mlsanityData to 7 Oct 2026

2017 Robotic Instrument Segmentation Challenge

arXiv 1902.06426 ↗First posted 18 Feb 2019cs.CVcited by 166

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Abstract (arXiv)

In mainstream computer vision and machine learning, public datasets such as ImageNet, COCO and KITTI have helped drive enormous improvements by enabling researchers to understand the strengths and limitations of different algorithms via performance comparison. However, this type of approach has had limited translation to problems in robotic assisted surgery as this field has never established the same level of common datasets and benchmarking methods. In 2015 a sub-challenge was introduced at the EndoVis workshop where a set of robotic images were provided with automatically generated annotations from robot forward kinematics. However, there were issues with this dataset due to the limited background variation, lack of complex motion and inaccuracies in the annotation. In this work we present the results of the 2017 challenge on robotic instrument segmentation which involved 10 teams participating in binary, parts and type based segmentation of articulated da Vinci robotic instruments.

Key facts. Cited by 166 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Feb 2019.

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Citing papers per year: 2021: 15; 2022: 13; 2023: 33; 2024: 41; 2025: 36; 2026: 28.

166 papers.

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  1. 2024U-Mamba: Enhancing Long-range Dependency for Biomedical Image Segmentationcited by 412
  2. 2024Swin-UMamba: Mamba-based UNet with ImageNet-based pretrainingcited by 179
  3. 2024Vision-Language Models for Medical Report Generation and Visual Question Answering: A Reviewcited by 121
  4. 2023SurgicalSAM: Efficient Class Promptable Surgical Instrument Segmentationcited by 103
  5. 2024GMAI-MMBench: A Comprehensive Multimodal Evaluation Benchmark Towards General Medical AIcited by 96
  6. 2022AutoLaparo: A New Dataset of Integrated Multi-tasks for Image-guided Surgical Automation in Laparoscopic Hysterectomycited by 85
  7. 2023Learning Multi-modal Representations by Watching Hundreds of Surgical Video Lecturescited by 68
  8. 2023SAR-RARP50: Segmentation of surgical instrumentation and Action Recognition on Robot-Assisted Radical Prostatectomy Challengecited by 54
  9. 2024Vision Mamba: A Comprehensive Survey and Taxonomycited by 53
  10. 2023Generalist Vision Foundation Models for Medical Imaging: A Case Study of Segment Anything Model on Zero-Shot Medical Segmentationcited by 51
  11. 2024Pixel-Wise Recognition for Holistic Surgical Scene Understandingcited by 48
  12. 2021E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perceptioncited by 46
38 more
  1. 2024Surgical SAM 2: Real-time Segment Anything in Surgical Video by Efficient Frame Pruningcited by 46
  2. 2023Surgical-VQLA: Transformer with Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgerycited by 44
  3. 2022TraSeTR: Track-to-Segment Transformer with Contrastive Query for Instance-level Instrument Segmentation in Robotic Surgerycited by 40
  4. 2024Surgical-LVLM: Learning to Adapt Large Vision-Language Model for Grounded Visual Question Answering in Robotic Surgerycited by 39
  5. 2023AdaptiveSAM: Towards Efficient Tuning of SAM for Surgical Scene Segmentationcited by 37
  6. 2023MATIS: Masked-Attention Transformers for Surgical Instrument Segmentationcited by 36
  7. 2022Towards Holistic Surgical Scene Understandingcited by 33
  8. 2022From Forks to Forceps: A New Framework for Instance Segmentation of Surgical Instrumentscited by 32
  9. 2023SAM Meets Robotic Surgery: An Empirical Study on Generalization, Robustness and Adaptationcited by 30
  10. 2022Min-Max Similarity: A Contrastive Semi-Supervised Deep Learning Network for Surgical Tools Segmentationcited by 28
  11. 2022Exploring Intra- and Inter-Video Relation for Surgical Semantic Scene Segmentationcited by 27
  12. 2023SAM Meets Robotic Surgery: An Empirical Study in Robustness Perspectivecited by 24
  13. 2023Deep learning for unsupervised domain adaptation in medical imaging: Recent advancements and future perspectivescited by 24
  14. 2021Image Compositing for Segmentation of Surgical Tools without Manual Annotationscited by 23
  15. 2024Kvasir-VQA: A Text-Image Pair GI Tract Datasetcited by 23
  16. 2023CholecTriplet2022: Show me a tool and tell me the triplet -- an endoscopic vision challenge for surgical action triplet detectioncited by 22
  17. 2023Continual Learning in Medical Image Analysis: A Comprehensive Review of Recent Advancements and Future Prospectscited by 22
  18. 2024SAM 2 in Robotic Surgery: An Empirical Evaluation for Robustness and Generalization in Surgical Video Segmentationcited by 21
  19. 2021ST-MTL: Spatio-Temporal Multitask Learning Model to Predict Scanpath While Tracking Instruments in Robotic Surgerycited by 20
  20. 2023Rethinking Exemplars for Continual Semantic Segmentation in Endoscopy Scenes: Entropy-based Mini-Batch Pseudo-Replaycited by 20
  21. 2022Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Trackingcited by 19
  22. 2023Methods and datasets for segmentation of minimally invasive surgical instruments in endoscopic images and videos: A review of the state of the artcited by 18
  23. 2022SimT: Handling Open-set Noise for Domain Adaptive Semantic Segmentationcited by 17
  24. 2023CAT-ViL: Co-Attention Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgerycited by 17
  25. 2024Surgical-VQLA++: Adversarial Contrastive Learning for Calibrated Robust Visual Question-Localized Answering in Robotic Surgerycited by 17
  26. 2022Rethinking Surgical Instrument Segmentation: A Background Image Can Be All You Needcited by 16
  27. 2024CholecInstanceSeg: A Tool Instance Segmentation Dataset for Laparoscopic Surgerycited by 16
  28. 2024A Survey on Trustworthiness in Foundation Models for Medical Image Analysiscited by 16
  29. 2024A Comprehensive Survey of Mamba Architectures for Medical Image Analysis: Classification, Segmentation, Restoration and Beyondcited by 16
  30. 2023Revisiting Distillation for Continual Learning on Visual Question Localized-Answering in Robotic Surgerycited by 15
  31. 2025ReSurgSAM2: Referring Segment Anything in Surgical Video via Credible Long-term Trackingcited by 15
  32. 2021One to Many: Adaptive Instrument Segmentation via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Videocited by 14
  33. 2023SurgT challenge: Benchmark of Soft-Tissue Trackers for Robotic Surgerycited by 14
  34. 2024Biomedical SAM 2: Segment Anything in Biomedical Images and Videoscited by 14
  35. 2025Endo3R: Unified Online Reconstruction from Dynamic Monocular Endoscopic Videocited by 14
  36. 2024Transferring Relative Monocular Depth to Surgical Vision with Temporal Consistencycited by 13
  37. 2025SAM2 for Image and Video Segmentation: A Comprehensive Surveycited by 13
  38. 2024LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusioncited by 12

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