Training dataset from the Da Vinci Research Kit

Abstract

The use of data sets are getting more relevance in surgical robotics since they can be used to recognise and automate tasks in the lab. Also, it allows to use a common data set to compare different algorithms and methods. The objective of this work is to provide a complete data set of several training tasks that surgeons perform to improve their skills. For this purpose, the Da Vinci research kit has been used to perform a different training tasks. The obtained data set includes all the information provided by the da Vinci robot together with the corresponding video from the camera. Kinematic data has been collected at 50 frames per seconds, and images at 15 frames per seconds. All the information has been carefully timestamped and provided in a readable csv format. The application used to retrieve the information from the da Vinci research kit, as well as tools to access the information are also provided.