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    <title language="eng">Comparative validation of surgical phase recognition, instrument keypoint estimation, and instrument instance segmentation in endoscopy: Results of the PhaKIR 2024 challenge</title>
    <abstract language="eng">Reliable recognition and localization of surgical instruments in endoscopic video recordings are foundational for a wide range of applications in computer- and robot-assisted minimally invasive surgery (RAMIS), including surgical training, skill assessment, and autonomous assistance. However, robust performance under real-world conditions remains a significant challenge. Incorporating surgical context - such as the current procedural phase - has emerged as a promising strategy to improve robustness and interpretability. To address these challenges, we organized the Surgical Procedure Phase, Keypoint, and Instrument Recognition (PhaKIR) sub-challenge as part of the Endoscopic Vision (EndoVis) challenge at MICCAI 2024. We introduced a novel, multi-center dataset comprising thirteen full-length laparoscopic cholecystectomy videos collected from three distinct medical institutions, with unified annotations for three interrelated tasks: surgical phase recognition, instrument keypoint estimation, and instrument instance segmentation. Unlike existing datasets, ours enables joint investigation of instrument localization and procedural context within the same data while supporting the integration of temporal information across entire procedures. We report results and findings in accordance with the BIAS guidelines for biomedical image analysis challenges. The PhaKIR sub-challenge advances the field by providing a unique benchmark for developing temporally aware, context-driven methods in RAMIS and offers a high-quality resource to support future research in surgical scene understanding.</abstract>
    <identifier type="arxiv">2507.16559</identifier>
    <note>Der Aufsatz wurde peer-reviewed veröffentlicht und ist ebenfalls in diesem Repositorium verzeichnet unter: https://opus4.kobv.de/opus4-oth-regensburg/frontdoor/index/index/start/0/rows/10/sortfield/score/sortorder/desc/searchtype/simple/query/10.1016%2Fj.media.2026.103945/docId/8846</note>
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    <author>Tobias Rückert</author>
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    <author>Leonard Klausmann</author>
    <author>Suemeyye R. Yildiran</author>
    <author>Max Gutbrod</author>
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    <author>Alvaro Fernandez Moreno</author>
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    <author>Hyeon Bae Kim</author>
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    <author>Shunsuke Kikuchi</author>
    <author>Hiroki Matsuzaki</author>
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    <author>Tae-Min Choi</author>
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  <doc>
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    <title language="eng">Comparative validation of surgical phase recognition, instrument keypoint estimation, and instrument instance segmentation in endoscopy: Results of the PhaKIR 2024 challenge</title>
    <abstract language="eng">Reliable recognition and localization of surgical instruments in endoscopic video recordings are foundational for a wide range of applications in computer- and robot-assisted minimally invasive surgery (RAMIS), including surgical training, skill assessment, and autonomous assistance. However, robust performance under real-world conditions remains a significant challenge. Incorporating surgical context – such as the current procedural phase – has emerged as a promising strategy to improve robustness and interpretability.&#13;
To address these challenges, we organized the Surgical Procedure Phase, Keypoint, and Instrument Recognition (PhaKIR) sub-challenge as part of the Endoscopic Vision (EndoVis) challenge at MICCAI 2024. We introduced a novel, multi-center dataset comprising thirteen full-length laparoscopic cholecystectomy videos collected from three distinct medical institutions, with unified annotations for three interrelated tasks: surgical phase recognition, instrument keypoint estimation, and instrument instance segmentation. Unlike existing datasets, ours enables joint investigation of instrument localization and procedural context within the same data while supporting the integration of temporal information across entire procedures.&#13;
