arXiv:2607. 13475v1 Announce Type: cross Abstract: Surgical tissue retraction requires effective manipulation planning under partial and noisy perception.
arXiv:2609.14313v1 Announce Type: cross Abstract: Robust point tracking in endoscopic videos is essential for computer-assisted intervention and autonomous robotic surgery, enabling continuous regist...
arXiv:2609.16686v1 Announce Type: cross Abstract: Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for p...
arXiv:2606. 17379v1 Announce Type: cross Abstract: Accurate intraoperative liver registration is challenging due to substantial soft-tissue deformation yet sparse intraoperative measurements.
arXiv:2607. 17810v1 Announce Type: cross Abstract: Accurate 3D--2D liver registration, which aligns preoperative 3D models to partial, view-dependent intraoperative surface observations, is critical for AR-guided laparoscopic surgery but remains challenging due to severe occlusion, limited visibility, and the lack of 3D ground-truth supervision.
The paper introduces PICO, an end-to-end trainable model for 6DoF surgical tool pose estimation that uses multi-task learning to predict segmentation, depth, and pose parameters. It incorporates two geometry-aware proxy tasks—a projection loss and a point-to-point loss—to enforce consistency in 2D and 3D spaces, improving accuracy and robustness. Evaluated on the SurgRIPE dataset, PICO achieves strong performance, ranking second in rotation accuracy and maintaining competitive translation results, especially under occlusion.
arXiv:2609.27227v1 Announce Type: new Abstract: Objective assessment of robotic surgery uses instrument kinematics, which must be reconstructed when only video is available. We introduce a kinematic...
arXiv:2607. 13451v1 Announce Type: cross Abstract: Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging.
3D point cloud registration in laparoscopic surgery estimates the transformation between an intraoperative organ reconstructed from video and its preoperative mesh. Because ground-truth transformations are unavailable for real data, supervised networks are trained on synthetic organ pairs.
arXiv:2603. 26720v3 Announce Type: replace-cross Abstract: Predicting surgical needle trajectories from endoscopic video is critical for robot-assisted suturing, enabling anticipatory planning, real-time guidance, and safer motion execution.
Objective assessment of robotic surgery uses instrument kinematics, which must be reconstructed when only video is available. We introduce a kinematic reconstruction network for estimating instrument...
The paper presents a method for accurately simulating soft tissue deformation and predicting forces across varying material stiffnesses and geometries. It calibrates hyperelastic constitutive models in the SOFA Framework using gravity‑loaded silicone beams, then trains a softness‑conditioned equivariant graph neural network on the calibrated simulations. The resulting model achieves sub‑millimeter deformation accuracy with 0.010 s inference time, and demonstrates that force prediction quality depends on consistent upstream calibration.
arXiv:2608. 11204v1 Announce Type: cross Abstract: Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstrations: teleoperated surgical robot (e.