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| Main Authors: | , , , |
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| Format: | Preprint |
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2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.17638 |
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| _version_ | 1866909052830744576 |
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| author | Ktistakis, Sophokles Wang, Rui Grande, Bastian Sax, Hugo |
| author_facet | Ktistakis, Sophokles Wang, Rui Grande, Bastian Sax, Hugo |
| contents | Hand-surface interactions between clinicians, patients, and medical equipment play a central role in pathogen transmission during medical procedures. However, these interactions remain largely unobserved, as current infection-prevention practices rely on manual observation and cannot reconstruct detailed contact histories. In this work we formulate the problem of identity-resolved hand-surface interaction reconstruction in operating rooms and introduce TouchMap-OR, a multi-view RGB-D vision system that models clinicians, articulated hand geometry, and the semantic structure of the clinical environment to infer when and where contacts occur. The system reconstructs globally consistent multi-person 3D skeleton tracks across cameras while estimating articulated MANO hand meshes from RGB observations aligned to depth data. Multi-view hand reconstructions are fused and associated with tracked clinicians to obtain consistent left and right hand trajectories. A semantic 3D model of the operating room is built from multi-view segmentation and depth fusion, enabling reconstructed hand trajectories to be mapped to specific surfaces, including medical equipment, movable objects, and patient body sites. Temporal hand-surface proximity is used to infer contact episodes describing which clinician touched which surface and when. We evaluate TouchMap-OR on recordings from three real anesthesia inductions with manually annotated contact events. TouchMap-OR achieves 0.75 binary contact F1, outperforming tracking-based baselines while maintaining comparable multi-person tracking accuracy and achieving 0.96 identity attribution accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_17638 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts Ktistakis, Sophokles Wang, Rui Grande, Bastian Sax, Hugo Computer Vision and Pattern Recognition Hand-surface interactions between clinicians, patients, and medical equipment play a central role in pathogen transmission during medical procedures. However, these interactions remain largely unobserved, as current infection-prevention practices rely on manual observation and cannot reconstruct detailed contact histories. In this work we formulate the problem of identity-resolved hand-surface interaction reconstruction in operating rooms and introduce TouchMap-OR, a multi-view RGB-D vision system that models clinicians, articulated hand geometry, and the semantic structure of the clinical environment to infer when and where contacts occur. The system reconstructs globally consistent multi-person 3D skeleton tracks across cameras while estimating articulated MANO hand meshes from RGB observations aligned to depth data. Multi-view hand reconstructions are fused and associated with tracked clinicians to obtain consistent left and right hand trajectories. A semantic 3D model of the operating room is built from multi-view segmentation and depth fusion, enabling reconstructed hand trajectories to be mapped to specific surfaces, including medical equipment, movable objects, and patient body sites. Temporal hand-surface proximity is used to infer contact episodes describing which clinician touched which surface and when. We evaluate TouchMap-OR on recordings from three real anesthesia inductions with manually annotated contact events. TouchMap-OR achieves 0.75 binary contact F1, outperforming tracking-based baselines while maintaining comparable multi-person tracking accuracy and achieving 0.96 identity attribution accuracy. |
| title | TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2605.17638 |