metadata

license: gpl-3.0
task_categories:
  - robotics
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/train-*
dataset_info:
  features:
    - name: video_id
      dtype: string
    - name: frame_n
      dtype: int64
    - name: timestamp
      dtype: float64
    - name: frame_image
      dtype: image
    - name: /ECM/custom/local/setpoint_cp
      sequence: float64
    - name: /ECM/custom/setpoint_cp
      sequence: float64
    - name: /ECM/measured_js
      sequence: float64
    - name: /MTML/gripper/measured_js
      sequence: float64
    - name: /MTML/local/measured_cp
      sequence: float64
    - name: /MTML/measured_cp
      sequence: float64
    - name: /MTML/measured_js
      sequence: float64
    - name: /MTMR/gripper/measured_js
      sequence: float64
    - name: /MTMR/local/measured_cp
      sequence: float64
    - name: /MTMR/measured_cp
      sequence: float64
    - name: /MTMR/measured_js
      sequence: float64
    - name: /PSM1/custom/local/setpoint_cp
      sequence: float64
    - name: /PSM1/custom/setpoint_cp
      sequence: float64
    - name: /PSM1/jaw/measured_js
      sequence: float64
    - name: /PSM1/measured_js
      sequence: float64
    - name: /PSM2/custom/local/setpoint_cp
      sequence: float64
    - name: /PSM2/custom/setpoint_cp
      sequence: float64
    - name: /PSM2/jaw/measured_js
      sequence: float64
    - name: /PSM2/measured_js
      sequence: float64
    - name: /pedals/bipolar
      dtype: bool
    - name: /pedals/camera
      dtype: bool
    - name: /pedals/clutch
      dtype: bool
    - name: /pedals/monopolar
      dtype: bool
    - name: /pedals/read/monopolar
      dtype: bool
  splits:
    - name: train
      num_bytes: 33538625323.89
      num_examples: 600347
  download_size: 33308465924
  dataset_size: 33538625323.89

Comprehensive Robotic Cholecystectomy Dataset (CRCD)

Robotic Assisted Surgery Dataset

Dataset Info

Curated by: Ki-Hwan Oh, Leonardo Borgioli, Alberto Mangano, Valentina Valle, Marco Di Pangrazio, Francesco Toti, Gioia Pozza, Luciano Ambrosini, Alvaro Ducas, Miloš Žefran, Liaohai Chen, Pier Cristoforo Giulianotti
License: GPL-3.0 License

Dataset Sources

Links:

GitHub
Journal (Expanded)
Paper
Raw Dataset: Videos, da Vinci Kinematics, and da Vinci Consolde Pedal Usage. (Link)
Annotated Dataset: Dataset including frames with annotated tissue segmentation or instrument keypoints. (Link)
Additional Information: Includes the stereo endoscopic camera calibrations and the background information of each surgeon. (Link)

Dataset Creation

This dataset includes synced endoscopic images with the recorded da Vinci kinematics and console pedal readings. Several surgeons with different backgrounds performed each procedure. For further details, please refer to our paper.

Citation

Please cite our paper if you used our dataset in any form:

@INPROCEEDINGS{koh2024crcd,
  author={Oh, Ki-Hwan and Borgioli, Leonardo and Mangano, Alberto and Valle, Valentina and Di Pangrazio, Marco and Toti, Francesco and Pozza, Gioia and Ambrosini, Luciano and Ducas, Alvaro and Žefran, Miloš and Chen, Liaohai and Giulianotti, Pier Cristoforo},
  booktitle={2024 International Symposium on Medical Robotics (ISMR)}, 
  title={Comprehensive Robotic Cholecystectomy Dataset (CRCD): Integrating Kinematics, Pedal Signals, and Endoscopic Videos}, 
  year={2024},
  volume={},
  number={},
  pages={1-7},
  keywords={Medical robotics;Automation;Robot vision systems;Liver;Kinematics;Predictive models;Cameras},
  doi={10.1109/ISMR63436.2024.10585836}
}