{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rethinking-causality-driven-robot-tool","title":"Rethinking Causality-driven Robot Tool Segmentation with Temporal Constraints","arxiv_id":"2212.00072","date":"2022-11-30","proceeding":null,"authors":["Hao Ding","Jie Ying Wu","Zhaoshuo Li","Mathias Unberath"],"abstract":"Purpose: Vision-based robot tool segmentation plays a fundamental role in surgical robots and downstream tasks. CaRTS, based on a complementary causal model, has shown promising performance in unseen counterfactual surgical environments in the presence of smoke, blood, etc. However, CaRTS requires over 30 iterations of optimization to converge for a single image due to limited observability. Method: To address the above limitations, we take temporal relation into consideration and propose a temporal causal model for robot tool segmentation on video sequences. We design an architecture named Temporally Constrained CaRTS (TC-CaRTS). TC-CaRTS has three novel modules to complement CaRTS - temporal optimization pipeline, kinematics correction network, and spatial-temporal regularization. Results: Experiment results show that TC-CaRTS requires much fewer iterations to achieve the same or better performance as CaRTS. TC- CaRTS also has the same or better performance in different domains compared to CaRTS. All three modules are proven to be effective. Conclusion: We propose TC-CaRTS, which takes advantage of temporal constraints as additional observability. We show that TC-CaRTS outperforms prior work in the robot tool segmentation task with improved convergence speed on test datasets from different domains.","url_abs":"https://arxiv.org/abs/2212.00072v1","url_pdf":"https://arxiv.org/pdf/2212.00072v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rethinking-causality-driven-robot-tool","repo_url":"https://github.com/hding2455/carts","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"segmentation","task_name":"Segmentation"},{"task_slug":null,"task_name":"counterfactual"}],"methods":[{"method_slug":"speed","method_name":"SPEED"},{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}