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--- |
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license: cc-by-4.0 |
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language: |
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- en |
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tags: |
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- medical |
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--- |
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# SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing |
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This dataset is part of the **SutureBot** project, a benchmark for developing and evaluating autonomous surgical robotic policies for end-to-end suturing. It contains high-resolution, multi-camera video and robot kinematics from real robot demonstrations on tissue phantoms, supporting research in imitation learning, vision-language-action modeling, and surgical autonomy. |
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[project website](https://suturebot.github.io/) | [code repository](https://github.com/SutureBot/SutureBot/tree/ACT). |
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## Dataset Summary |
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The dataset includes: |
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- **Stereo endoscope images** (`left_img_dir`, `right_img_dir`) |
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- **Wrist camera views** (`endo_psm1`, `endo_psm2`) |
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- **Low-level kinematics** (end-effector pose, joint angles, jaw state, etc.) in `ee_csv.csv` |
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- **Multiple tissues** and **multiple task types** (e.g., needle pick-up, suturing) |
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- All data is organized by: |
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tissue_[id]/[task_name]/[episode_timestamp]/ |
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The following is a visualization of the dataset folder structure: |
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``` |
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$PATH_TO_DATASET |
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├── [DATASET_NAME] # the dataset base dir |
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| └── tissue_1 # data subset |
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| | ├── 1_[task_name] # task name |
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| | | ├── [episode] # should be timestamp when the data was recorded |
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| | | | ├── left_img_dir # left endoscope cam images (frame000000_left.jpg) |
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| | | | ├── right_img_dir # right endoscope cam images (frame000000_right.jpg) |
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| | | | ├── endo_psm1 # right wrist cam images (frame000000_psm1.jpg) |
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| | | | ├── endo_psm2 # left wrist cam images (frame000000_psm2.jpg) |
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| | | | └── ee_csv.csv # kinematics |
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| └── tissue_2 # data subset |
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| | ├── 1_[task_name] # task name |
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| | | ├── [episode] # should be timestamp when the data was recorded |
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| | | | ├── left_img_dir # left endoscope cam images (frame000000_left.jpg) |
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| | | | ├── right_img_dir # right endoscope cam images (frame000000_right.jpg) |
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| | | | ├── endo_psm1 # right wrist cam images (frame000000_psm1.jpg) |
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| | | | ├── endo_psm2 # left wrist cam images (frame000000_psm2.jpg) |
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| | | | └── ee_csv.csv # kinematics |
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... |
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``` |
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Each episode is a complete trajectory from a real robotic execution using a da Vinci Research Kit (dVRK) platform. |
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--- |
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## Usage |
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This dataset is designed for training and evaluating autonomous policies that take as input multi-view RGB images (optionally language-conditioned), and output continuous control actions. |
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It supports a wide range of applications including: |
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- Behavioral cloning and offline RL |
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- Multi-modal policy learning (images + kinematics + language) |
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- Visual servoing and tool tracking |
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- Surgical robot benchmarking |
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--- |
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## File Structure |
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Each episode contains: |
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- `left_img_dir/`: Left endoscope camera images |
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- `right_img_dir/`: Right endoscope camera images |
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- `endo_psm1/`: Right wrist (PSM1) camera images |
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- `endo_psm2/`: Left wrist (PSM2) camera images |
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- `ee_csv.csv`: Kinematic data including joint states, poses, and jaw angles |
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--- |
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## Format |
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- Image format: `.jpg`, RGB |
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- Kinematics: CSV with columns such as: |
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- `timestamp` |
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- `psm1_pose.position.{x,y,z}` |
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- `psm1_pose.orientation.{x,y,z,w}` |
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- `psm1_js[0-5]`, `psm2_js[0-5]`, etc. |
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- `ecm_pose.*`, `suj_pose.*`, etc. |
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A complete list of columns is available in the `dataset.croissant.json` schema. |
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--- |
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## Citation |
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If you use this dataset, please cite: |
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```bibtex |
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@misc{suturebot2025, |
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title = {SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing}, |
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author = {Jesse Haworth, Juo-Tung Chen, Nigel Nelson, Ji Woong Kim, Masoud Moghani, Chelsea Finn, Axel Krieger}, |
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year = {2025}, |
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note = {Under review at NeurIPS 2025 Datasets and Benchmarks Track}, |
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howpublished = {\url{https://huggingface.co/datasets/jchen396/suturebot}} |
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} |
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``` |
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## License |
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This dataset is licensed under CC-BY-4.0. Please credit the authors when using this dataset. |
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## Contact |
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For questions or collaboration inquiries, please contact: |
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Juo-Tung Chen |
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Johns Hopkins University |
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📧 jchen396@jh.edu |
