| --- |
| license: cc-by-nc-sa-4.0 |
| task_categories: |
| - image-segmentation |
| tags: |
| - medical |
| - surgical |
| - endoscopy |
| - robot-assisted-surgery |
| - prostatectomy |
| - instrument-segmentation |
| pretty_name: SAR-RARP50 |
| size_categories: |
| - 10K<n<100K |
| dataset_info: |
| features: |
| - name: image |
| dtype: image |
| - name: mask |
| dtype: image |
| - name: operation_id |
| dtype: int32 |
| - name: video_id |
| dtype: string |
| - name: part |
| dtype: int32 |
| - name: frame_index |
| dtype: int32 |
| - name: time_sec |
| dtype: float32 |
| - name: action_label |
| dtype: int32 |
| - name: action_name |
| dtype: string |
| - name: challenge_subset |
| dtype: string |
| - name: num_frames_video |
| dtype: int32 |
| splits: |
| - name: train |
| num_bytes: 13529331109 |
| num_examples: 13043 |
| - name: test |
| num_bytes: 3011187155 |
| num_examples: 3252 |
| download_size: 16541661335 |
| dataset_size: 16540518264 |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/train-* |
| - split: test |
| path: data/test-* |
| --- |
| |
| # SAR-RARP50 |
|
|
| Surgical instrument segmentation and action recognition on **50 robot-assisted |
| radical prostatectomy (RARP)** procedures — the MICCAI/EndoVis 2022 SAR-RARP50 |
| challenge dataset. Video covers the dorsal venous complex (DVC) suturing phase, |
| captured from the left channel of a da Vinci stereo endoscope. |
|
|
| ## Contents |
|
|
| One row per **annotated frame**: the decoded 1920x1080 RGB video frame and its |
| instrument segmentation mask. |
|
|
| | split | operations | archives | frames | |
| |-------|-----------|----------|--------| |
| | train | 40 | 44 | 13,043 | |
| | test | 10 | 10 | 3,252 | |
| | **total** | **50** | **54** | **16,295** | |
|
|
| Masks are annotated at **1 Hz** from 60 fps video, which is exactly the rate the |
| official challenge metric scores at, so this mirror is the complete segmentation |
| benchmark. Both splits carry real ground truth. The raw `video_left.avi` files |
| are not mirrored (31 GiB, ~98% unannotated); the 10 Hz action labels are kept in |
| full, both as per-row columns and as `action_annotations.parquet` (162,705 rows). |
|
|
| ## Segmentation classes |
|
|
| Mutually exclusive; stored single-channel, values 0-9. |
|
|
| | id | class | id | class | |
| |----|-------|----|-------| |
| | 0 | Background | 5 | Thread | |
| | 1 | Tool clasper | 6 | Suction tool | |
| | 2 | Tool wrist | 7 | Needle Holder | |
| | 3 | Tool shaft | 8 | Clamps | |
| | 4 | Suturing needle | 9 | Catheter | |
|
|
| ## Action classes (0-7) |
|
|
| `0` Other · `1` Picking-up the needle · `2` Positioning the needle tip · |
| `3` Pushing the needle through the tissue · `4` Pulling the needle out of the |
| tissue · `5` Tying a knot · `6` Cutting the suture · `7` Returning/dropping the |
| needle |
|
|
| ## Columns |
|
|
| | column | notes | |
| |--------|-------| |
| | `image` / `mask` | 1920x1080; mask values 0-9 | |
| | `operation_id` | 1-50. **Group on this** — it collapses the two-part operations | |
| | `video_id` | source archive, e.g. `video_11_1` (keeps part identity) | |
| | `part` | 1 or 2 for operations 11/15/17/29, else null | |
| | `frame_index` | 0-based index into the original `video_left.avi` | |
| | `time_sec` | `frame_index / 60` | |
| | `action_label` / `action_name` | 10 Hz action annotation at this frame | |
| | `challenge_subset` | `training_set_1` / `training_set_2` / `test` | |
| | `num_frames_video` | total frames in the source video | |
|
|