We report results and findings in accordance with the BIAS guidelines for biomedical image analysis challenges. The PhaKIR sub-challenge advances the field by providing a unique benchmark for developing temporally aware, context-driven methods in RAMIS and offers a high-quality resource to support future research in surgical scene understanding.</abstract>
    <parentTitle language="eng">Medical Image Analysis</parentTitle>
    <identifier type="issn">1361-8415</identifier>
    <identifier type="doi">10.1016/j.media.2026.103945</identifier>
    <note>Corresponding author der OTH Regensburg: Tobias Rueckert&#13;
&#13;
Die Preprint-Version ist ebenfalls in diesem Repositorium verzeichnet unter: &#13;
https://opus4.kobv.de/opus4-oth-regensburg/solrsearch/index/search/start/0/rows/10/sortfield/score/sortorder/desc/searchtype/simple/query/2507.16559</note>
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    <enrichment key="CorrespondingAuthor">Tobias Rueckert</enrichment>
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    <author>Tobias Rueckert</author>
    <author>David Rauber</author>
    <author>Raphaela Maerkl</author>
    <author>Leonard Klausmann</author>
    <author>Suemeyye R. Yildiran</author>
    <author>Max Gutbrod</author>
    <author>Danilo Weber Nunes</author>
    <author>Alvaro Fernandez Moreno</author>
    <author>Imanol Luengo</author>
    <author>Danail Stoyanov</author>
    <author>Nicolas Toussaint</author>
    <author>Enki Cho</author>
    <author>Hyeon Bae Kim</author>
    <author>Oh Sung Choo</author>
    <author>Ka Young Kim</author>
    <author>Seong Tae Kim</author>
    <author>Gonçalo Arantes</author>
    <author>Kehan Song</author>
    <author>Jianjun Zhu</author>
    <author>Junchen Xiong</author>
    <author>Tingyi Lin</author>
    <author>Shunsuke Kikuchi</author>
    <author>Hiroki Matsuzaki</author>
    <author>Atsushi Kouno</author>
    <author>João Renato Ribeiro Manesco</author>
    <author>João Paulo Papa</author>
    <author>Tae-Min Choi</author>
    <author>Tae Kyeong Jeong</author>
    <author>Juyoun Park</author>
    <author>Oluwatosin Alabi</author>
    <author>Meng Wei</author>
    <author>Tom Vercauteren</author>
    <author>Runzhi Wu</author>
    <author>Mengya Xu</author>
    <author>An Wang</author>
    <author>Long Bai</author>
    <author>Hongliang Ren</author>
    <author>Amine Yamlahi</author>
    <author>Jakob Hennighausen</author>
    <author>Lena Maier-Hein</author>
    <author>Satoshi Kondo</author>
    <author>Satoshi Kasai</author>
    <author>Kousuke Hirasawa</author>
    <author>Shu Yang</author>
    <author>Yihui Wang</author>
    <author>Hao Chen</author>
    <author>Santiago Rodríguez</author>
    <author>Nicolás Aparicio</author>
    <author>Leonardo Manrique</author>
    <author>Christoph Palm</author>
    <author>Dirk Wilhelm</author>
    <author>Hubertus Feussner</author>
    <author>Daniel Rueckert</author>
    <author>Stefanie Speidel</author>
    <author>Sahar Nasirihaghighi</author>
    <author>Yasmina Al Khalil</author>
    <author>Yiping Li</author>
    <author>Pablo Arbeláez</author>
    <author>Nicolás Ayobi</author>
    <author>Olivia Hosie</author>
    <author>Juan Camilo Lyons</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Surgical phase recognition</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Instrument keypoint estimation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Instrument instance segmentation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Robot-assisted surgery</value>
    </subject>
    <collection role="institutes" number="FakIM">Fakultät Informatik und Mathematik</collection>
    <collection role="institutes" number="RCBE">Regensburg Center of Biomedical Engineering - RCBE</collection>
    <collection role="institutes" number="RCHST">Regensburg Center of Health Sciences and Technology - RCHST</collection>
