hSDB-instrument: Instrument Localization Database for Laparoscopic and Robotic Surgeries

Jihun Yoon, Jiwon Lee, Sunghwan Heo, Hayeong Yu, Jayeon Lim, Chi Hyun H. Song, Seul Gi Hong, Seungbum Hong, Bokyung Park, Sung Hyun Park, Woo Jin Hyung, Min Kook Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Automated surgical instrument localization is an important technology to understand the surgical process and in order to analyze them to provide meaningful guidance during surgery or surgical index after surgery to the surgeon. We introduce a new dataset that reflects the kinematic characteristics of surgical instruments for automated surgical instrument localization of surgical videos. The hSDB(hutom Surgery DataBase)-instrument dataset consists of instrument localization information from 24 cases of laparoscopic cholecystecomy and 24 cases of robotic gastrectomy. Localization information for all instruments is provided in the form of a bounding box for object detection. To handle class imbalance problem between instruments, synthesized instruments modeled in Unity for 3D models are included as training data. Besides, for 3D instrument data, a polygon annotation is provided to enable instance segmentation of the tool. To reflect the kinematic characteristics of all instruments, they are annotated with head and body parts for laparoscopic instruments, and with head, wrist, and body parts for robotic instruments separately. Annotation data of assistive tools (specimen bag, needle, etc.) that are frequently used for surgery are also included. Moreover, we provide statistical information on the hSDB-instrument dataset and the baseline localization performances of the object detection networks trained by the MMDetection library and resulting analyses (The dataset, additional dataset statistics and several trained models are publicly available at https://hsdb-instrument.github.io/ ).

Original languageEnglish
Title of host publicationMedical Image Computing and Computer Assisted Intervention – MICCAI 2021 - 24th International Conference, Proceedings
EditorsMarleen de Bruijne, Marleen de Bruijne, Philippe C. Cattin, Stéphane Cotin, Nicolas Padoy, Stefanie Speidel, Yefeng Zheng, Caroline Essert
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages10
ISBN (Print)9783030872014
Publication statusPublished - 2021
Event24th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2021 - Virtual, Online
Duration: 2021 Sept 272021 Oct 1

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12904 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference24th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2021
CityVirtual, Online

Bibliographical note

Funding Information:
Acknowledgement. This work was supported by the Korea Medical Device Development Fund grant funded by the Korea government (the Ministry of Science and ICT, the Ministry of Trade, Industry and Energy, the Ministry of Health & Welfare, the Ministry of Food and Drug Safety) (Project Number: 202012A02-02).

Publisher Copyright:
© 2021, Springer Nature Switzerland AG.

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


Dive into the research topics of 'hSDB-instrument: Instrument Localization Database for Laparoscopic and Robotic Surgeries'. Together they form a unique fingerprint.

Cite this