DOI: 10.5281/zenodo.11355500
title: Trackerless 3D Freehand Ultrasound Reconstruction Challenge 2024 - Train Dataset (Part 3)

description: This Challenge will be an open-ended challenge, and we welcome your submission. Please register your team via this ⁠form. You can submit the algorithm via this form for TUS-REC2024 Challenge, and we will test your submitted docker on the test set.

We are organising TUS-REC2025 at MICCAI2025. More information is available on the TUS-REC2025 challenge website and Baseline code repo.


This is the third part of the Challenge dataset. Link to first part; Link to second part. Link to validation dataset.

For detailed information please refer to the Challenge website. Baseline code is also provided, which can be found at this repo.

Dataset structure: The dataset contains 50 .h5 files. Each corresponds to one subject, storing coordinates of landmarks for 24 scans of this subject. For each scan, the coordinates are stored in numpy array with shape of [20,3]. The first column is the index of frames; the second and third columns denote the coordinates of landmarks in the image coordinate system. 




 

Data Usage Policy:



The training and validation data provided may be utilized within the research scope of this challenge and in subsequent research-related publications. However, commercial use of the training and validation data is prohibited. In cases where the intended use is ambiguous, participants accessing the data are requested to abstain from further distribution or use outside the scope of this challenge.

Please cite our challenge paper if you use our dataset in your publication:  



Challenge paper:



Qi Li et al. "TUS-REC2024: A Challenge to Reconstruct 3D Freehand Ultrasound Without External Tracker." arXiv preprint arXiv:2506.21765 (2025).





Additional relevant publications may also be cited as appropriate (optional):



Optional articles:



Qi Li, Ziyi Shen, Qianye Yang, Dean C. Barratt, Matthew J. Clarkson, Tom Vercauteren, and Yipeng Hu. "Nonrigid Reconstruction of Freehand Ultrasound without a Tracker." In International Conference on Medical Image Computing and Computer-Assisted Intervention, pp. 689-699. Cham: Springer Nature Switzerland, 2024. doi: 10.1007/978-3-031-72083-3_64.

Qi Li, Ziyi Shen, Qian Li, Dean C. Barratt, Thomas Dowrick, Matthew J. Clarkson, Tom Vercauteren, and Yipeng Hu. "Long-term Dependency for 3D Reconstruction of Freehand Ultrasound Without External Tracker." IEEE Transactions on Biomedical Engineering, vol. 71, no. 3, pp. 1033-1042, 2024. doi: 10.1109/TBME.2023.3325551.

Qi Li, Ziyi Shen, Qian Li, Dean C. Barratt, Thomas Dowrick, Matthew J. Clarkson, Tom Vercauteren, and Yipeng Hu. "Trackerless freehand ultrasound with sequence modelling and auxiliary transformation over past and future frames." In 2023 IEEE 20th International Symposium on Biomedical Imaging (ISBI), pp. 1-5. IEEE, 2023. doi: 10.1109/ISBI53787.2023.10230773.

Qi Li, Ziyi Shen, Qian Li, Dean C. Barratt, Thomas Dowrick, Matthew J. Clarkson, Tom Vercauteren, and Yipeng Hu. "Privileged Anatomical and Protocol Discrimination in Trackerless 3D Ultrasound Reconstruction." In International Workshop on Advances in Simplifying Medical Ultrasound, pp. 142-151. Cham: Springer Nature Switzerland, 2023. doi: https://doi.org/10.1007/978-3-031-44521-7_14.