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Published October 1, 2023 | Version 1.0
Dataset Open

3D-COSI ~ 3D Collection of Surgical Instruments

  • 1. Graz University of Technology, Institute of Computer Graphics and Vision; University Hospital Essen, Institute for Artificial Intelligence in Medicine
  • 2. Graz University of Technology, Institute of Computer Graphics and Vision
  • 3. University Hospital Essen, Institute for Artificial Intelligence in Medicine
  • 4. Shanghai Jiao Tong University, Institute of Biomedical Manufacturing and Life Quality Engineering
  • 5. University Hospital RWTH Aachen, Department of Oral and Maxillofacial Surgery
  • 6. University Hospital Essen, Institute for Artificial Intelligence in Medicine; Graz University of Technology, Institute of Computer Graphics and Vision


COSI - 3D STL Collection of Surgical Instruments

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Inside the repository, you will find an information overview "Overview.docx", a showcase video "Example video 3D instruments.mp4", STL files of 103 surgical instruments "Surgical Instruments.7z", examples of variations of the surgical instruments using Blender add-on or Python script build on the Trimesh library "Blender Part x of 8 ... 7z", or "Trimesh part x of 9 ... .7z". You will also find the used Blender Add On "", measurements of virtual instruments and settings for the add-on (.xlsx), and the script that was used to perform these measurements inside a single folder, "Scripts, measurements and used Blender settings.7z".

The proposed data collection consists of 103 3D-scanned medical instruments from the clinical routine, scanned with structured light scanners. The collection consists, for example, of instruments like retractors, forceps, and clamps. The collection is augmented by generating likewise models using 3D software, resulting in an inflated dataset for analysis. The collection can be used for general instrument detection and tracking in operating room settings or a freeform marker-less instrument registration for tool tracking in augmented reality. Furthermore, for medical simulation or training scenarios in virtual reality or mixed reality.

The data within this work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0 NC) (

Related article:
Luijten, G., Gsaxner, C., Li, J. et al. 3D surgical instrument collection for computer vision and extended reality. Sci Data 10, 796 (2023).


This work was supported by the REACT-EU project KITE (grant number: EFRE-0801977, Plattform für KI-Translation Essen,, FWF enFaced 2.0 (grant number: KLI-1044,, and the Clinician Scientist Program of the Faculty of Medicine RWTH Aachen University. Instruments provided by the Department of Oral and Maxillofacial Surgery, University Hospital RWTH Aachen. The STL files of the surgical instruments are also available within MedShapeNet (


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Additional details


enFaced 2.0 - Instant AR Tool for Maxillofacial Surgery KLI 1044
FWF Austrian Science Fund