Stereo Dental Lab and Instrument Reprocessing Data

It is first-person video of a person doing dental lab or instrument bench work, recorded with two calibrated cameras, with hand pose and sensor streams alongside. People reach it through several phrasings: dental lab robot training data, stereo dental prosthesis fabrication video, an egocentric surgical instrument reprocessing dataset, or custom medical device data collection at scale. Stereo describes the capture, and MCAP describes the container. They are separate choices.

The catalog does not use the word reprocessing. It describes the second row as handling, cleaning, sterilizing and assembling surgical instrument sets, and this page uses reprocessing only as a search phrase for that row. The site does not state that stereo is already running on either row. The catalog lists a head-mounted phone or a multiview rig as the capture setup, so a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot. The data is human capture by paid, consented contributors, not robot or teleoperation data, so using it for a specific robot still needs your own retargeting step. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

Two, listed in lib/commercial-catalog-data.ts under the Dental Lab & Medical Device Workshop environment in the Healthcare & Life Sciences sector, whose examples line reads "Dental laboratory, sterile processing, medical device assembly." "Dental Prosthesis Manufacturing" is described as "Fabricating crowns, dentures and dental appliances in a dental laboratory." "Surgical Instrument Technician" is described as "Handling, cleaning, sterilizing and assembling surgical instrument sets." Both are rated Hard, both list "Phone (head-mounted) / multiview rig" as the capture setup, and both are Available on request.

Available on request means the work is scoped and recruited to spec when a buyer asks for it, rather than running as an open capture stream today. The site states no delivered hours and no delivered stereo footage for either row, so this page claims none. The catalog does not break the rows into sub-steps and names no tool, so none is named here beyond what the two descriptions say.

This page is the stereo and MCAP treatment of the two Available on request rows in Dental Lab & Medical Device Workshop. The egocentric dental lab page covers the same two rows as first-person video that is not stereo as its subject. The egocentric surgical instrument handling page covers six Available on request rows across Dental Clinic, Dental Lab & Medical Device Workshop, Wet Lab & Clinical Bench and Veterinary Clinic, including Surgical Instrument Technician, and centres on tray setup, sterile packs and instrument pass. The egocentric dental clinic page covers five Available on request rows at the chair, such as instrument handling, tray setup and post-procedure cleaning.

The stereo veterinary clinic page covers five Available on request Veterinary Clinic rows, where one row, Surgical instrument setup, opens sterile packs and lays out instruments on a tray and the subject is animal care. This page is stereo capture of dental prosthesis fabrication and surgical instrument handling, cleaning, sterilizing and set assembly tasks. The first table below reproduces the two rows, and the second sets the pages side by side.

The catalog lists "Phone (head-mounted) / multiview rig" for both rows. The site does not state a stereo pair for either. Stereo applies through the site’s general stereo offer: a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot. The catalog does not say which of its two modes applies to each row, and the site lists capture at a customer’s own facility as not offered, so the setting is agreed in the spec.

The site describes two stereo setups and does not say which one an order for these rows uses. The hard-environments stack is a global-shutter 4K/60 head camera with a 120° lens, two 1080p/60 wrist cameras, a depth sensor at 848×480 and 30 fps, and 200 Hz 6-DoF IMUs. The off-the-shelf stereo head rig, dataset 06, is dual fisheye cameras at 1080p per eye, a 62 mm baseline, per-unit calibration, a 9-axis IMU and hand-tracking output. Camera count, resolution and frame rate for these rows are Not stated.

Fabricating a crown, a denture or a dental appliance is bench work on small parts: one hand steadies the work while the other holds a tool, and the part and the fingers occupy a small part of the frame together. The catalog calls the row Hard. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the geometry of the part and the hands sits in the same capture that shows the fingers working.

A stereo pair adds depth, not a verdict on whether a prosthesis fits or is finished. The site lists no fit, finish or success label for these rows, and none is claimed. The catalog also names no sub-steps, materials, equipment or lab types, so what counts as a finished crown or denture is Not stated and is written into the spec as accept criteria before capture.

The Surgical Instrument Technician row is a run of handling steps over a set of instruments: handle, clean, sterilize and assemble. A spec that says "process the set" gives one long action segment. A spec that names handling, cleaning, sterilizing and assembling as separate steps gives a sequence you can slice by step. Whether each of those is its own segment, and whether one instrument, one tray or one whole set is one episode, is a spec decision, not a default. The site does not set an episode length or a step count.

This page describes capture only. It gives no cleaning or sterilization procedure, no cycle parameters and no standard, because the site states none, and it is not guidance for infection control or safety. Instrument types, set contents, cleaning agents, sterilizers and washers are Not stated. The catalog names no inspection step for this row either. The site has a separate egocentric visual inspection page, but no dental lab or instrument row is listed there, so none is claimed.

