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MV-dVRK is the first ex‑vivo surgical dataset that provides multiple exposure‑synchronized stereo viewpoints, accurate surface geometry, and ground‑truth camera poses for endoscopic images. The benchmark’s static subset offers dense SfM reference geometry validated against an industrial 3D scanner, while the dynamic sequences cover ten surgical tasks with increasing kinematic complexity and tissue deformation. Using MV‑dVRK, the authors systematically compare zero‑shot monocular, stereo, multi‑stereo, and multi‑view 3D reconstruction methods, finding that multi‑stereo reconstruction with two endoscopes yields the highest coverage, and that optimization‑based multi‑view methods outperform feed‑forward foundation models when a third viewpoint is added.
LapaTrack-3D is a real‑time 6 DoF tracking algorithm designed for monocular laparoscopic surgery, aligning intra‑operative video with pre‑operative CT data. It modifies the ORB‑SLAM2 framework with four key changes: fast initialization using a primitive 3D shape, a pseudo‑segmentation strategy to isolate the target organ, incorporation of the 3D shape as a geometric prior in pose graph optimization, and enhanced imaging via a modified Multi‑Scale Retinex with Chromaticity Preservation algorithm. Experiments on in‑vivo and ex‑vivo data show robust tracking under challenging conditions such as poor illumination, fast motion, and partial visibility, achieving 13 Hz on 1280×720 video.
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...
GRACE is a camera‑efficient multi‑view pedestrian tracker that reduces the number of required cameras while maintaining high tracking accuracy. It combines volumetric‑guided fusion of homography‑based BEV features with 3D‑lifted features, uses ray conditioning to incorporate each camera’s viewing direction, and employs BEV Track Recovery to continue existing tracks with low‑confidence detections. On the WildTrack dataset, GRACE raises MOTA from 83.54 to 91.07 compared to the baseline TrackTacular.
arXiv:2607. 08408v1 Announce Type: cross Abstract: Gaussian splatting is the current state-of-the-art for dense, deformable 3D anatomy reconstruction in robot-assisted minimally invasive surgery (RAMIS); however, most pipelines are offline and depend on accurate camera trajectory priors (often from robotic kinematics), limiting applicability when priors are missing or noisy.
Gaussian splatting is the current state-of-the-art for dense, deformable 3D anatomy reconstruction in robot-assisted minimally invasive surgery (RAMIS); however, most pipelines are offline and depend on accurate camera trajectory priors (often from robotic kinematics), limiting applicability when priors are missing or noisy. To address these limitations, we propose Track2Map, an online 3D Gaussian Splatting pipeline that jointly optimizes camera trajectory and 3D deformable scene representation directly from surgical video.