A Multi-View Pipeline and Benchmark Dataset for 3D Hand Pose Estimation in Surgery

TL;DR

This paper introduces a multi-view pipeline that accurately estimates 3D hand poses in surgical environments without domain-specific fine-tuning, supported by a new large annotated dataset for benchmarking.

Contribution

It presents a domain-agnostic, multi-view 3D hand pose estimation pipeline and introduces a comprehensive surgical benchmark dataset with over 68,000 frames and 3,000 annotated hand poses.

Findings

Achieved 31% reduction in 2D joint error

Achieved 76% reduction in 3D joint position error

Outperformed baseline methods in surgical hand pose estimation

Abstract

Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense and localized lighting, frequent occlusions by instruments or staff, and uniform hand appearance due to gloves, combined with a scarcity of annotated datasets for reliable model training. Method: We propose a robust multi-view pipeline for 3D hand pose estimation in surgical contexts that requires no domain-specific fine-tuning and relies solely on off-the-shelf pretrained models. The pipeline integrates reliable person detection, whole-body pose estimation, and state-of-the-art 2D hand keypoint prediction on tracked hand crops, followed by a constrained 3D optimization. In addition, we introduce a novel surgical benchmark dataset comprising over 68,000 frames and 3,000 manually annotated 2D hand poses with triangulated 3D ground truth, recorded in a replica operating room under varying levels of scene complexity. Results: Quantitative experiments demonstrate that our method consistently outperforms baselines, achieving a 31% reduction in 2D mean joint error and a 76% reduction in 3D mean per-joint position error. Conclusion: Our work establishes a strong baseline for 3D hand pose estimation in surgery, providing both a training-free pipeline and a comprehensive annotated dataset to facilitate future research in surgical computer vision.