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Wang X, Zhao Z, Pan D, Zhou H, Hou J, Sun H, Shen X, Mehta S, Wang W. Deep cross entropy fusion for pulmonary nodule classification based on ultrasound Imagery. Front Oncol 2025; 15:1514779. [PMID: 40255427 PMCID: PMC12005990 DOI: 10.3389/fonc.2025.1514779] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/21/2024] [Accepted: 03/18/2025] [Indexed: 04/22/2025] Open
Abstract
Introduction Accurate differentiation of benign and malignant pulmonary nodules in ultrasound remains a clinical challenge due to insufficient diagnostic precision. We propose the Deep Cross-Entropy Fusion (DCEF) model to enhance classification accuracy. Methods A retrospective dataset of 135 patients (27 benign, 68 malignant training; 11 benign, 29 malignant testing) was analyzed. Manually annotated ultrasound ROIs were preprocessed and input into DCEF, which integrates ResNet, DenseNet, VGG, and InceptionV3 via entropy-based fusion. Performance was evaluated using AUC, accuracy, sensitivity, specificity, precision, and F1-score. Results DCEF achieved an AUC of 0.873 (training) and 0.792 (testing), outperforming traditional methods. Test metrics included 71.5% accuracy, 70.69% sensitivity, 70.58% specificity, 72.55% precision, and 71.13% F1-score, demonstrating robust diagnostic capability. Discussion DCEF's multi-architecture fusion enhances diagnostic reliability for ultrasound-based nodule assessment. While promising, validation in larger multi-center cohorts is needed to address single-center data limitations. Future work will explore next-generation architectures and multi-modal integration.
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Affiliation(s)
- Xian Wang
- Department of Ultrasound, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
- Medical College of Yangzhou University, Yangzhou, Jiangsu, China
| | - Ziou Zhao
- Department of Ultrasound, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
| | - Donggang Pan
- Department of Radiology, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
| | - Hui Zhou
- Department of Ultrasound, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
| | - Jie Hou
- Department of Ultrasound, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
| | - Hui Sun
- Department of Pathology, Affiliated People’s Hospital of Jiangsu University, Zhenjiang, Jiangsu, China
| | - Xiangjun Shen
- School of Computer Science & Communication Engineering, Jiangsu University, Zhenjiang, Jiangsu, China
| | - Sumet Mehta
- School of Computer Science & Communication Engineering, Jiangsu University, Zhenjiang, Jiangsu, China
| | - Wei Wang
- Department of Radiology, Affiliated Hospital of Yangzhou University, Yangzhou, Jiangsu, China
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Hagen F, Vorberg L, Thamm F, Ditt H, Maier A, Brendel JM, Ghibes P, Bongers MN, Krumm P, Nikolaou K, Horger M. Improved detection of small pulmonary embolism on unenhanced computed tomography using an artificial intelligence-based algorithm - a single centre retrospective study. THE INTERNATIONAL JOURNAL OF CARDIOVASCULAR IMAGING 2024; 40:2293-2304. [PMID: 39196450 DOI: 10.1007/s10554-024-03222-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2024] [Accepted: 08/07/2024] [Indexed: 08/29/2024]
Abstract
To preliminarily verify the feasibility of a deep-learning (DL) artificial intelligence (AI) model to localize pulmonary embolism (PE) on unenhanced chest-CT by comparison with pulmonary artery (PA) CT angiography (CTA). In a monocentric study, we retrospectively reviewed 99 oncological patients (median age in years: 64 (range: 28-92 years); percentage of female: 39.4%) who received unenhanced and contrast-enhanced chest CT examinations in one session between January 2020 and October 2022 and who were diagnosed incidentally with PE. Findings in the unenhanced images were correlated with the contrast-enhanced images, which were considered the gold standard for central, segmental and subsegmental PE. The new algorithm was trained and tested based on the 99 unenhanced chest-CT image data sets. Based on them, candidate boxes, which were output by the model, were post-processed by evaluating whether the predicted box intersects with the patient's lung segmentation at any position. The AI-based algorithm proved to have an overall sensitivity of 54.5% for central, of 81.9% for segmental and 80.0% for subsegmental PE if taking n = 20 candidate boxes into account. Depending on the localization of the pulmonary embolism, the detection rate for only one box was: 18.1% central, 34.7% segmental and 0.0% subsegmental. The median volume of the clots differed significantly between the three subgroups and was 846.5 mm3 (IQR:591.1-964.8) in central, 201.3 mm3 (IQR:98.3-390.9) in segmental and 110.6 mm3 (IQR:94.3-128.0) in subsegmental PA (p < 0.05). The new algorithm proved to have high sensitivity in detecting PE in particular in segmental/subsegmental localization and may guide to decide whether a second contrast enhanced CT is necessary.
