diff --git a/Surgical/turin/mitic_lerobot_ex_vivo/meta/README.md b/Surgical/turin/mitic_lerobot_ex_vivo/meta/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d78facfdb1d3b51093ef708e64ed2c238bc75d97 --- /dev/null +++ b/Surgical/turin/mitic_lerobot_ex_vivo/meta/README.md @@ -0,0 +1,160 @@ +# DVRK Suturing Subtasks Dataset - README + +--- + +## At a Glance + +Teleoperated demonstrations of a dVRK robot performing suturing subtasksk, like tissue lifting, needle insertion, needle extraction, knot tying on ex vivo porcine colon and stomach. + +--- + +## Dataset Overview + +| | | +| :--- | :--- | +| **Total Trajectories** | 800 | +| **Total Hours** | [TO be filled] | +| **Data Type** | Ex-Vivo | +| **License** | CC BY 4.0 | +| **Version** | 1.0 | + +--- + +## Tasks & Domain + +### Domain + +- [x] **Surgical Robotics** +- [ ] **Ultrasound Robotics** +- [ ] **Other Healthcare Robotics** + +### Demonstrated Skills + +- Bimanual manipulation +- Pick and place +- Needle handling +- Knot tying +- Soft and ex-vivo tissue manipulation + +--- + +## Data Collection Details + +### Collection Method + +- [x] **Human Teleoperation** +- [ ] **Programmatic/State-Machine** +- [ ] **AI Policy / Autonomous** +- [ ] **Other** + +### Operator Details + +| | Description | +| :--- | :--- | +| **Operator Count** | 5 operators | +| **Operator Skill Level** | Expert (Surgeons) and Novice (ML researchers with minimal surgical experience) | +| **Collection Period** | [To be filled] | + +### Recovery Demonstrations + +- [x] **Yes** +- [] **No** + +For each task, recovery demonstrations and errors are recorded. + +--- + +## Diversity Dimensions + +- [x] **Target Object** (different wounds for suturing and different anatomical specimens) +- [] **Spatial Layout** +- [x] **Camera Position / Angle** (different position and orientations) +- [x] **Lighting Conditions** +- [ ] **Robot Embodiment** +- [x] **Task Execution** (different operators performed the tasks differently) +- [x] **Background / Scene** (different background conditions) + +We have recorded tasks both on porcine colon and stomach. Camera position and lighting condition were changed after every 20 episodes circa. We recruited 3 expert surgeons and 2 ML researchers that performed the tasks according to their expertise and own techniques. The background conditions change between colon and stomach episodes. + +--- + +## Equipment & Setup + +### Robotic Platform(s) + +- **Robot 1:** dVRK (da Vinci Research Kit) + +### Sensors & Cameras + +| Type | Model/Details | +| :--- | :--- | +| **Primary Camera** | Stereo Endoscope (left), 1920x1080 @ 30 fps | +| **Secondary Camera** | Stereo Endoscope (right), 1920x1080 @ 30 fps | + +--- + +## Action & State Space Representation + +### Action Space Representation + +**Primary Action Representation:** +- [x] **Absolute Cartesian** (position/orientation relative to robot base) + +**Orientation Representation:** +- [x] **Quaternions** (x, y, z, w) + +**Action Dimensions:** +``` +action: [psm1_x, psm1_y, psm1_z, psm1_qx, psm1_qy, psm1_qz, psm1_qw, + psm2_x, psm2_y, psm2_z, psm2_qx, psm2_qy, psm2_qz, psm2_qw] +- psm1_x, psm1_y, psm1_z: PSM1 absolute cartesian positions +- psm1_qx, psm1_qy, psm1_qz, psm1_qw: PSM1 absolute cartesian orientations +- psm2_x, psm2_y, psm2_z: PSM2 absolute cartesian positions +- psm2_qx, psm2_qy, psm2_qz, psm2_qw: PSM2 absolute cartesian orientations +``` + +### State Space Representation + +**State Information Included:** +- [x] **Joint Positions** (all articulated joints) + +**State Dimensions:** +``` +observation.state: [psm1_j1, psm1_j2, psm1_j3, psm1_j4, psm1_j5, psm1_j6, + psm2_j1, psm2_j2, psm2_j3, psm2_j4, psm2_j5, psm2_j6] +- psm1_j1-j6: PSM1 6-DOF joint positions (radians) +- psm2_j1-j6: PSM2 6-DOF