Robotic Scene Segmentation with Memory Network for Runtime Surgical
  Context Inference
Zongyu Li Ian Reyes Homa Alemzadeh
Surgical context inference has recently garnered significant attention in
robot-assisted surgery as it can facilitate workflow analysis, skill
assessment, and error detection. However, runtime context inference is
challenging since it requires timely and accurate detection of the interactions
among the tools and objects in the surgical scene based on the segmentation of
video data. On the other hand, existing state-of-the-art video segmentation
methods are often biased against infrequent classes and fail to provide
temporal consistency for segmented masks. This can negatively impact the
context inference and accurate detection of critical states. In this study, we
propose a solution to these challenges using a Space Time Correspondence
Network (STCN). STCN is a memory network that performs binary segmentation and
minimizes the effects of class imbalance. The use of a memory bank in STCN
allows for the utilization of past image and segmentation information, thereby
ensuring consistency of the masks. Our experiments using the publicly available
JIGSAWS dataset demonstrate that STCN achieves superior segmentation
performance for objects that are difficult to segment, such as needle and
thread, and improves context inference compared to the state-of-the-art. We
also demonstrate that segmentation and context inference can be performed at
runtime without compromising performance.