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Affiliation(s)
- Florian Hagen
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Linda Vorberg
- Pattern Recognition Lab, Friedrich-Alexander-Universität, Erlangen-Nürnberg, Germany
- Computed Tomography, Siemens Healthineers AG, Forchheim, Germany
| | - Florian Thamm
- Pattern Recognition Lab, Friedrich-Alexander-Universität, Erlangen-Nürnberg, Germany
| | - Hendrik Ditt
- Computed Tomography, Siemens Healthineers AG, Forchheim, Germany
| | - Andreas Maier
- Pattern Recognition Lab, Friedrich-Alexander-Universität, Erlangen-Nürnberg, Germany
| | - Jan Michael Brendel
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Patrick Ghibes
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Malte Niklas Bongers
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Patrick Krumm
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Konstantin Nikolaou
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany
| | - Marius Horger
- Department of Diagnostic and Interventional Radiology, Eberhard-Karls-University, Hoppe-Seyler-Str. 3, 72076, Tübingen, Germany.
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Abdulaal L, Maiter A, Salehi M, Sharkey M, Alnasser T, Garg P, Rajaram S, Hill C, Johns C, Rothman AMK, Dwivedi K, Kiely DG, Alabed S, Swift AJ. A systematic review of artificial intelligence tools for chronic pulmonary embolism on CT pulmonary angiography. FRONTIERS IN RADIOLOGY 2024; 4:1335349. [PMID: 38654762 PMCID: PMC11035730 DOI: 10.3389/fradi.2024.1335349] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/08/2023] [Accepted: 03/26/2024] [Indexed: 04/26/2024]
Abstract
Background Chronic pulmonary embolism (PE) may result in pulmonary hypertension (CTEPH). Automated CT pulmonary angiography (CTPA) interpretation using artificial intelligence (AI) tools has the potential for improving diagnostic accuracy, reducing delays to diagnosis and yielding novel information of clinical value in CTEPH. This systematic review aimed to identify and appraise existing studies presenting AI tools for CTPA in the context of chronic PE and CTEPH. Methods MEDLINE and EMBASE databases were searched on 11 September 2023. Journal publications presenting AI tools for CTPA in patients with chronic PE or CTEPH were eligible for inclusion. Information about model design, training and testing was extracted. Study quality was assessed using compliance with the Checklist for Artificial Intelligence in Medical Imaging (CLAIM). Results Five studies were eligible for inclusion, all of which presented deep learning AI models to evaluate PE. First study evaluated the lung parenchymal changes in chronic PE and two studies used an AI model to classify PE, with none directly assessing the pulmonary arteries. In addition, a separate study developed a CNN tool to distinguish chronic PE using 2D maximum intensity projection reconstructions. While another study assessed a novel automated approach to quantify hypoperfusion to help in the severity assessment of CTEPH. While descriptions of model design and training were reliable, descriptions of the datasets used in training and testing were more inconsistent. Conclusion In contrast to AI tools for evaluation of acute PE, there has been limited investigation of AI-based approaches to characterising chronic PE and CTEPH on CTPA. Existing studies are limited by inconsistent reporting of the data used to train and test their models. This systematic review highlights an area of potential expansion for the field of AI in medical image interpretation.There is limited knowledge of A systematic review of artificial intelligence tools for chronic pulmonary embolism in CT. This systematic review provides an assessment on research that examined deep learning algorithms in detecting CTEPH on CTPA images, the number of studies assessing the utility of deep learning on CTPA in CTEPH was unclear and should be highlighted.
