to a parent node when certainty is low. Data are acquired on three artificial tissue models – differing in stiffness – with an ultrasonic aspirator in a hand-held manner. The dataset comprises 1,821 data points for training and 186 for testing after balancing.

The results indicate a slight performance advantage for the hierarchical classification MLNP approach over the flat classification approach in the absence of confidence thresholds, with weighted F2-scores of 0.781 and 0.762, respectively. However, the application of confidence thresholds results in both approaches exhibiting comparable performance, with the hierarchical NMLNP approach achieving a weighted F1-score of 0.920, thereby demonstrating superior overall performance. The effects of enforcing these thresholds and excluding data with low certainty are thoroughly investigated. This work emphasizes the feasibility of tissue differentiation using a hand-held ultrasound aspirator while resecting tissue. Moreover, it highlights the capability of hierarchical classification in advancing tissue differentiation accuracy during neurosurgical procedures, which could ultimately aid surgeons and enhance the safety of intraoperative workflows.