# HemoSet: The First Blood Segmentation Dataset for Automation of Hemostasis Management

arXiv: https://arxiv.org/abs/2403.16286 · HTML: https://mlsanity.com/paper/2403.16286/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 48 references that are in the map.
- First posted on arXiv 24 Mar 2024.

## Builds on (most cited first, 22 of 22)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [UNet++: A Nested U-Net Architecture for Medical Image Segmentation](https://mlsanity.com/paper/1807.10165/) (2018)
- [Generalized Cross Entropy Loss for Training Deep Neural Networks with Noisy Labels](https://mlsanity.com/paper/1805.07836/) (2018)
- [UNet++: Redesigning Skip Connections to Exploit Multiscale Features in Image Segmentation](https://mlsanity.com/paper/1912.05074/) (2019)
- [Deeply-Supervised Nets](https://mlsanity.com/paper/1409.5185/) (2014)
- [U-Net and its variants for medical image segmentation: theory and applications](https://mlsanity.com/paper/2011.01118/) (2020)
- [MISSFormer: An Effective Medical Image Segmentation Transformer](https://mlsanity.com/paper/2109.07162/) (2021)
- [Fully Dense UNet for 2D Sparse Photoacoustic Tomography Artifact Removal](https://mlsanity.com/paper/1808.10848/) (2018)
- [iSegFormer: Interactive Segmentation via Transformers with Application to 3D Knee MR Images](https://mlsanity.com/paper/2112.11325/) (2021)
- [Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking](https://mlsanity.com/paper/2210.16674/) (2022)
- [Robot Autonomy for Surgery](https://mlsanity.com/paper/1707.03080/) (2017)
- [Deep convolutional neural networks for segmenting 3D in vivo multiphoton images of vasculature in Alzheimer disease mouse models](https://mlsanity.com/paper/1801.00880/) (2018)
- [Autonomous Robotic Suction to Clear the Surgical Field for Hemostasis using Image-based Blood Flow Detection](https://mlsanity.com/paper/2010.08441/) (2020)
- [Perceiving and Reasoning About Liquids Using Fully Convolutional Networks](https://mlsanity.com/paper/1703.01564/) (2017)
- [Model-Predictive Control of Blood Suction for Surgical Hemostasis using Differentiable Fluid Simulations](https://mlsanity.com/paper/2102.01436/) (2021)
- [Unsupervised Microvascular Image Segmentation Using an Active Contours Mimicking Neural Network](https://mlsanity.com/paper/1908.01373/) (2019)
- [Image Based Reconstruction of Liquids from 2D Surface Detections](https://mlsanity.com/paper/2111.11491/) (2021)

## Built on by (most cited first, 4 of 4)

- [SUREON: A Benchmark and Vision-Language-Model for Surgical Reasoning](https://mlsanity.com/paper/2603.06570/) (2026)
- [Synergistic Bleeding Region and Point Detection in Laparoscopic Surgical Videos](https://mlsanity.com/paper/2503.22174/) (2025)
- [BleedOrigin: Dynamic Bleeding Source Localization in Endoscopic Submucosal Dissection via Dual-Stage Detection and Tracking](https://mlsanity.com/paper/2507.15094/) (2025)
- [DBT-Bleed: Dual-Branch Temporal Modeling with Key-Frame Selection for Surgical Bleeding Detection](https://mlsanity.com/paper/2606.22829/) (2026)

## Abstract (arXiv)

Hemorrhaging occurs in surgeries of all types, forcing surgeons to quickly adapt to the visual interference that results from blood rapidly filling the surgical field. Introducing automation into the crucial surgical task of hemostasis management would offload mental and physical tasks from the surgeon and surgical assistants while simultaneously increasing the efficiency and safety of the operation. The first step in automation of hemostasis management is detection of blood in the surgical field. To propel the development of blood detection algorithms in surgeries, we present HemoSet, the first blood segmentation dataset based on bleeding during a live animal robotic surgery. Our dataset features vessel hemorrhage scenarios where turbulent flow leads to abnormal pooling geometries in surgical fields. These pools are formed in conditions endemic to surgical procedures -- uneven heterogeneous tissue, under glossy lighting conditions and rapid tool movement. We benchmark several state-of-the-art segmentation models and provide insight into the difficulties specific to blood detection. We intend for HemoSet to spur development of autonomous blood suction tools by providing a platform for training and refining blood segmentation models, addressing the precision needed for such robotics.