| --- |
| license: cc-by-4.0 |
| language: |
| - en |
| tags: |
| - medical |
| --- |
| # SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing |
|
|
| This dataset is part of the **SutureBot** project, a benchmark for developing and evaluating autonomous surgical robotic policies for end-to-end suturing. It contains high-resolution, multi-camera video and robot kinematics from real robot demonstrations on tissue phantoms, supporting research in imitation learning, vision-language-action modeling, and surgical autonomy. |
|
|
| [project website](https://suturebot.github.io/) | [code repository](https://github.com/SutureBot/SutureBot/tree/ACT). |
|
|
| ## Dataset Summary |
|
|
| The dataset includes: |
|
|
| - **Stereo endoscope images** (`left_img_dir`, `right_img_dir`) |
| - **Wrist camera views** (`endo_psm1`, `endo_psm2`) |
| - **Low-level kinematics** (end-effector pose, joint angles, jaw state, etc.) in `ee_csv.csv` |
| - **Multiple tissues** and **multiple task types** (e.g., needle pick-up, suturing) |
| - All data is organized by: |
| tissue_[id]/[task_name]/[episode_timestamp]/ |
| |
| |
| The following is a visualization of the dataset folder structure: |
| ``` |
| $PATH_TO_DATASET |
| ├── [DATASET_NAME] # the dataset base dir |
| | └── tissue_1 # data subset |
| | | ├── 1_[task_name] # task name |
| | | | ├── [episode] # should be timestamp when the data was recorded |
| | | | | ├── left_img_dir # left endoscope cam images (frame000000_left.jpg) |
| | | | | ├── right_img_dir # right endoscope cam images (frame000000_right.jpg) |
| | | | | ├── endo_psm1 # right wrist cam images (frame000000_psm1.jpg) |
| | | | | ├── endo_psm2 # left wrist cam images (frame000000_psm2.jpg) |
| | | | | └── ee_csv.csv # kinematics |
| | └── tissue_2 # data subset |
| | | ├── 1_[task_name] # task name |
| | | | ├── [episode] # should be timestamp when the data was recorded |
| | | | | ├── left_img_dir # left endoscope cam images (frame000000_left.jpg) |
| | | | | ├── right_img_dir # right endoscope cam images (frame000000_right.jpg) |
| | | | | ├── endo_psm1 # right wrist cam images (frame000000_psm1.jpg) |
| | | | | ├── endo_psm2 # left wrist cam images (frame000000_psm2.jpg) |
| | | | | └── ee_csv.csv # kinematics |
| ... |
| ``` |
| |
| Each episode is a complete trajectory from a real robotic execution using a da Vinci Research Kit (dVRK) platform. |
| |
| --- |
| |
| ## Usage |
| |
| This dataset is designed for training and evaluating autonomous policies that take as input multi-view RGB images (optionally language-conditioned), and output continuous control actions. |
| |
| It supports a wide range of applications including: |
| - Behavioral cloning and offline RL |
| - Multi-modal policy learning (images + kinematics + language) |
| - Visual servoing and tool tracking |
| - Surgical robot benchmarking |
| |
| --- |
| |
| ## File Structure |
| |
| Each episode contains: |
| - `left_img_dir/`: Left endoscope camera images |
| - `right_img_dir/`: Right endoscope camera images |
| - `endo_psm1/`: Right wrist (PSM1) camera images |
| - `endo_psm2/`: Left wrist (PSM2) camera images |
| - `ee_csv.csv`: Kinematic data including joint states, poses, and jaw angles |
| |
| --- |
| |
| ## Format |
| |
| - Image format: `.jpg`, RGB |
| - Kinematics: CSV with columns such as: |
| - `timestamp` |
| - `psm1_pose.position.{x,y,z}` |
| - `psm1_pose.orientation.{x,y,z,w}` |
| - `psm1_js[0-5]`, `psm2_js[0-5]`, etc. |
| - `ecm_pose.*`, `suj_pose.*`, etc. |
| |
| A complete list of columns is available in the `dataset.croissant.json` schema. |
| |
| --- |
| |
| ## Citation |
| |
| If you use this dataset, please cite: |
| |
| ```bibtex |
| @misc{suturebot2025, |
| title = {SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing}, |
| author = {Jesse Haworth, Juo-Tung Chen, Nigel Nelson, Ji Woong Kim, Masoud Moghani, Chelsea Finn, Axel Krieger}, |
| year = {2025}, |
| note = {Under review at NeurIPS 2025 Datasets and Benchmarks Track}, |
| howpublished = {\url{https://huggingface.co/datasets/jchen396/suturebot}} |
| } |
| ``` |
| ## License |
| This dataset is licensed under CC-BY-4.0. Please credit the authors when using this dataset. |
| |
| ## Contact |
| For questions or collaboration inquiries, please contact: |
| |
| Juo-Tung Chen |
| Johns Hopkins University |
| 📧 jchen396@jh.edu |
