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European Radiology Experimental

Table 2 Evaluation of the detection transformer trained on the synthetic CIRS (liver) dataset (scenario #2)

From: Bridging the simulation-to-real gap for AI-based needle and target detection in robot-assisted ultrasound-guided interventions

Test dataset

Synthetic CIRS (#2)

In vitro CIRS (#1)

In vitro phantom (#2)

Both

Needle

Lesion

Both

Needle

Lesion

Needle

mAP

0.97

0.98

0.95

0.83

0.85

0.81

0.86

Total loss

2.1

1.8

2.3

2.8

2.6

3.1

2.7

  1. mAP Mean average precision
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