joint positions (radians) +``` + +--- + +## Data Synchronization Approach + +All data are acquired using rosbag and all ROS messages are stamped with their header.stamp fields. +Data is synchronized offline post collection. The right camera serves as the reference timestamp source. For each frame acquired, only the (time) closest data is saved from robot kinematics, with a tolerance of 0.1 secs. + +**Synchronization Method:** +- Reference stream: `/decklink/right/image_raw/compressed` (right stereo camera) +- Tolerance: 0.1 seconds +- Framework: ROS (Robot Operating System) + +Messages from the following topics are synchronized: +- `/decklink/left/image_raw/compressed` - Left camera images +- `/decklink/right/image_raw/compressed` - Right camera images +- `/PSM1/measured_js` - PSM1 joint states +- `/PSM1/measured_cp` - PSM1 absolute cartesian position +- `/PSM2/measured_js` - PSM2 joint states +- `/PSM2/measured_cp` - PSM2 absolute cartesian position + +--- + +## Attribution & Contact + +| | | +| :--- | :--- | +| **Dataset Lead** | Matteo Pescio, Francesco Marzola, Luigi Muratore, Federica Barontini, Giovanni Distefano, Federico Lavagno, Giulio Dagnino, Alberto Arezzo | +| **Institution** | MITIC Lab - Università degli Studi di Torino | +| **Contact Email** | matteo.pescio@unito.it, francesco.marzola@unito.it, luigi.muratore@studenti.polito.it, federica.barontini@unito.it, giovanni.distefano@unito.it, federico.lavagno@unito.it, giulio.dagnino@unito.it, alberto.arezzo@unito.it | +| **Citation (BibTeX)** | 
@misc{dvrk_suturing_subtasks_2025,
  author = {Pescio, Matteo and Marzola, Francesco and Muratore, Luigi and Barontini, Federica and Distefano, Giovanni and Lavagno, Federico and Dagnino, Giulio and Arezzo, Alberto},
  title = {DVRK Suturing Subtasks Dataset},
  year = {2025},
  publisher = {Open-H-Embodiment},
}
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a/Surgical/turin/mitic_lerobot_plastic_tube/meta/README.md b/Surgical/turin/mitic_lerobot_plastic_tube/meta/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d024d218854f7dc900e3488c2dda2f9fed4ed6d8 --- /dev/null +++ b/Surgical/turin/mitic_lerobot_plastic_tube/meta/README.md @@ -0,0 +1,160 @@ +# DVRK Suturing Subtasks Dataset - README + +--- + +## At a Glance + +Teleoperated demonstrations of a dVRK robot performing suturing subtasksk, like tissue lifting, needle insertion, needle extraction, knot tying on plastic phantom. + +--- + +## Dataset Overview + +| | | +| :--- | :--- | +| **Total Trajectories** | 480 | +| **Total Hours** | [TO be filled] | +| **Data Type** | Ex-Vivo | +| **License** | CC BY 4.0 | +| **Version** | 1.0 | + +--- + +## Tasks & Domain + +### Domain + +- [x] **Surgical Robotics** +- [ ] **Ultrasound Robotics** +- [ ] **Other Healthcare Robotics** + +### Demonstrated Skills + +- Bimanual manipulation +- Pick and place +- Needle handling +- Knot tying +- Soft tissue manipulation + +--- + +## Data Collection Details + +### Collection Method + +- [x] **Human Teleoperation** +- [ ] **Programmatic/State-Machine** +- [ ] **AI Policy / Autonomous** +- [ ] **Other** + +### Operator Details + +| | Description | +| :--- | :--- | +| **Operator Count** | 5 operators | +| **Operator Skill Level** | Expert (Surgeons) and Novice (ML researchers with minimal surgical experience) | +| **Collection Period** | [To be filled] | + +### Recovery Demonstrations + +- [x] **Yes** +- [] **No** + +For each task, recovery demonstrations and errors are recorded. + +--- + +## Diversity Dimensions + +- [x] **Target Object** (different wounds for suturing and different anatomical specimens) +- [] **Spatial Layout** +- [x] **Camera Position / Angle** (different position and orientations) +- [x] **Lighting Conditions** +- [ ] **Robot