At a bench the hands sit between the camera and the work, and a small part or an instrument can vanish behind a finger. The site states that the hands occlude the work and that fingers disappear behind objects. That is why each hand joint carries a visibility flag, why contact events mark when the hand or a tool meets a surface, and why instance masks are recorded per frame.

The site says two-handed fine motion and small objects are where occlusion bites, and it states that metric depth on sub-centimetre parts is flagged rather than interpolated. Whether a crown, a clasp or a small instrument component counts as such a part is Not stated, and so is a mask accuracy figure. The site also states that depth degrades on wet and reflective surfaces. Whether metal instruments or a wet bench count as reflective or wet is Not stated, and so is whether gloved hands change hand pose. A spec that needs a clear view of a step should name that step, ask for wrist views or a multiview angle, and confirm it on a Spec Pilot.

The site states a consent chain for contributors. Every contributor signs a written release, each delivered episode links to it through consent artefact IDs, and a break at any of the six checkpoints discards the footage. An undocumented bystander is a stated reject criterion. For every delivered episode the site states that faces, plates and screens are detected and irreversibly blurred at ingest, that a reviewer confirms the result before anything ships, and that footage that cannot be de-identified is discarded. The anonymization record ships with the data.

This page does not imply that patient data is captured, and the site states no patient-data handling for this environment. Whether case paperwork or labels on a bench are blurred is Not stated. The catalog notes HIPAA compliance for its Hospital & Clinical Care environment, but states nothing like it for dental lab work, so this page makes no regulatory, certification, sterilization or clinical claim. The site names no lab, hospital, city or region for these rows and lists capture at a customer’s own facility as not offered. Who may be in frame is agreed in the spec. This is not legal advice, and the executed agreement controls.

Materials, equipment brands and models, sterilization standards and cycle parameters, regulatory or certification status, cycle times, error rates, lab types and sizes, customer, lab and hospital names, and what a correct or finished result means are Not stated. They are set in the written spec, and this page claims none of them.

MCAP is an open source container file format for multimodal log data, supporting multiple channels of timestamped pre-serialized data. It is serialization-agnostic, so messages can be Protobuf, DDS (CDR), ROS, JSON and more. Its design is row-oriented and append-only, it stores schemas alongside the data, and it offers an optional index plus optional LZ4 or Zstandard chunk compression.

Reader and writer libraries exist for C++, Go, Python, Rust, Swift and TypeScript, and the mcap CLI can inspect, merge and split files. The foxglove/mcap repository is MIT-licensed; that is the MCAP project licence, not the licence of a Firsthand delivery. The MCAP hub page and the glossary entry cover the format in full.

Firsthand offers MCAP delivery, and dataset 06 is stated as shipping as MCAP. For these rows the site states hand pose, a stereo-derived depth stream with confidence maps, IMU, contact events, action segments, per-frame instance masks and one task instruction per episode elsewhere. What it does not state is which of those are channels in an MCAP file, how they are named, what encoding they use or at what rate.

No topic name, message schema or rate is stated on this page, and none should be assumed. Name the streams that matter in the skill spec and confirm them on a Spec Pilot batch. The fourth table below sets each stream beside what the site states about it.

Hand occlusion by the part, the tool and the instrument is the first risk, under the visibility flag above. Two-handed fine motion with small parts is the second, and how often it leaves the frame is Not stated. Calibration is measured at the start and end of every session under a 0.28 px RMS gate, and an episode is rejected for a sync breach beyond the ceiling for more than three consecutive frames, for the manipulated object out of frame for more than 15 percent of the episode, for an undocumented bystander or for a mismatch against the named skill spec.

A reject log ships with every batch, and rejected items are recaptured at the provider’s cost. The fifth table below lists the failure modes beside what the site states.

The October 2026 off-the-shelf catalog lists ~324,800 hours across 18 datasets, of which stereo is ~64,800 hours across 9 datasets. None of them names dental prosthesis fabrication or surgical instrument handling, cleaning, sterilizing or set assembly, so for stereo capture of these tasks this is custom collection, not an off-the-shelf purchase.

It is custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs. Where coverage is deep, the median time from signed spec to first validated batch is a median of 48 hours; where it is thin, turnaround runs three to four weeks. The site does not say which applies to the two rows, which are Available on request, so the timeline is quoted against your spec. Collections are billed per validated hour, and rejected episodes and recaptures are never billed.

Describe the tasks and where each starts and ends: a prosthesis from start to finish, or one handling, cleaning, sterilizing or assembling step on an instrument set. Say whether an episode covers one step, one instrument, one tray or a whole set, what counts as the object and what counts as a finished step, the setting and lighting, the privacy rule for the bench and for anyone in frame, and name the variation your pipeline is missing. Then name the streams you want in the file, the topic naming and message encoding your reader expects, whether calibration ships inside the file or beside it, and whether MCAP is the only delivery or sits beside RLDS, LeRobot or WebDataset.

Most programs begin with a Spec Pilot, a small first batch that proves the spec and accept criteria on real footage before you scale. The sixth table below shows what each spec element decides.