needle-insertion
meca500-needle-insertion
Meca500 니들 삽입 데이터셋 (아이팬텀 트로카)
Mecademic Meca500 R3 6축 로봇으로 수집한 아이팬텀(eye phantom) 니들 삽입 실기 시연 데이터.
카메라 3대 + (일부) 광섬유 OCT·힘 센서를 동기 기록했습니다.
1,281 에피소드 · 438,156 프레임 · 145 GB — 전량 실물 로봇 수집분입니다.
서브셋
서브셋
에피소드
프레임
크기
센서
수집 기간
Eye_trocar/
990
344,181
102.9 GB
834개에 OCT A-line + 힘
2026-01-06 ~ 01-21
Red_point/
291
93,975
42.4 GB
없음
2025-12-22 ~ 2026-01-04
Eye_trocar — 아이팬텀의 트로카에 니들을 정렬·삽입하는 본 태스크.
날짜 폴더(260106~`260121) 아래 있고, 260106은 작업자별 하위 폴더 (1_KTY… See the full description on the dataset page: https://huggingface.co/datasets/Najongs/meca500-needle-insertion.needle_insertion_xyzi_2048This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.pointcloud": {
"dtype": "float32",
"shape": [
2048,
4
],
"names": [
"N_points",
"XYZI"
]
},
"observation.state": {
"dtype": "float32",
"shape": [… See the full description on the dataset page: https://huggingface.co/datasets/cagedBirdy/needle_insertion_xyzi_2048.NeedleInsertionVibroacousticDataset
Vibroacoustic Needle Insertion Temperature Dataset
This dataset contains vibroacoustic signals from needle insertions into water-saturated porous material.
Structure
robotic/ - signals from robotic insertions
manual/ - signals from manual insertions
Each file is a .wav file containing the recorded vibroacoustic signal. Temperature for each signal is included in the filename or metadata.
Temperature information is included in each filename in °C.
Data… See the full description on the dataset page: https://huggingface.co/datasets/Martiii3/NeedleInsertionVibroacousticDataset.