Do I need escaping url on each method?

I use extended controller scheme.

Code:

class MY_Controller extends CI_Controller {

       protected $uris = array();

       function __construct() {
           parent::__construct();

           $this->uris = $this->uri->uri_to_assoc(3);
        }
.....
}

I use the next uri scheme:

Code:

http://mysite.com/admin/page/index/filter_name/foo/per_page/5/baz/bar