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Affiliation(s)
- Lojain Abdulaal
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Faculty of Applied Medical Science, King Abdulaziz University, Jeddah, Saudi Arabia
| | - Ahmed Maiter
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Respiratory Physiology Department, Sheffield Pulmonary Vascular Disease Unit, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
| | - Mahan Salehi
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
| | - Michael Sharkey
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
| | - Turki Alnasser
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
| | - Pankaj Garg
- Faculty of Medicine and Health Sciences, Norwich Medical School, University of East Anglia, Norwich, United Kingdom
| | - Smitha Rajaram
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Respiratory Physiology Department, Sheffield Pulmonary Vascular Disease Unit, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
| | - Catherine Hill
- Respiratory Physiology Department, Sheffield Pulmonary Vascular Disease Unit, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
| | - Christopher Johns
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Respiratory Physiology Department, Sheffield Pulmonary Vascular Disease Unit, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
| | - Alex Matthew Knox Rothman
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
| | - Krit Dwivedi
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Respiratory Physiology Department, Sheffield Pulmonary Vascular Disease Unit, Sheffield, United Kingdom
| | - David G. Kiely
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Faculty of Engineering, INSIGNEO Institute, Institute for in Silico Medicine, The University of Sheffield, Sheffield, United Kingdom
- Sheffield Biomedical Research Centre, National Institute for Health Research, Sheffield, United Kingdom
| | - Samer Alabed
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
- Faculty of Engineering, INSIGNEO Institute, Institute for in Silico Medicine, The University of Sheffield, Sheffield, United Kingdom
| | - Andrew James Swift
- Department of Infection, Immunity and Cardiovascular Disease, The University of Sheffield, Sheffield, United Kingdom
- Department of Clinical Radiology, Sheffield Teaching Hospitals NHS Foundation Trust, Sheffield, United Kingdom
- Faculty of Engineering, INSIGNEO Institute, Institute for in Silico Medicine, The University of Sheffield, Sheffield, United Kingdom
- Sheffield Biomedical Research Centre, National Institute for Health Research, Sheffield, United Kingdom
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Ragnarsdottir H, Ozkan E, Michel H, Chin-Cheong K, Manduchi L, Wellmann S, Vogt JE. Deep Learning Based Prediction of Pulmonary Hypertension in Newborns Using Echocardiograms. Int J Comput Vis 2024; 132:2567-2584. [PMID: 38911323 PMCID: PMC11186939 DOI: 10.1007/s11263-024-01996-x] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 01/04/2024] [Indexed: 06/25/2024]
Abstract
Pulmonary hypertension (PH) in newborns and infants is a complex condition associated with several pulmonary, cardiac, and systemic diseases contributing to morbidity and mortality. Thus, accurate and early detection of PH and the classification of its severity is crucial for appropriate and successful management. Using echocardiography, the primary diagnostic tool in pediatrics, human assessment is both time-consuming and expertise-demanding, raising the need for an automated approach. Little effort has been directed towards automatic assessment of PH using echocardiography, and the few proposed methods only focus on binary PH classification on the adult population. In this work, we present an explainable multi-view video-based deep learning approach to predict and classify the severity of PH for a cohort of 270 newborns using echocardiograms. We use spatio-temporal convolutional architectures for the prediction of PH from each view, and aggregate the predictions of the different views using majority voting. Our results show a mean F1-score of 0.84 for severity prediction and 0.92 for binary detection using 10-fold cross-validation and 0.63 for severity prediction and 0.78 for binary detection on the held-out test set. We complement our predictions with saliency maps and show that the learned model focuses on clinically relevant cardiac structures, motivating its usage in clinical practice. To the best of our knowledge, this is the first work for an automated assessment of PH in newborns using echocardiograms.
