This paper presents a comprehensive workflow for generating and validating a synthetic dataset designed for robotic surgery instrument segmentation. A 3D reconstruction of the Da Vinci robotic arms was refined and animated in Autodesk Maya through a fully automated Python-based pipeline capable of producing photorealistic, labeled video sequences. Each scene integrates randomized motion patterns, lighting variations, and synthetic blood textures to mimic intraoperative variability while preserving pixel-accurate ground truth masks. To validate the realism and effectiveness of the generated data, several segmentation models were trained under controlled ratios of real and synthetic data. Results demonstrate that a balanced composition of real and synthetic samples significantly improves model generalization compared to training on real data only, while excessive reliance on synthetic data introduces a measurable domain shift. The proposed framework provides a reproducible and scalable tool for surgical computer vision, supporting future research in data augmentation, domain adaptation, and simulation-based pretraining for robotic-assisted surgery. Data and code are available at https://github.com/EIDOSLAB/Sintetic-dataset-DaVinci.
@article{arxiv.2602.13844,
title = {Synthetic Dataset Generation and Validation for Robotic Surgery Instrument Segmentation},
author = {Giorgio Chiesa and Rossella Borra and Vittorio Lauro and Sabrina De Cillis and Daniele Amparore and Cristian Fiori and Riccardo Renzulli and Marco Grangetto},
journal= {arXiv preprint arXiv:2602.13844},
year = {2026}
}