msinan94/mastoidectomy-program

Mastoidectomy Surgical Robotics Program

Program scaffold for autonomous and shared-control mastoidectomy: perception → planning → digital twin → control, with a cross-cutting evaluation lane. See ROADMAP.md (v0.2) for the full architecture, citations, and phased plan.

Status: exploration phase (P0). Nothing here is trained yet; P0 is dataset acquisition and verification.

What is in this repo

Path	What it holds
ROADMAP.md	Architecture & roadmap v0.2 (layers, accuracy anchors, feasibility gate, phased plan)
scripts/verify_openear.py	P0: download an OpenEar bone ZIP from Zenodo and verify it against the checksum published in the Zenodo record (fetched at runtime, no hardcoded values)

Data sources (P0)

Dataset	Host	License
OpenEar — 8 temporal bones, CBCT (125 µm registered) + color micro-slicing, nerves & vessels	Zenodo	CC-BY-4.0
DIOME — 43 in-vivo middle-ear OCT volumes, STAPLE-merged segmentations	OPARA	CC-BY-4.0
W-Net repo dataset — conventional CT segmentations	GitHub	code GPL-3.0
JHU nnU-Net v2 pipeline — pretrained temporal-bone segmentation weights	GitHub	see repo

No mirrors of OpenEar or DIOME exist on the Hugging Face Hub (checked 2026-11-01); source from the primary hosts.

Usage

# verify one OpenEar bone (downloads ~3.9 GB for ZETA, checks md5 from the Zenodo API)
python scripts/verify_openear.py --bone ZETA --out /data/openear

# checksum-only mode (no download): lists all 8 files with their published sizes and md5s
python scripts/verify_openear.py --list-only

Attribution obligations

• OpenEar (CC-BY-4.0): Sieber et al., Scientific Data 6:180297 (2019), doi 10.5281/zenodo.1473724.
• When NVIDIA / Franka Robotics SimReady assets are added to any public tree: CC-BY-4.0 credit required.

Accuracy anchors

• HEARO (clinical, single-tunnel trajectory): 0.182 mm at target, 0.117 mm FN, 0.107 mm chorda — PMC8979022
• Vanderbilt bone-attached milling robot (cadaver, cavity border): 0.39 mm mean — PMC4547504

Simulation and engineering only. No clinical claims.