Real Robot Benchmarks

该数据集包含了两个使用达芬奇手术系统中的手术机械臂——患者侧操纵器（PSM）评估的真实机器人基准测试。其中，矩形幻影用于研究性能、通用性和鲁棒性，而肝脏幻影则提供了真实的形状和机械特性。该数据集对这两种幻影（矩形和肝脏）进行了评估，任务是对真实机器人进行手术抓握。

This dataset comprises two real-world robotic benchmark tests evaluated using the Patient Side Manipulator (PSM), a surgical robotic arm from the Da Vinci Surgical System. The rectangular phantom is utilized to study performance, generalizability and robustness, while the liver phantom provides realistic anatomical shape and mechanical properties. Both types of phantoms (rectangular and liver) are evaluated in this dataset, with the task being surgical grasping on the real robotic platform.