BCRNet: Enhancing Landmark Detection in Laparoscopic Liver Surgery via Bezier Curve Refinement

Laparoscopic liver surgery, while minimally invasive, poses significant challenges in accurately identifying critical anatomical structures. Augmented reality (AR) systems, integrating MRI/CT with laparoscopic images based on 2D-3D registration, offer a promising solution for enhancing surgical navigation. A vital aspect of the registration progress is the precise detection of curvilinear anatomical landmarks in laparoscopic images. In this paper, we propose BCRNet (Bezier Curve Refinement Net), a novel framework that significantly enhances landmark detection in laparoscopic liver surgery primarily via the Bezier curve refinement strategy. The framework starts with a Multi-modal Feature Extraction (MFE) module designed to robustly capture semantic features. Then we propose Adaptive Curve Proposal Initialization (ACPI) to generate pixel-aligned Bezier curves and confidence scores for reliable initial proposals. Additionally, we design the Hierarchical Curve Refinement (HCR) mechanism to enhance these proposals iteratively through a multi-stage process, capturing fine-grained contextual details from multi-scale pixel-level features for precise Bezier curve adjustment. Extensive evaluations on the L3D and P2ILF datasets demonstrate that BCRNet outperforms state-of-the-art methods, achieving significant performance improvements. Code will be available.

@article{li2025_2506.15279,
  title={ BCRNet: Enhancing Landmark Detection in Laparoscopic Liver Surgery via Bezier Curve Refinement },
  author={ Qian Li and Feng Liu and Shuojue Yang and Daiyun Shen and Yueming Jin },
  journal={arXiv preprint arXiv:2506.15279},
  year={ 2025 }
}