| ## Differences from the upstream release |
|
|
| This mirror is a faithful reformatting, with four upstream inconsistencies fixed. |
| Each was verified against the actual bytes rather than the documentation. |
|
|
| 1. **Masks are stored single-channel.** Upstream PNGs are 3-channel RGB with |
| R==G==B despite the README calling them "grayscale". Channel 0 is kept — |
| lossless, and ~2.7x smaller. |
| 2. **Action labels are 0-7.** The upstream README table lists 1-8; it is off by |
| one (its header row is copy-pasted from the segmentation table). The values in |
| `action_discrete.txt` are 0-7, matching the paper, the challenge |
| `GestureList.txt`, and the official evaluator's `n_classes=8`. |
| 3. **`training_set_2` is corrected.** The upstream README duplicates video 34 and |
| omits video 14, so its two training lists cover 39 of 40 operations. Video 14 |
| is restored, per the original challenge listing. |
| 4. **Operations 11/15/17/29 ship as two archives each** whose frame numbering |
| restarts at 0. `video_id` keeps the parts distinct while `operation_id` |
| collapses them, so grouping on `operation_id` never splits one patient across |
| folds — the challenge explicitly treats these as one operation. |
|
|
| ## Caveats |
|
|
| - **Class imbalance is severe.** Needle Holder appears in ~4% of frames and |
| Suction tool in ~9%; pixel imbalance reaches ~1000:1. The official metric uses |
| `MeanIoU(ignore_empty=False)`, which awards 1.0 when a class is absent from |
| *both* prediction and reference — so published scores (winner: 0.829 mIoU) are |
| inflated relative to a mean-IoU-over-present-classes and are not directly |
| comparable unless that convention is replicated. |
| - **201 masks (1.23%) are entirely background**, 17 of them in test. |
| - **Action class 5 ("Tying a knot") is effectively untestable**: it appears in |
| one test video only (video_46, 186 frames). |
| - Video is lossy MPEG-4 Part 2 / yuv420p; frames here are a lossless PNG |
| encoding of that already-compressed source. |
| |
| ## Overlap with other datasets |
| |
| No patient overlap with EndoVis 2017/2018 (both porcine) or with |
| CholecSeg8k / m2caiSeg (cholecystectomy). Shares patients with **RARP45** (never |
| publicly released) and with the **SEDMamba** surgical-error dataset |
| (UCL RDR `10.5522/04/27992702`), which re-annotates 48 of these same videos — |
| do not benchmark against SEDMamba as if it were independent. |
| |
| ## License |
| |
| **CC BY-NC-SA 4.0**, inherited from both source deposits. ShareAlike applies: this |
| reformatted derivative carries the same license. Non-commercial use only. |
| |
| Note: third-party Kaggle mirrors of this dataset declare ODbL, which is incorrect |
| and more permissive than the authors' terms. |
| |
| ## Source |
| |
| - Train: https://rdr.ucl.ac.uk/articles/dataset/SAR-RARP50_train_set/24932529 (DOI `10.5522/04/24932529`) |
| - Test: https://rdr.ucl.ac.uk/articles/dataset/SAR-RARP50_test_set/24932499 (DOI `10.5522/04/24932499`) |
| - Toolkit: https://github.com/surgical-vision/SAR_RARP50-evaluation |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{psychogyios2024sarrarp50, |
| title = {SAR-RARP50: Segmentation of surgical instrumentation and Action |
| Recognition on Robot-Assisted Radical Prostatectomy Procedures}, |
| author = {Psychogyios, Dimitrios and Colleoni, Emanuele and Van Amsterdam, |
| Beatrice and others}, |
| journal = {arXiv preprint arXiv:2401.00496}, |
| year = {2024}, |
| doi = {10.48550/arXiv.2401.00496} |
| } |
| ``` |
|
|
