Training dataset from the Da Vinci Research Kit

The use of data sets are getting more relevance in surgical robotics since they can be used to recognise and automate tasks in the lab. Also, it allows to use a common data set to compare different algorithms and methods. The objective of this work is to provide a complete data set of several training tasks that surgeons perform to improve their skills. For this purpose, the Da Vinci research kit has been used to perform a different training tasks. The obtained data set includes all the information provided by the da Vinci robot together with the corresponding video from the camera. Kinematic data has been collected at 50 frames per seconds, and images at 15 frames per seconds. All the information has been carefully timestamped and provided in a readable csv format. The application used to retrieve the information from the da Vinci research kit, as well as tools to access the information are also provided.数据集在手术机器人领域的重要性与日俱增，因其可用于识别实验室中的作业并实现自动化操作。同时，通用数据集的使用能够为不同算法与方法的对比提供标准化基准。本研究的目标在于构建一套覆盖外科医生技能提升训练多项任务的完整数据集。为此，本研究采用达芬奇研究套件（Da Vinci Research Kit）开展各类训练任务采集工作。所采集的数据集涵盖达芬奇机器人输出的全部信息，以及配套的摄像头录制视频。运动学数据以每秒50帧的速率采集，图像数据则以每秒15帧的速率采集。所有数据均经过严格的时间戳标记，并以可读性良好的CSV格式存储与提供。本研究同时提供用于从达芬奇研究套件中提取数据的应用程序，以及数据访问工具。