Real-time reliable semantic segmentation of thyroid nodules in ultrasound images

Abstract Objective. Low efficiency in medical image segmentation is a common issue that limits computer-aided diagnosis development. Due to the varying positions and sizes of nodules, it is not easy to accurately segment ultrasound images. This study aims to propose a segmentation model that maintains high efficiency while improving accuracy. Approach. We propose a novel layer that integrates the advantages of dense connectivity, dilated convolution, and factorized filters to maintain excellent efficiency while improving accuracy. Dense connectivity optimizes feature reuse, dilated convolution redesigns layers, and factorized convolution maintains significant accuracy. Moreover, we propose a loss function optimization method from a pixel perspective to further increase the network's accuracy. Main results. Experiments on the Thyroid dataset show that our method achieves 81.70% intersection-over-union (IOU), 90.50% true positive rate (TPR), and 0.25% false positive rate (FPR). In terms of accuracy, our method outperforms the state-of-the-art methods, with twice faster inference and nearly 400 times fewer parameters. Meanwhile, in a test on an External Thyroid dataset, our method achieves 77.03% IOU, 82.10% TPR, and 0.16% FPR, demonstrating our proposed model's robustness. Significance. We propose a real-time semantic segmentation architecture for thyroid nodule segmentation in ultrasound images called Full Convolution Dense Dilated Network. Our method runs fast with a few parameters and is suitable for medical devices requiring real-time segmentation.