    <collection role="persons" number="palmremic">Palm, Christoph (Prof. Dr.) - ReMIC</collection>
    <collection role="oaweg" number="">Hybrid Open Access - OA-Veröffentlichung in einer Subskriptionszeitschrift/-medium</collection>
    <collection role="oaweg" number="">Corresponding author der OTH Regensburg</collection>
    <collection role="institutes" number="">Labor Regensburg Medical Image Computing (ReMIC)</collection>
    <collection role="funding" number="">DEAL Elsevier</collection>
    <collection role="DFGFachsystematik" number="1">Ingenieurwissenschaften</collection>
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    <pageNumber>11</pageNumber>
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    <publisherName/>
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    <completedDate>2022-07-27</completedDate>
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    <title language="eng">2018 Robotic Scene Segmentation Challenge</title>
    <abstract language="eng">In 2015 we began a sub-challenge at the EndoVis workshop at MICCAI in Munich using endoscope images of exvivo 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 modfications on U-Nets and other popular CNN architectures [1].&#13;
&#13;
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.</abstract>
    <identifier type="url">https://arxiv.org/abs/2001.11190</identifier>
    <identifier type="urn">urn:nbn:de:bvb:898-opus4-50049</identifier>
    <identifier type="doi">10.48550/arXiv.2001.11190</identifier>
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    <licence>Creative Commons - CC BY - Namensnennung 4.0 International</licence>
    <author>Max Allan</author>
    <author>Satoshi Kondo</author>
    <author>Sebastian Bodenstedt</author>
    <author>Stefan Leger</author>
    <author>Rahim Kadkhodamohammadi</author>
    <author>Imanol Luengo</author>
    <author>Felix Fuentes</author>
    <author>Evangello Flouty</author>
    <author>Ahmed Mohammed</author>
    <author>Marius Pedersen</author>
    <author>Avinash Kori</author>
    <author>Varghese Alex</author>
    <author>Ganapathy Krishnamurthi</author>
    <author>David Rauber</author>
    <author>Robert Mendel</author>
    <author>Christoph Palm</author>
    <author>Sophia Bano</author>
    <author>Guinther Saibro</author>
    <author>Chi-Sheng Shih</author>
    <author>Hsun-An Chiang</author>
    <author>Juntang Zhuang</author>
    <author>Junlin Yang</author>
    <author>Vladimir Iglovikov</author>
    <author>Anton Dobrenkii</author>
    <author>Madhu Reddiboina</author>
    <author>Anubhav Reddy</author>
    <author>Xingtong Liu</author>
    <author>Cong Gao</author>
    <author>Mathias Unberath</author>
    <author>Myeonghyeon Kim</author>
    <author>Chanho Kim</author>
    <author>Chaewon Kim</author>
    <author>Hyejin Kim</author>
    <author>Gyeongmin Lee</author>
    <author>Ihsan Ullah</author>
    <author>Miguel Luna</author>
    <author>Sang Hyun Park</author>
    <author>Mahdi Azizian</author>
    <author>Danail Stoyanov</author>
    <author>Lena Maier-Hein</author>
    <author>Stefanie Speidel</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Minimally invasive surgery</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Robotic</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Minimal-invasive Chirurgie</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>swd</type>
      <value>Robotik</value>
    </subject>
    <collection role="ddc" number="0">Informatik, Informationswissenschaft, allgemeine Werke</collection>
    <collection role="ddc" number="6">Technik, Medizin, angewandte Wissenschaften</collection>
    <collection role="institutes" number="FakIM">Fakultät Informatik und Mathematik</collection>
    <collection role="persons" number="palmremic">Palm, Christoph (Prof. Dr.) - ReMIC</collection>
    <collection role="othforschungsschwerpunkt" number="16314">Lebenswissenschaften und Ethik</collection>
    <collection role="institutes" number="">Labor Regensburg Medical Image Computing (ReMIC)</collection>
    <thesisPublisher>Ostbayerische Technische Hochschule Regensburg</thesisPublisher>
    <file>https://opus4.kobv.de/opus4-oth-regensburg/files/5004/2001.11190.pdf</file>
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