Egosurg: Arbitrary view synthesis for egocentric replay of operating room workflows from ambient cameras

EgoSurg is a framework that reconstructs dynamic operating room scenes from sparse wall‑mounted stereo video and renders arbitrary, role‑specific egocentric views without instrumenting personnel. It builds a per‑timestamp 3D Gaussian Splatting representation using scale‑aware stereo depth and refines it with an image‑conditioned diffusion model to correct artifacts from limited camera coverage, crowding, and occlusion. Evaluations on real robotic pulmonology procedures and simulated sessions show consistent near‑field reconstruction fidelity (PSNR 26.8 dB, SSIM 0.895) and synthesized egocentric view quality (PSNR 17.8 dB, SSIM 0.766) across workflow phases and hospital sites, with case studies demonstrating applications such as sterile field violation adjudication, role‑specific replay, and counterfactual personnel positioning.

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• diffusion
• robotics
• safety