README.md

---
license: gpl-3.0
task_categories:
- robotics
configs:
- config_name: default
  data_files:
  - split: train
    path: data/A_1/train-*
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  - name: /PSM2/measured_js
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  - name: /pedals/camera
    dtype: bool
  - name: /pedals/clutch
    dtype: bool
  - name: /pedals/monopolar
    dtype: bool
  splits:
  - name: train
    num_bytes: 527600113
    num_examples: 10726
  download_size: 525840501
  dataset_size: 527600113
---

# Comprehensive Robotic Cholecystectomy Dataset (CRCD)

The **Comprehensive Robotic Cholecystectomy Dataset (CRCD)** is a large-scale, multimodal dataset for **robot-assisted surgery research**.  
It provides synchronized **endoscopic videos, da Vinci surgical robot kinematics, and pedal usage signals**, making it one of the most complete open datasets for studying **robotic cholecystectomy procedures**.  

CRCD supports research in:
- Medical robotics and surgical automation  
- Computer vision for endoscopic surgery  
- Surgical workflow analysis and phase recognition  
- Instrument tracking and tissue segmentation  
- AI and machine learning in healthcare  

---

## 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

<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>Conference Paper</b></td>
  </tr>
</table>

- **Raw Dataset:** Endoscopic videos, da Vinci kinematics, and console pedal usage ([link](https://uofi.box.com/s/p3aocj6yzq4ctwc0s635a2dfyk9zdv5j))  
- **Annotated Dataset:** Frames with annotated **tissue segmentation** and **instrument keypoints** ([link](https://uofi.box.com/s/f9bg69ve6fkwktr3o33ahmp620w8jth6))  
- **Additional Information:** Stereo endoscopic camera calibration and surgeon background data ([link](https://uofi.box.com/s/w65rui5ylm0i4v4jvlkpacpi4q6jkdpe))  

---

## Dataset Creation

CRCD was collected during **robotic cholecystectomy procedures** performed on the **da Vinci surgical system**.  
Each case includes:
- **High-resolution endoscopic video**  
- **Robot kinematic data** (ECM, MTML, MTMR, PSM1, PSM2)  
- **Surgeon pedal signals** (clutch, camera, monopolar, bipolar)  

Several surgeons with different levels of expertise participated, enabling research on **skill assessment, workflow modeling, and training.**

---

## Citation

If you use CRCD, please cite:  

```bibtex
@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},
  pages={1-7},
  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 Žefran, Miloš and Chen, Liaohai and Giulianotti, Pier Cristoforo},
  title = {Expanded Comprehensive Robotic Cholecystectomy Dataset},
  journal = {Journal of Medical Robotics Research},
  doi = {10.1142/S2424905X25500060},
  URL = {https://doi.org/10.1142/S2424905X25500060}
}