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Affiliation(s)
- Hanna Ragnarsdottir
- Department of Computer Science, ETH Zurich, Universitätstrasse 6, 8092 Zürich, Switzerland
| | - Ece Ozkan
- Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, 43 Vassar Street, Cambridge, MA 02139 USA
| | - Holger Michel
- Department of Neonatology, University Children’s Hospital Regensburg (KUNO), Hospital St. Hedwig of the Order of St. John, University of Regensburg, Regensburg, Germany
| | - Kieran Chin-Cheong
- Department of Computer Science, ETH Zurich, Universitätstrasse 6, 8092 Zürich, Switzerland
| | - Laura Manduchi
- Department of Computer Science, ETH Zurich, Universitätstrasse 6, 8092 Zürich, Switzerland
| | - Sven Wellmann
- Department of Neonatology, University Children’s Hospital Regensburg (KUNO), Hospital St. Hedwig of the Order of St. John, University of Regensburg, Regensburg, Germany
| | - Julia E. Vogt
- Department of Computer Science, ETH Zurich, Universitätstrasse 6, 8092 Zürich, Switzerland
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de Andrade JMC, Olescki G, Escuissato DL, Oliveira LF, Basso ACN, Salvador GL. Pixel-level annotated dataset of computed tomography angiography images of acute pulmonary embolism. Sci Data 2023; 10:518. [PMID: 37542053 PMCID: PMC10403591 DOI: 10.1038/s41597-023-02374-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/20/2022] [Accepted: 07/11/2023] [Indexed: 08/06/2023] Open
Abstract
Pulmonary embolism has a high incidence and mortality, especially if undiagnosed. The examination of choice for diagnosing the disease is computed tomography pulmonary angiography. As many factors can lead to misinterpretations and diagnostic errors, different groups are utilizing deep learning methods to help improve this process. The diagnostic accuracy of these methods tends to increase by augmenting the training dataset. Deep learning methods can potentially benefit from the use of images acquired with devices from different vendors. To the best of our knowledge, we have developed the first public dataset annotated at the pixel and image levels and the first pixel-level annotated dataset to contain examinations performed with equipment from Toshiba and GE. This dataset includes 40 examinations, half performed with each piece of equipment, representing samples from two medical services. We also included measurements related to the cardiac and circulatory consequences of pulmonary embolism. We encourage the use of this dataset to develop, evaluate and compare the performance of new AI algorithms designed to diagnose PE.
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Affiliation(s)
| | - Gabriel Olescki
- Department of Informatics, Federal University of Paraná, Curitiba, Brazil
| | - Dante Luiz Escuissato
- Department of Radiology and Image Diagnosis, Hospital de Clínicas, Federal University of Paraná, Curitiba, Brazil
| | | | - Ana Carolina Nicolleti Basso
- Department of Radiology and Image Diagnosis, Hospital de Clínicas, Federal University of Paraná, Curitiba, Brazil
| | - Gabriel Lucca Salvador
- Department of Radiology and Image Diagnosis, Hospital de Clínicas, Federal University of Paraná, Curitiba, Brazil
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Vainio T, Mäkelä T, Arkko A, Savolainen S, Kangasniemi M. Leveraging open dataset and transfer learning for accurate recognition of chronic pulmonary embolism from CT angiogram maximum intensity projection images. Eur Radiol Exp 2023; 7:33. [PMID: 37340248 DOI: 10.1186/s41747-023-00346-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/19/2022] [Accepted: 04/14/2023] [Indexed: 06/22/2023] Open
Abstract
BACKGROUND Early diagnosis of the potentially fatal but curable chronic pulmonary embolism (CPE) is challenging. We have developed and investigated a novel convolutional neural network (CNN) model to recognise CPE from CT pulmonary angiograms (CTPA) based on the general vascular morphology in two-dimensional (2D) maximum intensity projection images. METHODS A CNN model was trained on a curated subset of a public pulmonary embolism CT dataset (RSPECT) with 755 CTPA studies, including patient-level labels of CPE, acute pulmonary embolism (APE), or no pulmonary embolism. CPE patients with right-to-left-ventricular ratio (RV/LV) < 1 and APE patients with RV/LV ≥ 1 were excluded from the training. Additional CNN model selection and testing were done on local data with 78 patients without the RV/LV-based exclusion. We calculated area under the receiver operating characteristic curves (AUC) and balanced accuracies to evaluate the CNN performance. RESULTS We achieved a very high CPE versus no-CPE classification AUC 0.94 and balanced accuracy 0.89 on the local dataset using an ensemble model and considering CPE to be present in either one or both lungs. CONCLUSIONS We propose a novel CNN model with excellent predictive accuracy to differentiate chronic pulmonary embolism with RV/LV ≥ 1 from acute pulmonary embolism and non-embolic cases from 2D maximum intensity projection reconstructions of CTPA. RELEVANCE STATEMENT A DL CNN model identifies chronic pulmonary embolism from CTA with an excellent predictive accuracy. KEY POINTS • Automatic recognition of CPE from computed tomography pulmonary angiography was developed. • Deep learning was applied on two-dimensional maximum intensity projection images. • A large public dataset was used for training the deep learning model. • The proposed model showed an excellent predictive accuracy.
