TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts

Sophokles Ktistakis; Rui Wang; Bastian Grande; Hugo Sax

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arXiv · 2605.17638

TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts

Sophokles Ktistakis·Rui Wang·Bastian Grande·Hugo Sax

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Abstract

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.

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BibTeX RIS

Sophokles Ktistakis, Rui Wang, Bastian Grande, Hugo Sax. 2026-05-17. TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts. https://arxiv.org/abs/2605.17638

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