Najongs2026cc-by-nc-4.0
Meca500 Needle Insertion Dataset (Eye Phantom Trocar)
A surgical robotics dataset of needle insertion tasks into eye phantoms collected with a Mecademic Meca500 R3 6-axis robot, featuring synchronized multi-camera RGB video, proprioceptive data, and optical coherence tomography (OCT) A-line and force sensor measurements.
Downloads21
Episodes1,281
Why This Matters for Physical AI
This dataset provides high-precision surgical manipulation demonstrations with multimodal sensor fusion (vision, proprioception, optical sensing, and force feedback) essential for training vision-language-action models in fine-grained surgical robotics tasks.
Technical Profile
- Modalities
- rgbproprioceptionforce_torqueoct
- Robot Embodiments
- Mecademic Meca500 R3
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- needle_insertionmanipulation
- Episodes
- 1,281
- Data Format
- HDF5
- Annotation Types
- action_labels
- License
- cc-by-nc-4.0
Access
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