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Affiliation(s)
- Tuomas Vainio
- Radiology, HUS Medical Imaging Center, University of Helsinki and Helsinki University Hospital, 00290, Helsinki, Finland.
| | - Teemu Mäkelä
- Radiology, HUS Medical Imaging Center, University of Helsinki and Helsinki University Hospital, 00290, Helsinki, Finland
- Department of Physics, University of Helsinki, Helsinki, Finland
| | - Anssi Arkko
- Radiology, HUS Medical Imaging Center, University of Helsinki and Helsinki University Hospital, 00290, Helsinki, Finland
| | - Sauli Savolainen
- Radiology, HUS Medical Imaging Center, University of Helsinki and Helsinki University Hospital, 00290, Helsinki, Finland
- Department of Physics, University of Helsinki, Helsinki, Finland
| | - Marko Kangasniemi
- Radiology, HUS Medical Imaging Center, University of Helsinki and Helsinki University Hospital, 00290, Helsinki, Finland
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Khan M, Shah PM, Khan IA, Islam SU, Ahmad Z, Khan F, Lee Y. IoMT-Enabled Computer-Aided Diagnosis of Pulmonary Embolism from Computed Tomography Scans Using Deep Learning. SENSORS (BASEL, SWITZERLAND) 2023; 23:1471. [PMID: 36772510 PMCID: PMC9921395 DOI: 10.3390/s23031471] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/17/2022] [Revised: 01/09/2023] [Accepted: 01/11/2023] [Indexed: 06/18/2023]
Abstract
The Internet of Medical Things (IoMT) has revolutionized Ambient Assisted Living (AAL) by interconnecting smart medical devices. These devices generate a large amount of data without human intervention. Learning-based sophisticated models are required to extract meaningful information from this massive surge of data. In this context, Deep Neural Network (DNN) has been proven to be a powerful tool for disease detection. Pulmonary Embolism (PE) is considered the leading cause of death disease, with a death toll of 180,000 per year in the US alone. It appears due to a blood clot in pulmonary arteries, which blocks the blood supply to the lungs or a part of the lung. An early diagnosis and treatment of PE could reduce the mortality rate. Doctors and radiologists prefer Computed Tomography (CT) scans as a first-hand tool, which contain 200 to 300 images of a single study for diagnosis. Most of the time, it becomes difficult for a doctor and radiologist to maintain concentration going through all the scans and giving the correct diagnosis, resulting in a misdiagnosis or false diagnosis. Given this, there is a need for an automatic Computer-Aided Diagnosis (CAD) system to assist doctors and radiologists in decision-making. To develop such a system, in this paper, we proposed a deep learning framework based on DenseNet201 to classify PE into nine classes in CT scans. We utilized DenseNet201 as a feature extractor and customized fully connected decision-making layers. The model was trained on the Radiological Society of North America (RSNA)-Pulmonary Embolism Detection Challenge (2020) Kaggle dataset and achieved promising results of 88%, 88%, 89%, and 90% in terms of the accuracy, sensitivity, specificity, and Area Under the Curve (AUC), respectively.
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Affiliation(s)
- Mudasir Khan
- Department of Computer Science, Bacha Khan University, Charsadda (BKUC), Charsadda 24420, Pakistan
| | - Pir Masoom Shah
- Department of Computer Science, Bacha Khan University, Charsadda (BKUC), Charsadda 24420, Pakistan
| | - Izaz Ahmad Khan
- Department of Computer Science, Bacha Khan University, Charsadda (BKUC), Charsadda 24420, Pakistan
| | - Saif ul Islam
- Department of Computer Science, Institute of Space Technology, Islamabad 44000, Pakistan
| | - Zahoor Ahmad
- Department of Computer Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), H12, Islamabad 44000, Pakistan
| | - Faheem Khan
- Department of Computer Engineering, Gachon University, Seongnam 13120, Republic of Korea
| | - Youngmoon Lee
- Department of Robotics, Hanyang University, Ansan-si 15588, Republic of Korea
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