Robot-assisted minimally invasive orthopedic procedures

The dataset contains multimedia recorded on cadaver and phantom (plastic model) tissue in relation to the PhD thesis "Robust and dense Visual SLAM for robot-assisted minimally invasive orthopedic procedures". Related publications can be consulted .

The dataset contains timestamped recordings of two video sources (arthroscopic camera and external camera), robotic motion data and motion capture data. The data can be used to develop and evaluate assistive systems and algorithms (e.g. SLAM, SfM, visual servoing) for challenging minimally invasive orthopedic procedures.

Data file types include .png images and .txt files for calibration and ground truth data.

The related PhD thesis developed a vision-based robotic surgical assistant for minimally invasive orthopedic procedures. The system is composed of a robotic arm with an attached camera-arthroscope bundle for intra-articular navigation. The system is capable of a) localizing instruments robustly and reliably inside the human joints and b) generating dense and accurate 3D reconstructed models of the knee joint from intra-articular images. Thanks to these capabilities the system would allow for the semi-autonomous navigaton of the camera (via visual servoing) to follow the surgeons’ tools.

Data acquisition was approved by the Australian National Health and Medical Research Council (NHMRC) – Registered Committee Number EC00171 under Approval Number 1400000856.

本数据集包含针对尸体与仿体（塑料组织模型）采集的多模态录制数据，关联于博士论文《面向机器人辅助微创骨科手术的鲁棒稠密视觉同时定位与地图构建（Visual SLAM）》，相关研究成果可查阅参考。
本数据集包含两类带时间戳的录制数据：关节镜摄像头与外部摄像头的视频流、机器人运动数据以及动作捕捉数据。该数据集可用于开发与评估面向高难度微创骨科手术的辅助系统与算法（如同时定位与地图构建（SLAM）、运动恢复结构（Structure from Motion，简称SfM）、视觉伺服）。
本数据集的数据文件格式包含用于存储标定与真值数据的.png图像文件与.txt文本文件。
上述关联的博士论文开发了一款面向微创骨科手术的视觉型机器人手术辅助系统。该系统由搭载摄像头-关节镜组合套件的机械臂构成，用于关节腔内导航。系统具备两项核心能力：a) 可在人体关节内部鲁棒且可靠地定位手术器械；b) 可基于关节腔内图像生成膝关节稠密且精确的三维重建模型。依托这些能力，该系统可通过视觉伺服实现摄像头的半自主导航，以跟随外科医师的手术器械。
本数据集的采集流程已获得澳大利亚国家健康与医学研究委员会（Australian National Health and Medical Research Council, NHMRC）批准，注册委员会编号为EC00171，项目批准编号为1400000856。