mlsanityData to 7 Oct 2026

2018 Robotic Scene Segmentation Challenge

arXiv 2001.11190 ↗First posted 30 Jan 2020cs.CV cs.ROcited by 123

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Abstract (arXiv)

In 2015 we began a sub-challenge at the EndoVis workshop at MICCAI in Munich using endoscope images of ex-vivo tissue with automatically generated annotations from robot forward kinematics and instrument CAD models. However, the limited background variation and simple motion rendered the dataset uninformative in learning about which techniques would be suitable for segmentation in real surgery. In 2017, at the same workshop in Quebec we introduced the robotic instrument segmentation dataset with 10 teams participating in the challenge to perform binary, articulating parts and type segmentation of da Vinci instruments. This challenge included realistic instrument motion and more complex porcine tissue as background and was widely addressed with modifications on U-Nets and other popular CNN architectures. In 2018 we added to the complexity by introducing a set of anatomical objects and medical devices to the segmented classes. To avoid over-complicating the challenge, we continued with porcine data which is dramatically simpler than human tissue due to the lack of fatty tissue occluding many organs.

Key facts. Cited by 123 papers in the map (data through 7 Oct 2026). First posted on arXiv 30 Jan 2020.

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Citing papers per year: 2021: 8; 2022: 13; 2023: 28; 2024: 24; 2025: 32; 2026: 18.

123 papers.

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  1. 2021Rendezvous: Attention Mechanisms for the Recognition of Surgical Action Triplets in Endoscopic Videoscited by 139
  2. 2024Vision-Language Models for Medical Report Generation and Visual Question Answering: A Reviewcited by 121
  3. 2024Segment Anything Model for Medical Image Segmentation: Current Applications and Future Directionscited by 97
  4. 2024GMAI-MMBench: A Comprehensive Multimodal Evaluation Benchmark Towards General Medical AIcited by 96
  5. 2022AutoLaparo: A New Dataset of Integrated Multi-tasks for Image-guided Surgical Automation in Laparoscopic Hysterectomycited by 85
  6. 2023MA-SAM: Modality-agnostic SAM Adaptation for 3D Medical Image Segmentationcited by 82
  7. 2022Surgical-VQA: Visual Question Answering in Surgical Scenes using Transformercited by 58
  8. 2023SAR-RARP50: Segmentation of surgical instrumentation and Action Recognition on Robot-Assisted Radical Prostatectomy Challengecited by 54
  9. 2023Learning How To Robustly Estimate Camera Pose in Endoscopic Videoscited by 49
  10. 2023SurgicalGPT: End-to-End Language-Vision GPT for Visual Question Answering in Surgerycited by 48
  11. 2024Surgical SAM 2: Real-time Segment Anything in Surgical Video by Efficient Frame Pruningcited by 46
  12. 2023Surgical-VQLA: Transformer with Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgerycited by 44
38 more
  1. 2024Segment Anything in Medical Images and Videos: Benchmark and Deploymentcited by 42
  2. 2022TraSeTR: Track-to-Segment Transformer with Contrastive Query for Instance-level Instrument Segmentation in Robotic Surgerycited by 40
  3. 2024Surgical-LVLM: Learning to Adapt Large Vision-Language Model for Grounded Visual Question Answering in Robotic Surgerycited by 39
  4. 2023AdaptiveSAM: Towards Efficient Tuning of SAM for Surgical Scene Segmentationcited by 37
  5. 2023MATIS: Masked-Attention Transformers for Surgical Instrument Segmentationcited by 36
  6. 2022Towards Holistic Surgical Scene Understandingcited by 33
  7. 2023SAM Meets Robotic Surgery: An Empirical Study on Generalization, Robustness and Adaptationcited by 30
  8. 2022Exploring Intra- and Inter-Video Relation for Surgical Semantic Scene Segmentationcited by 27
  9. 2024General surgery vision transformer: A video pre-trained foundation model for general surgerycited by 25
  10. 2023SAM Meets Robotic Surgery: An Empirical Study in Robustness Perspectivecited by 24
  11. 2023Deep learning for unsupervised domain adaptation in medical imaging: Recent advancements and future perspectivescited by 24
  12. 2023CholecTriplet2022: Show me a tool and tell me the triplet -- an endoscopic vision challenge for surgical action triplet detectioncited by 22
  13. 2024SAM 2 in Robotic Surgery: An Empirical Evaluation for Robustness and Generalization in Surgical Video Segmentationcited by 21
  14. 2023Rethinking Exemplars for Continual Semantic Segmentation in Endoscopy Scenes: Entropy-based Mini-Batch Pseudo-Replaycited by 20
  15. 2021Class-Incremental Domain Adaptation with Smoothing and Calibration for Surgical Report Generationcited by 18
  16. 2022SimT: Handling Open-set Noise for Domain Adaptive Semantic Segmentationcited by 17
  17. 2023CAT-ViL: Co-Attention Gated Vision-Language Embedding for Visual Question Localized-Answering in Robotic Surgerycited by 17
  18. 2024Surgical-VQLA++: Adversarial Contrastive Learning for Calibrated Robust Visual Question-Localized Answering in Robotic Surgerycited by 17
  19. 2022Rethinking Surgical Instrument Segmentation: A Background Image Can Be All You Needcited by 16
  20. 2023Revisiting Distillation for Continual Learning on Visual Question Localized-Answering in Robotic Surgerycited by 15
  21. 2025ReSurgSAM2: Referring Segment Anything in Surgical Video via Credible Long-term Trackingcited by 15
  22. 2021One to Many: Adaptive Instrument Segmentation via Meta Learning and Dynamic Online Adaptation in Robotic Surgical Videocited by 14
  23. 2023Dynamic Interactive Relation Capturing via Scene Graph Learning for Robotic Surgical Report Generationcited by 14
  24. 2025Endo3R: Unified Online Reconstruction from Dynamic Monocular Endoscopic Videocited by 14
  25. 2024Transferring Relative Monocular Depth to Surgical Vision with Temporal Consistencycited by 13
  26. 2024LighTDiff: Surgical Endoscopic Image Low-Light Enhancement with T-Diffusioncited by 12
  27. 2024ASI-Seg: Audio-Driven Surgical Instrument Segmentation with Surgeon Intention Understandingcited by 12
  28. 2021Efficient Global-Local Memory for Real-time Instrument Segmentation of Robotic Surgical Videocited by 10
  29. 2022Recent Progress in Transformer-based Medical Image Analysiscited by 9
  30. 2024Online 3D reconstruction and dense tracking in endoscopic videoscited by 9
  31. 2022Joint Class-Affinity Loss Correction for Robust Medical Image Segmentation with Noisy Labelscited by 8
  32. 2023SurgicalPart-SAM: Part-to-Whole Collaborative Prompting for Surgical Instrument Segmentationcited by 8
  33. 2025Surgical Scene Understanding in the Era of Foundation AI Models: A Comprehensive Reviewcited by 8
  34. 2025Recent Advances in Medical Imaging Segmentation: A Surveycited by 8
  35. 2025Memory-Augmented SAM2 for Training-Free Surgical Video Segmentationcited by 8
  36. 2024SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challengecited by 7
  37. 2025SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splattingcited by 7
  38. 2025Does DINOv3 Set a New Medical Vision Standard? Benchmarking 2D and 3D Classification, Segmentation, and Registrationcited by 7

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