Table 2 Mean (SD) dice similarity coefficient score (DSC), Jaccard index (JI), precision (PR), recall (RC), volume of error (VOE), relative volume difference (RVD), and mean curve distance (MCD) by Canal-Net (ours), ConvLSTM 3D U-Net (ours), MPL 3D U-Net (ours), 3D U-Net, SegNet, and 2D U-Net Net by five-fold cross-validation.

0.87 ± 0.05

0.80 ± 0.06

0.89 ± 0.06

0.88 ± 0.06

0.14 ± 0.04

0.10 ± 0.04

0.62 ± 0.10

0.85 ± 0.08*

0.77 ± 0.08*

0.87 ± 0.08*

0.86 ± 0.09*

0.17 ± 0.05*

0.13 ± 0.05*

0.66 ± 0.12*

0.84 ± 0.06^†

0.75 ± 0.07^†

0.88 ± 0.07^†

0.82 ± 0.08^†

0.19 ± 0.04^†

0.14 ± 0.06^†

0.69 ± 0.15^†

0.83 ± 0.07^‡

0.74 ± 0.07^‡

0.85 ± 0.08^‡

0.84 ± 0.09^‡

0.19 ± 0.05^‡

0.15 ± 0.07^‡

0.69 ± 0.13^‡

0.84 ± 0.06⁺

0.77 ± 0.06⁺

0.85 ± 0.06⁺

0.85 ± 0.07⁺

0.18 ± 0.04⁺

0.14 ± 0.05⁺

0.78 ± 0.19⁺

0.84 ± 0.07^Φ

0.77 ± 0.07^Φ

0.85 ± 0.07^Φ

0.84 ± 0.08^Φ

0.18 ± 0.04^Φ

0.14 ± 0.05^Φ

0.87 ± 0.22^Φ