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Sensorium: An Open-Source Library for Multimodal Surgical Data Acquisition and Curation

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Lorenzo Mazza, Ariel Rodriguez, and Stefanie Speidel released Sensorium, an open-source Python library for recording, processing, annotating, and curating multimodal surgical data from configurable robot and sensor data streams. The library is built on ROS and ROS2 middleware and covers operator-side acquisition, configurable processing, semantic annotation, and segment-based dataset generation. The authors state that they evaluated the library on 1516 recordings of phantom, ex vivo, and live porcine experiments, involving a variety of surgical tasks and sensor configurations, and report preliminary usability feedback.

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  1. Sensorium: An open-source multimodal data collection and curation library for embodied surgical AI

    The authors released Sensorium, an open-source Python library built on ROS and ROS2 middleware that records, processes, annotates, and curates multimodal surgical data from configurable robot and sensor streams, covering operator-side acquisition, configurable processing, semantic annotation, and episodic dataset generation. The library was evaluated on 1516 recordings of phantom, ex vivo, and in vivo porcine experiments involving multiple surgical tasks and sensing configurations, with preliminary usability feedback reported.

    arXiv cs.RO ·

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Data and simulationSoftware and compute systemsResearch papers

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