# Cholec80-port: A Geometrically Consistent Trocar Port Segmentation Dataset for Robust Surgical Scene Understanding

arXiv: https://arxiv.org/abs/2602.17060 · HTML: https://mlsanity.com/paper/2602.17060/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 5 of its 7 references that are in the map.
- First posted on arXiv 19 Feb 2026.

## Builds on (most cited first, 5 of 5)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [A ConvNet for the 2020s](https://mlsanity.com/paper/2201.03545/) (2022)
- [m2caiSeg: Semantic Segmentation of Laparoscopic Images using Convolutional Neural Networks](https://mlsanity.com/paper/2008.10134/) (2020)
- [Online 3D reconstruction and dense tracking in endoscopic videos](https://mlsanity.com/paper/2409.06037/) (2024)
- [GynSurg: A Comprehensive Gynecology Laparoscopic Surgery Dataset](https://mlsanity.com/paper/2506.11356/) (2025)

## Built on by (most cited first, 1 of 1)

- [Stitch-Inferencer: Enhance Endoscopic Video Segmentation and Tracking via Panoramic Reconstruction](https://mlsanity.com/paper/2607.14968/) (2026)

## Abstract (arXiv)

Trocar ports are camera-fixed, pseudo-static structures that can persistently occlude laparoscopic views and attract disproportionate feature points due to specular, textured surfaces. This makes ports particularly detrimental to geometry-based downstream pipelines such as image stitching, 3D reconstruction, and visual SLAM, where dynamic or non-anatomical outliers degrade alignment and tracking stability. Despite this practical importance, explicit port labels are rare in public surgical datasets, and existing annotations often violate geometric consistency by masking the central lumen (opening), even when anatomical regions are visible through it. We present Cholec80-port, a high-fidelity trocar port segmentation dataset derived from Cholec80, together with a rigorous standard operating procedure (SOP) that defines a port-sleeve mask excluding the central opening. We additionally cleanse and unify existing public datasets under the same SOP. Experiments demonstrate that geometrically consistent annotations substantially improve cross-dataset robustness beyond what dataset size alone provides.