diff --git a/Surgical/semaphor/open_h_semaphor/meta/README.md b/Surgical/semaphor/open_h_semaphor/meta/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ac0b040cf649e755e7bc35cd9df4a7c5a470c758 --- /dev/null +++ b/Surgical/semaphor/open_h_semaphor/meta/README.md @@ -0,0 +1,175 @@ + + +# [Dataset Name] - README + +--- + +## 📋 At a Glance + +*Our dataset is dataset with tracked neural surgery tools doing suturing on ex-vivo pork belly* + +--- + +## 📖 Dataset Overview + +*This dataset contains 500 trajectories of expert surgeons using neural surgery tool to perform surgical suturing tasks. It includes successful trials to provide a robust dataset for training imitation learning policies* + +| | | +| :--- | :--- | +| **Total Trajectories** | `534` | +| **Total Hours** | `0.5 hours` | +| **Data Type** | `[ ] Clinical` `[ X ] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` | +| **License** | CC BY 4.0 | +| **Version** | `[e.g., 1.0]` | + +--- + +## 🎯 Tasks & Domain + +### Domain + +*Select the primary domain for this dataset.* + +- [X] **Surgical Robotics** +- [ ] **Ultrasound Robotics** +- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`) + +### Demonstrated Skills + +- Needle-passing +- Needle-Grasping +- Needle-handover +- Suture-tying + +--- + +## 🔬 Data Collection Details + +### Collection Method + +*How was the data collected?* + +- [ ] **Human Teleoperation** +- [ ] **Programmatic/State-Machine** +- [ ] **AI Policy / Autonomous** +- [X] **Other** (Please specify: `Direct Human Operation`) + +### Operator Details + +| | Description | +| :--- | :--- | +| **Operator Count** | `[1]` | +| **Operator Skill Level** | `[X] Expert (e.g., Surgeon, Sonographer)`
`[ ] Intermediate (e.g., Trained Researcher)`
`[ ] Novice (e.g., ML Researcher with minimal experience)`
`[ ] N/A` | +| **Collection Period** | From `[2025-01-10]` to `[2025-01-28]` | + +### Recovery Demonstrations + +*Does this dataset include examples of recovering from failure?* + +- [ ] **Yes** +- [X] **No** + +**If yes, please briefly describe the recovery process:** + +--- + +## 💡 Diversity Dimensions + +*Check all dimensions that were intentionally varied during data collection.* + +- [ ] **Camera Position / Angle** +- [ ] **Lighting Conditions** +- [ ] **Target Object** (e.g., different phantom models, suture types) +- [ ] **Spatial Layout** (e.g., placing the target suture needle in various locations) +- [ ] **Robot Embodiment** (if multiple robots were used) +- [ ] **Task Execution** (e.g., different techniques for the same task) +- [ ] **Background / Scene** +- [ ] **Other** (Please specify: `[Your Dimension]`) + +*If you checked any of the above please briefly elaborate below.* + +--- + +## 🛠️ Equipment & Setup + +### Robotic Platform(s) + +*Manual Neural Surgery Tool* + +### Sensors & Cameras + +*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)* + +| Type | Model/Details | +| :--- | :--- | +| **Primary Camera** | `[Zed X camera, 1920x1080 @ 30fps]` | +| **Side Camera (left)** | `[Zed X camera, 1920x1080 @ 30fps]` | +| **Side Camera (right)** | `[Zed X camera, 1920x1080 @ 30fps]` | + +--- + +## 🎯 Action & State Space Representation + +### Action Space Representation + +**Primary Action Representation:** +- [X] **Absolute Cartesian** (position/orientation relative to robot base) +- [ ] **Relative Cartesian** (delta position/orientation from current pose) +- [ ] **Joint Space** (direct joint angle commands) +- [ ] **Other** (Please specify: `[Your Representation]`) + +**Orientation Representation:** +- [ ] **Quaternions** (x, y, z, w) +- [X] **Euler Angles** (roll, pitch, yaw) +- [ ] **Axis-Angle** (rotation vector) +- [ ] **Rotation Matrix** (3x3 matrix) +- [ ] **Other** (Please specify: `[Your Representation]`) + +**Reference Frame:** +- [ ] **Robot Base Frame** +- [ ] **Tool/End-Effector Frame** +- [ ] **World/Global Frame** +- [X] **Camera Frame** +- [ ] **Other** (Please specify: `[Your Frame]`) + +**Action Dimensions:** +*Action is represented as the pose of (x_0,y_0,z_0,roll_0,pitch_0,yall_0,valid_0,x_1,y_1,z_1,roll_1,pitch_1,yall_1,valid_1) with subscripts as tool id. valid means whether this pose for the tool is valid in this frame* + + +### State Space Representation + +**State Information Included:** +- [ ] **Joint Positions** (all articulated joints) +- [ ] **Joint Velocities** +- [X] **End-Effector Pose** (Cartesian position/orientation) +- [ ] **Force/Torque Readings** +- [ ] **Gripper State** (position, force, etc.) +- [ ] **Other** (Please specify: `[Your State Info]`) + +**State Dimensions:** + +*State is represented as the pose of (x_0,y_0,z_0,roll_0,pitch_0,yall_0,valid_0,x_1,y_1,z_1,roll_1,pitch_1,yall_1,valid_1) with subscripts as tool id. valid means whether this pose for the tool is valid in this frame.* + + +--- + +## ⏱️ Data Synchronization Approach + +*We have the timestamp from all cameras, we set the main camera as anchor, for each frame in the main camera, each side cameras choose the frame with closest timestamp as the symchromnized frame.* + +--- + +## 👥 Attribution & Contact + +*Please provide attribution for the dataset creators and a point of contact.* + +| | | +| :--- | :--- | +| **Dataset Lead** | `[Hao Ding]` | +| **Institution** | `[Semaphor Surgical]` | +| **Contact Email** | `[hao@semaphorsurgical.com]` | +| **Citation (BibTeX)** | 
@misc{[SemaphorSuture],
  author = {[Hao Ding, Chenhao Yu, Chenhao Yu, Zoe Soulé, Jose Porras, Axel Krieger, Mathias Unberath]},
  title = {[Semaphor Suturing Dataset]},
  year = {2025},
  publisher = {Open-H-Embodiment},
  note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}
}
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