论文

Open-H-Embodiment：支持医疗机器人基础模型的大规模数据集

Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics

Open-H-Embodiment Consortium; :; Nigel Nelson; Juo-Tung Chen; Jesse Haworth; Xinhao Chen; Lukas Zbinden; Dianye Huang; Alaa Eldin Abdelaal; Alberto Arezzo; Ayberk Acar; Farshid Alambeigi; Carlo Alberto Ammirati; Yunke Ao; Pablo David Aranda Rodriguez; Soofiyan Atar; Mattia Ballo; Noah Barnes; Federica Barontini; Filip Binkiewicz; Peter Black; Sebastian Bodenstedt; Leonardo Borgioli; Nikola Budjak; Benjamin Calmé; Fabio Carrillo; Nicola Cavalcanti; Changwei Chen; Haoxin Chen; Sihang Chen; Qihan Chen; Zhongyu Chen; Ziyang Chen; Shing Shin Cheng; Meiqing Cheng; Min Cheng; Zih-Yun Sarah Chiu; Xiangyu Chu; Camilo Correa-Gallego; Giulio Dagnino; Anton Deguet; Jacob Delgado; Jonathan C. DeLong; Kaizhong Deng; Alexander Dimitrakakis; Qingpeng Ding; Hao Ding; Giovanni Distefano; Daniel Donoho; Anqing Duan; Marco Esposito; Shane Farritor; Jad Fayad; Zahi Fayad; Mario Ferradosa; Filippo Filicori; Chelsea Finn; Philipp Fürnstahl; Jiawei Ge; Stamatia Giannarou; Xavier Giralt Ludevid; Frederic Giraud; Aditya Amit Godbole; Ken Goldberg; Antony Goldenberg; Diego Granero Marana; Xiaoqing Guo; Tamás Haidegger; Evan Hailey; Pascal Hansen; Ziyi Hao; Kush Hari; Kengo Hayashi; Jonathon Hawkins; Shelby Haworth; Ortrun Hellig; S. Duke Herrell; Zhouyang Hong; Andrew Howe; Junlei Hu; Zhaoyang Jacopo Hu; Ria Jain; Mohammad Rafiee Javazm; Howard Ji; Rui Ji; Jianmin Ji; Zhongliang Jiang; Dominic Jones; Jeffrey Jopling; Britton Jordan; Ran Ju; Michael Kam; Luoyao Kang; Fausto Kang; Siddhartha Kapuria; Peter Kazanzides; Sonika Kiehler; Ethan Kilmer; Ji Woong Kim; Przemysław Korzeniowski; Chandra Kuchi; Nithesh Kumar; Alan Kuntz; Federico Lavagno; Yu Chung Lee; Hao-Chih Lee; Hang Li; Zhen Li; Xiao Liang; Xinxin Lin; Jinsong Lin; Chang Liu; Fei Liu; Pei Liu; Yun-hui Liu; Wanli Liuchen; Eszter Lukács; Sareena Mann; Miles Mannas; Brett Marinelli; Sabina Martyniak; Francesco Marzola; Lorenzo Mazza; Xueyan Mei; Maria Clara Morais; Luigi Muratore; Chetan Reddy Narayanaswamy; Michał Naskręt; David Navarro-Alarcon; Cyrus Neary; Chi Kit Ng; Christopher Nguan; David Noonan; Ki Hwan Oh; Tom Christian Olesch; Allison M. Okamura; Justin Opfermann; Matteo Pescio; Doan Xuan Viet Pham; Tito Porras; Hongliang Ren; Ariel Rodriguez Jimenez; Ferdinando Rodriguez y Baena; Septimiu E. Salcudean; Asmitha Sathya; Preethi Satish; Lalithkumar Seenivasan; Jiaqi Shao; Yiqing Shen; Yu Sheng; Lucy XiaoYang Shi; Zoe Soulé; Stefanie Speidel; Mingwu Su; Jianhao Su; Idris Sunmola; Kristóf Takács; Yunxi Tang; Patrick Thornycroft; Yu Tian; Jordan Thompson; Mehmet K. Turkcan; Mathias Unberath; Pietro Valdastri; Carlos Vives; Quan Vuong; Martin Wagner; Farong Wang; Wei Wang; Lidian Wang; Chung-Pang Wang; Guankun Wang; Junyi Wang; Erqi Wang; Ziyi Wang; Tanner Watts; Wolfgang Wein; Yimeng Wu; Zijian Wu; Hongjun Wu; Luohong Wu; Jie Ying Wu; Junlin Wu; Victoria Wu; Kaixuan Wu; Mateusz Wójcikowski; Yunye Xiao; Nan Xiao; Wenxuan Xie; Hao Yang; Tianqi Yang; Yinuo Yang; Menglong Ye; Ryan S. Yeung; Nural Yilmaz; Chim Ho Yin; Michael Yip; Rayan Younis; Chenhao Yu; Sayem Nazmuz Zaman; Milos Zefran; Han Zhang; Yuelin Zhang; Yidong Zhang; Yanyong Zhang; Xuyang Zhang; Yameng Zhang; Joyce Zhang; Ning Zhong; Peng Zhou; Haoying Zhou; Xiuli Zuo; Nassir Navab; Mahdi Azizian; Sean D. Huver; Axel Krieger来源日期：2026.04.23

模型评测基准与评测资源

摘要

自主医疗机器人有望改善患者结果、减轻医护工作量并扩大医疗服务可及性，但数据不足限制了研究：现有数据集通常规模较小、只覆盖一种机器人形态，且很少开放。我们发布Open-H-Embodiment，论文称其为迄今最大的同步运动学医疗机器人视频开放数据集，来自50余家机构，覆盖CMR Versius、达芬奇、dVRK、BiTrack、MIRA、Maestro及定制系统，包括手术操作、机器人超声和内窥镜流程。我们以两个基础模型展示数据集支持的研究。GR00T-H是开放的医疗机器人视觉语言动作基础模型，在结构化缝合基准中是唯一实现完整端到端任务的受测模型，成功率25%，其他模型为0%；在29步离体缝合序列上平均成功率64%。Cosmos-H-Surgical-Simulator是动作条件世界模型，可通过同一检查点模拟九种机器人平台，支持医疗领域的计算机仿真策略评估与合成数据生成。结果表明，开放大规模医疗机器人数据可为机器人学习与世界建模研究提供基础设施。