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The data simulates ultrasound imaging of abdominal organs (primarily liver) with probe trajectories along skin surfaces. + +## Data Structure + +``` +lerobot_dataset/ +├── videos/ +│ └── episode_XXXXXX/ +│ └── observation.images.ultrasound.mp4 +├── data/ +│ └── chunk-000/ +│ └── episode_XXXXXX.parquet +└── meta/ + ├── info.json + ├── episodes.jsonl + ├── episodes_stats.jsonl + ├── tasks.jsonl + └── README.md +``` + +## Path Segment Definitions (seg_1 to seg_12) + +### Standard Planes + +| Plane | Name | Description | +|-------|------|-------------| +| **P1** | Left Lobe Transverse | Transverse view of liver left lobe | +| **P2** | Right Lobe Intercostal | Intercostal view of liver right lobe | +| **P3** | Subcostal with Right Kidney | Subcostal view showing liver and right kidney | +| **P4** | Subcostal with Hepatic Vein | Subcostal view showing hepatic vein confluence | + +### Path Segments + +| Segment | Route | Description | +|---------|-------|-------------| +| seg_1 | P1 → P2 | Navigate from left lobe transverse to right lobe intercostal plane | +| seg_2 | P2 → P3 | Navigate from right lobe intercostal to subcostal with right kidney plane | +| seg_3 | P3 → P4 | Navigate from subcostal kidney to subcostal hepatic vein plane | +| seg_4 | P4 → P1 | Navigate from subcostal hepatic vein to left lobe transverse plane | +| seg_5 | P1 → P3 | Navigate diagonal from left lobe to subcostal kidney plane | +| seg_6 | P2 → P4 | Navigate diagonal from right intercostal to hepatic vein plane | +| seg_7 | P2 → P1 | Navigate from right lobe intercostal to left lobe transverse plane | +| seg_8 | P3 → P2 | Navigate from subcostal with right kidney to right lobe intercostal plane | +| seg_9 | P4 → P3 | Navigate from subcostal hepatic vein to subcostal kidney plane | +| seg_10 | P1 → P4 | Navigate from left lobe transverse to subcostal hepatic vein plane | +| seg_11 | P3 → P1 | Navigate diagonal from subcostal kidney to left lobe plane | +| seg_12 | P4 → P2 | Navigate diagonal from hepatic vein to right intercostal plane | + +## State/Action Format + +### observation.state[t] (7D) +| Index | Name | Unit | Description | +|-------|------|------|-------------| +| 0-2 | x, y, z | mm | Probe contact position on skin surface | +| 3-6 | qx, qy, qz, qw | - | Quaternion orientation | + +### action[t] (7D) +Same format as state, representing the **absolute pose at next frame** (state[t+1]). + +## Image Specifications + +| Property | Value | +|----------|-------| +| Format | MP4 video (H.264) | +| Size | 512 × 512 pixels | +| Channels | RGB (3) | +| FPS | 20 Hz | + +## Coordinate System + +- **World coordinates**: Right-handed, units in millimeters (mm) +- **Quaternion**: [qx, qy, qz, qw] format (scipy convention) + +## Synchronization + +All data is frame-synchronized at 20 Hz. Rendering is deterministic. + +## Data Collection + +- Source: Physics-based ultrasound simulation from CT segmentation (3Dircadb dataset) +- Simulation: PyTorch-based acoustic rendering with tissue-specific parameters +- Sampling: 3mm uniform geodesic sampling along skin surface + +## Contact + +For questions or issues, please contact the UltraVision+ Lab. diff --git a/Ultrasound/hkbu/ultravision_lab/3Dircadb1.14/meta/episodes.jsonl b/Ultrasound/hkbu/ultravision_lab/3Dircadb1.14/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb0daab6e3264b09512ee9be0c92813091f29a78 --- /dev/null +++ b/Ultrasound/hkbu/ultravision_lab/3Dircadb1.14/meta/episodes.jsonl @@ -0,0 +1,132 @@ +{"episode_index": 0, "tasks": ["Navigate from left lobe transverse to right lobe intercostal plane"], "length": 34, "segment": 1, "is_offset": false} +{"episode_index": 1, "tasks": ["Navigate from left lobe transverse to right lobe intercostal plane (offset 0)"], "length": 32, 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