A preprocessed version of the SpineDepth dataset (Liebmann et al., 2021) for multi-modal CT ↔ intraoperative RGB-D bone-surface registration of lumbar vertebrae. Each vertebra is provided as a preoperative CT bone mesh together with two intraoperative RGB-D point clouds (one per depth-camera view). It accompanies the Medical Image Analysis 2026 paper (see Citation).

Dataset summary

7 cadaveric specimens (IDs… See the full description on the dataset page: https://huggingface.co/datasets/luohwu/SpineDepth_segmented.