Fig. 3: Results of simulation experiments.
a An example of an airway model containing 5th-generation bronchi with a reference path for bronchoscopy. b Two styles of images rendered from airway models with different texture mapping. Sim-style images have a pink texture, while real-style images contain realistic textures. Three positions are depicted along the reference path: (i) the entrance of the trachea, (ii) the intersection of the trachea and the main bronchus, and (iii) the lower bronchus. c Success rates (i.e., the ratio of the numbers of successful paths to all paths, reflecting the generalisation ability of each method for reaching different branches of the bronchial tree). d Successful path ratios (i.e., the completed path length over the total path length of every path, reflecting the coverage ability of each method for the whole bronchial tree). Data are presented as mean values ± 95% confidence interval (CI), and the number of independent paths n = 60. e Trajectory errors of different methods when run in the test environment with realistic textures, containing n = 60 independent paths for evaluation. White circles indicate median, edges are 25th and 75th percentiles, whiskers indicate range. f Qualitative image translation results of different methods, where Sim represents the Sim-style images corresponding to the source ___domain and Real, Phantom and Clinical denote three styles of realistic images serving as target domains. The training datasets for the source and target domains are unpaired. AttentionGAN is chosen as the baseline method for unpaired image translation. Detailed illustrations of the training datasets and image translation results are given in Supplementary Fig. 8. g Structural similarity index measure. Data are presented as mean values ± standard deviation (SD), the number of independent experiments n = 227. h Peak signal-to-noise ratio results of different methods, containing n = 227 independent experiments presented as mean values ± SD. Higher SSIM and PSNR values indicate better structure-preserving properties.
