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---
license: gpl-3.0
task_categories:
- robotics
configs:
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data_files:
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path: data/train-*
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- name: /pedals/bipolar
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- name: /pedals/camera
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- name: /pedals/read/monopolar
dtype: bool
splits:
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dataset_size: 33538625323.89
---
# Comprehensive Robotic Cholecystectomy Dataset (CRCD)
## Robotic Assisted Surgery Dataset
## Dataset Info
- **Curated by:** Ki-Hwan Oh, Leonardo Borgioli, Alberto Mangano, Valentina Valle, Marco Di Pangrazio, Francesco Toti,
Gioia Pozza, Luciano Ambrosini, Alvaro Ducas, Miloš Žefran, Liaohai Chen, Pier Cristoforo Giulianotti
- **License:** GPL-3.0 License
## Dataset Sources
- **Links:**
<table align="center">
<tr>
<td><a href="https://github.com/sitleng/CRCD"><img src="https://img.shields.io/badge/GitHub-Repo-blue?logo=github"/></a><br/><b>GitHub</b></td>
<td><a href="https://arxiv.org/abs/2412.12238#)"><img src="https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv"/></a><br/><b>Journal (Expanded)</b></td>
<td><a href="https://ieeexplore.ieee.org/abstract/document/10585836"><img src="https://img.shields.io/badge/IEEE-Paper-blue?logo=ieee"/></a><br/><b>Paper</b></td>
</tr>
</table>
- **Raw Dataset:** Videos, da Vinci Kinematics, and da Vinci Consolde Pedal Usage. ([Link](https://uofi.box.com/s/p3aocj6yzq4ctwc0s635a2dfyk9zdv5j))
- **Annotated Dataset:** Dataset including frames with annotated tissue segmentation or instrument keypoints. ([Link](https://uofi.box.com/s/f9bg69ve6fkwktr3o33ahmp620w8jth6))
- **Additional Information:** Includes the stereo endoscopic camera calibrations and the background information of each surgeon. ([Link](https://uofi.box.com/s/w65rui5ylm0i4v4jvlkpacpi4q6jkdpe))
## Dataset Creation
This dataset includes synced endoscopic images with the recorded da Vinci kinematics and console pedal readings.
Several surgeons with different backgrounds performed each procedure. For further details, please refer to our paper.
## Citation
Please cite our paper if you used our dataset in any form:
```
@INPROCEEDINGS{oh2024crcd,
author={Oh, Ki-Hwan and Borgioli, Leonardo and Mangano, Alberto and Valle, Valentina and Di Pangrazio, Marco and Toti, Francesco and Pozza, Gioia and Ambrosini, Luciano and Ducas, Alvaro and Žefran, Miloš and Chen, Liaohai and Giulianotti, Pier Cristoforo},
booktitle={2024 International Symposium on Medical Robotics (ISMR)},
title={Comprehensive Robotic Cholecystectomy Dataset (CRCD): Integrating Kinematics, Pedal Signals, and Endoscopic Videos},
year={2024},
volume={},
number={},
pages={1-7},
keywords={Medical robotics;Automation;Robot vision systems;Liver;Kinematics;Predictive models;Cameras},
doi={10.1109/ISMR63436.2024.10585836}
}
@article{oh2024crcdexpanded,
author = {Oh, Ki-Hwan and Borgioli, Leonardo and Mangano, Alberto and Valle, Valentina and Pangrazio, Marco Di and Toti, Francesco and Pozza, Gioia and Ambrosini, Luciano and Ducas, Alvaro and \v{Z}efran, Milo\v{s} and Chen, Liaohai and Giulianotti, Pier Cristoforo},
title = {Expanded Comprehensive Robotic Cholecystectomy Dataset},
journal = {Journal of Medical Robotics Research},
volume = {0},
number = {0},
pages = {2550006},
year = {0},
doi = {10.1142/S2424905X25500060},
URL = {https://doi.org/10.1142/S2424905X25500060},
eprint = {https://doi.org/10.1142/S2424905X25500060}
}
```
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