The Single PSM Simple Tissue Phantom Dataset is a multimodal dataset of teleoperate manipulations performed using only the right patient side manipulator (PSM) from a da Vinci Research Kit on a silicone tissue phantom stretched over a sponge base layer. The data are collected in different robot and camera configurations relative to the tissue stage, with different surgical tools (Cadiere and Maryland Bipolar forceps) and with different silicone material (Limbs and Things tissue and DragonSkin).
If you use this dataset, please cite our paper where the dataset was first presented.
Z. Chua, A. M. Jarc, and A. M. Okamura, “Toward Force Estimation in Robot-Assisted Surgery using Deep Learning with Vision and Robot State,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, pp. 12335–12341. doi: 10.1109/ICRA48506.2021.9560945.
@inproceedings{chuaForceEstimationRobotAssisted2021, title = {Toward Force Estimation in Robot-Assisted Surgery Using Deep Learning with Vision and Robot State}, booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)}, author = {Chua, Zonghe and Jarc, Anthony M. and Okamura, Allison M.}, year = {2021}, month = may, pages = {12335--12341}, doi = {10.1109/ICRA48506.2021.9560945}, }
The data is in the ROS ".bag" format. With the nomenclature: Configuration_Material_Tool_Index.bag
| Configuration | Description |
|---|---|
| C | Reference Configuration |
| R1 | Robot Base and Camera Shift -1.5cm in X in robot base frame coords |
| R2 | Robot Base and Camera Shift -3cm in X in robot base frame coords |
| R3 | Robot Base and Camera Shift -4cm in X in robot base frame coords |
| L1 | Robot Base and Camera Shift +1.5cm in X in robot base frame coords |
| L2 | Robot Base and Camera Shift +3cm in X in robot base frame coords |
| L3 | Robot Base and Camera Shift +4cm in X in robot base frame coords |
| Z1 | Robot Base and Camera Shift -0.635cm in Z in robot base frame coords |
| Z2 | Robot Base and Camera Shift -1.270cm in Z in robot base frame coords |
| Z3 | Robot Base and Camera Shift -1.905cm in Z in robot base frame coords |
| Material | Description |
|---|---|
| M1 | Limbs and Things |
| M2 | DragonSkin |
| Tool | Description |
|---|---|
| T1 | Cadiere |
| T2 | Maryland |
| Topic | Type |
|---|---|
| /camera/left/image_color/compressed | sensor_msgs/CompressedImage |
| /camera/right/image_color/compressed | sensor_msgs/CompressedImage |
| /dvrk/PSM2/jacobian_body | std_msgs/Float64MultiArray |
| /dvrk/PSM2/jacobian_spatial | std_msgs/Float64MultiArray |
| /dvrk/PSM2/position_cartesian_current | geometry_msgs/PoseStamped |
| /dvrk/PSM2/position_cartesian_desired | geometry_msgs/PoseStamped |
| /dvrk/PSM2/state_jaw_current | sensor_msgs/JointState |
| /dvrk/PSM2/state_jaw_desired | sensor_msgs/JointState |
| /dvrk/PSM2/state_joint_current | sensor_msgs/JointState |
| /dvrk/PSM2/state_joint_desired | sensor_msgs/JointState |
| /dvrk/PSM2/twist_body_current | geometry_msgs/TwistStamped |
| /dvrk/PSM2/wrench_body_current | geometry_msgs/WrenchStamped |
| /force_sensor | geometry_msgs/WrenchStamped |
For convenience we provide an extraction script. It uses the rosbag package and was written for the Python 2 version of ROS. So it hasn't been tested for Python 3 ROS versions. It also uses some other packages like tqdm and more critically, OpenCV. There might be modifications needed to make it work for specific version of OpenCV.