MiDAS实现多平台机器人手术数据同步采集，助力科研复现
MiDAS: A Multimodal Data Acquisition System and Dataset for Robot-Assisted Minimally Invasive Surgery
- 不依赖厂商接口，通过外部传感器同步获取手势、脚踏与视频数据
- 在瑞文二号和达芬奇Xi上验证，手势识别效果接近专用系统
- 开源提供首个高保真模拟器疝气缝合多模态数据集，适合手术算法研究
背景：机器人辅助微创手术（RMIS）研究日益依赖多模态数据，但专有机器人遥测数据难以获取。我们提出MiDAS，一个开源、平台无关的系统，可跨手术机器人平台实现时间同步的非侵入式多模态数据采集。方法：MiDAS集成电磁与RGB-D手部追踪、脚踏传感及手术视频捕获，无需访问专有机器人接口。我们在开源瑞文二号（Raven-II）和临床达芬奇Xi（da Vinci Xi）上，采集了由外科住院医师完成的钉移位与疝气缝合任务的多模态数据集。进行了相关性分析及下游手势识别实验。结果：外部手部与脚踏传感数据与内部机器人运动学高度相关，非侵入式信号实现的手势识别性能接近专有遥测。结论：MiDAS实现了可复现的多模态RMIS数据采集，已开源附带标注数据集，包含首个在高保真模拟器上采集的疝气缝合多模态数据集。
原文摘要 · Abstract (English)
Background: Robot-assisted minimally invasive surgery (RMIS) research increasingly relies on multimodal data, yet access to proprietary robot telemetry remains a major barrier. We introduce MiDAS, an open-source, platform-agnostic system enabling time-synchronized, non-invasive multimodal data acquisition across surgical robotic platforms. Methods: MiDAS integrates electromagnetic and RGB-D hand tracking, foot pedal sensing, and surgical video capturing without requiring proprietary robot interfaces. We validated MiDAS on the open-source Raven-II and the clinical da Vinci Xi by collecting multimodal datasets of peg transfer and hernia repair suturing tasks performed by surgical residents. Correlation analysis and downstream gesture recognition experiments were conducted. Results: External hand and foot sensing closely approximated internal robot kinematics and non-invasive motion signals achieved gesture recognition performance comparable to proprietary telemetry. Conclusion: MiDAS enables reproducible multimodal RMIS data collection and is released with annotated datasets, including the first multimodal dataset capturing hernia repair suturing on high-fidelity simulation models.
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