POV-Surgery: A Dataset for Egocentric Hand and Tool Pose Estimation During Surgical Activities
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Author / Producer
Date
2023
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments from an egocentric perspective is a fundamental task and has been studied extensively in the computer vision field in recent years. However, the development of this field has been impeded by a lack of datasets, especially in the surgical field, where bloody gloves and reflective metallic tools make it hard to obtain 3D pose annotations for hands and objects using conventional methods. To address this issue, we propose POV-Surgery, a large-scale, synthetic, ego-centric dataset focusing on pose estimation for hands with different surgical gloves and three orthopedic surgical instruments, namely scalpel, friem, and diskplacer. Our dataset consists of 53 sequences and 88,329 frames, featuring high-resolution RGB-D video streams with activity annotations, accurate 3D and 2D annotations for hand-object pose, and 2D hand-object segmentation masks. We fine-tune the current SOTA methods on POV-Surgery and further show the generalizability when applying to real-life cases with surgical gloves and tools by extensive evaluations. The code and the dataset are publicly available at http://batfacewayne.github.io/POV_Surgery_io/.
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Publication status
published
External links
Book title
Medical Image Computing and Computer Assisted Intervention – MICCAI 2023
Journal / series
Volume
14228
Pages / Article No.
440 - 450
Publisher
Springer
Event
26th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2023)
Edition / version
Methods
Software
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Date collected
Date created
Subject
Hand object pose estimation; Deep learning; Dataset; Mixed reality
Organisational unit
03943 - Meboldt, Mirko / Meboldt, Mirko
09686 - Tang, Siyu / Tang, Siyu
Notes
Funding
Related publications and datasets
Is supplemented by: http://batfacewayne.github.io/POV_Surgery_io/