Embodiment** +- [x] **Task Execution** (different operators performed the tasks differently) +- [x] **Background / Scene** (different background conditions) + +We have recorded tasks on a plastic phantom. Camera position and lighting condition were changed after every 20 episodes circa. We recruited 3 expert surgeons and 2 ML researchers that performed the tasks according to their expertise and own techniques. The background conditions change between colon and stomach episodes. + +--- + +## Equipment & Setup + +### Robotic Platform(s) + +- **Robot 1:** dVRK (da Vinci Research Kit) + +### Sensors & Cameras + +| Type | Model/Details | +| :--- | :--- | +| **Primary Camera** | Stereo Endoscope (left), 1920x1080 @ 30 fps | +| **Secondary Camera** | Stereo Endoscope (right), 1920x1080 @ 30 fps | + +--- + +## Action & State Space Representation + +### Action Space Representation + +**Primary Action Representation:** +- [x] **Absolute Cartesian** (position/orientation relative to robot base) + +**Orientation Representation:** +- [x] **Quaternions** (x, y, z, w) + +**Action Dimensions:** +``` +action: [psm1_x, psm1_y, psm1_z, psm1_qx, psm1_qy, psm1_qz, psm1_qw, + psm2_x, psm2_y, psm2_z, psm2_qx, psm2_qy, psm2_qz, psm2_qw] +- psm1_x, psm1_y, psm1_z: PSM1 absolute cartesian positions +- psm1_qx, psm1_qy, psm1_qz, psm1_qw: PSM1 absolute cartesian orientations +- psm2_x, psm2_y, psm2_z: PSM2 absolute cartesian positions +- psm2_qx, psm2_qy, psm2_qz, psm2_qw: PSM2 absolute cartesian orientations +``` + +### State Space Representation + +**State Information Included:** +- [x] **Joint Positions** (all articulated joints) + +**State Dimensions:** +``` +observation.state: [psm1_j1, psm1_j2, psm1_j3, psm1_j4, psm1_j5, psm1_j6, + psm2_j1, psm2_j2, psm2_j3, psm2_j4, psm2_j5, psm2_j6] +- psm1_j1-j6: PSM1 6-DOF joint positions (radians) +- psm2_j1-j6: PSM2 6-DOF joint positions (radians) +``` + +--- + +## Data Synchronization Approach + +All data are acquired using rosbag and all ROS messages are stamped with their header.stamp fields. +Data is synchronized offline post collection. The right camera serves as the reference timestamp source. For each frame acquired, only the (time) closest data is saved from robot kinematics, with a tolerance of 0.1 secs. + +**Synchronization Method:** +- Reference stream: `/decklink/right/image_raw/compressed` (right stereo camera) +- Tolerance: 0.1 seconds +- Framework: ROS (Robot Operating System) + +Messages from the following topics are synchronized: +- `/decklink/left/image_raw/compressed` - Left camera images +- `/decklink/right/image_raw/compressed` - Right camera images +- `/PSM1/measured_js` - PSM1 joint states +- `/PSM1/measured_cp` - PSM1 absolute cartesian position +- `/PSM2/measured_js` - PSM2 joint states +- `/PSM2/measured_cp` - PSM2 absolute cartesian position + +--- + +## Attribution & Contact + +| | | +| :--- | :--- | +| **Dataset Lead** | Matteo Pescio, Francesco Marzola, Luigi Muratore, Federica Barontini, Giovanni Distefano, Federico Lavagno, Giulio Dagnino, Alberto Arezzo | +| **Institution** | MITIC Lab - Università degli Studi di Torino | +| **Contact Email** | matteo.pescio@unito.it, francesco.marzola@unito.it, luigi.muratore@studenti.polito.it, federica.barontini@unito.it, giovanni.distefano@unito.it, federico.lavagno@unito.it, giulio.dagnino@unito.it, alberto.arezzo@unito.it | +| **Citation (BibTeX)** | 
@misc{dvrk_suturing_subtasks_2025,
  author = {Pescio, Matteo and Marzola, Francesco and Muratore, Luigi and Barontini, Federica and Distefano, Giovanni and Lavagno, Federico and Dagnino, Giulio and Arezzo, Alberto},
  title = {DVRK Suturing Subtasks Dataset},
  year = {2025},
  publisher = {Open-H-Embodiment},
}
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