# Fine-Grained Action Segmentation for Renorrhaphy in Robot-Assisted Partial Nephrectomy

arXiv: https://arxiv.org/abs/2604.09051 · HTML: https://mlsanity.com/paper/2604.09051/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 13 references that are in the map.
- First posted on arXiv 10 Apr 2026.

## Builds on (most cited first, 6 of 6)

- [Quo Vadis, Action Recognition? A New Model and the Kinetics Dataset](https://mlsanity.com/paper/1705.07750/) (2017)
- [Temporal Convolutional Networks for Action Segmentation and Detection](https://mlsanity.com/paper/1611.05267/) (2016)
- [MS-TCN: Multi-Stage Temporal Convolutional Network for Action Segmentation](https://mlsanity.com/paper/1903.01945/) (2019)
- [ASFormer: Transformer for Action Segmentation](https://mlsanity.com/paper/2110.08568/) (2021)
- [SAR-RARP50: Segmentation of surgical instrumentation and Action Recognition on Robot-Assisted Radical Prostatectomy Challenge](https://mlsanity.com/paper/2401.00496/) (2023)
- [Do we really need temporal convolutions in action segmentation?](https://mlsanity.com/paper/2205.13425/) (2022)

## Abstract (arXiv)

Fine-grained action segmentation during renorrhaphy in robot-assisted partial nephrectomy requires frame-level recognition of visually similar suturing gestures with variable duration and substantial class imbalance. The SIA-RAPN benchmark defines this problem on 50 clinical videos acquired with the da Vinci Xi system and annotated with 12 frame-level labels. The benchmark compares four temporal models built on I3D features: MS-TCN++, AsFormer, TUT, and DiffAct. Evaluation uses balanced accuracy, edit score, segmental F1 at overlap thresholds of 10, 25, and 50, frame-wise accuracy, and frame-wise mean average precision. In addition to the primary evaluation across five released split configurations on SIA-RAPN, the benchmark reports cross-domain results on a separate single-port RAPN dataset. Across the strongest reported values over those five runs on the primary dataset, DiffAct achieves the highest F1, frame-wise accuracy, edit score, and frame mAP, while MS-TCN++ attains the highest balanced accuracy.