6 citations · 28 across the 50 of their papers we have counts for
54 papers
Rethinking Data Imbalance in Class Incremental Surgical Instrument Segmentation
Shifang Zhao, Long Bai, Kun Yuan +8
In surgical instrument segmentation, the increasing variety of instruments over time poses a significant challenge for existing neural networks, as they are unable to effectively l…
EBV-CAN: Vision--Language Grounding for Contact-Aided Endoscope Navigation
Chi Kit Ng, Shuchang Liu, Jinsong Lin +4
Flexible endoscopes exploit structural compliance to traverse narrow lumens, pipes, and cavities, where navigation involves distributed environmental contact. This compliance makes…
RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching
Liangjing Shao, Wanhao Liu, Zhiwei Fang +6
Camera-to-robot pose estimation from a monocular image is significant for vision-based robot navigation and control. However, recovering 3D structural features from 2D observations…
SurgCast: Action-Conditioned Future Skeletons for Controllable Surgical World Models
Wanhao Liu, Rulin Zhou, Liangjing Shao +9
Surgical world models must turn prospective robot actions into visually faithful, structurally consistent instrument motion. We introduce SurgCast, which predicts future instrument…
EndoLIFT: Language-Disambiguated Latent-Conditioned Rectified Flow for Bidirectional Endoscopic Control
Chi Kit Ng, Yidong Zhang, Lui Siu Hing +9
Routine gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target anatomy and later withdrawn or retroflexed for inspection, while an ex…
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
Mingwu Su, Guankun Wang, Jinsong Lin +8
Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers…
Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts
Rulin Zhou, Wanhao Liu, Guoheng Ma +8
Controllable surgical world models can provide a generative foundation for surgical artificial intelligence and simulation by synthesizing realistic instrument--tissue interactions…
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction
Wanhao Liu, Jinsong Lin, Rulin Zhou +11
Visual world models typically learn future dynamics from a single observation stream, limiting their ability to model cooperative systems with multiple independently moving observe…
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
Jinsong Lin, Zikang Pan, Wanhao Liu +10
Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challenging due to tissue deformation, transient occlusions, and rapidly chan…
Boosting Generalizable Depth Estimation in Endoscopy by Mixture of Lightweight Experts and Intrinsic Image Alignment
Liangjing Shao, Beilei Cui, Yiming Huang +2
Depth estimation is a significant task for 3D perception in endoscopic surgeries. However, illumination interference and feature diversity in various endoscopic scenes are still ch…
Parameter-Efficient Adaptation of SAM3 for Prompt-Driven Surgical Concept Segmentation
Changjing Liu, Yiming Huang, Beilei Cui +5
Efficient surgical segmentation empowers clinical diagnosis, intraoperative monitoring, and downstream robotic pipelines for reconstruction and simulation. Although prompt-driven f…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8
Endoscopic retrograde cholangiopancreatography (ERCP) demands precise endoscopic navigation and stable biliary cannulation within a narrow monocular field characterized by specular…
GeoCFNet: Geometry-Aware Confidence Field Network for Robot-Assisted Endoscopic Submucosal Dissection
Rui Tang, Guankun Wang, Long Bai +5
Advanced surgical robotics has made robot-assisted endoscopic submucosal dissection (ESD) a promising approach for the en-bloc resection of large lesions, with the potential to red…
EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting
Changjing Liu, Yiming Huang, Long Bai +2
In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical…
CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy
Liangjing Shao, Beilei Cui, Hongliang Ren
Geometric estimation including depth estimation and scene reconstruction is a crucial technique for colonoscopy which can provide surgeons with 3D spatial perception and navigation…
Anatomical Landmark-Guided Deep Reinforcement Learning for Autonomous Gastric Navigation
Haoxuan Wu, Sishen Yuan, Haitao Gao +3
Wireless capsule endoscopy (WCE) enables painless visualization of the gastrointestinal tract, but its diagnostic potential is limited by incomplete mucosal coverage and poor trans…
Leveling3D: Leveling Up 3D Reconstruction with Feed-Forward 3D Gaussian Splatting and Geometry-Aware Generation
Yiming Huang, Baixiang Huang, Beilei Cui +3
Feed-forward 3D reconstruction has revolutionized 3D vision, providing a powerful baseline for downstream tasks such as novel-view synthesis with 3D Gaussian Splatting. Previous wo…
TMR-VLA:Vision-Language-Action Model for Magnetic Motion Control of Tri-leg Silicone-based Soft Robot
Ruijie Tang, Chi Kit Ng, Kaixuan Wu +5
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and ther…
GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning
Rui Tang, Guankun Wang, Long Bai +6
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains hig…
Where It Moves, It Matters: Referring Surgical Instrument Segmentation via Motion
Meng Wei, Kun Yuan, Shi Li +7
Enabling intuitive, language-driven interaction with surgical scenes is a critical step toward intelligent operating rooms and autonomous surgical robotic assistance. However, the…
More than Segmentation: Benchmarking SAM 3 for Segmentation, 3D Perception, and Reconstruction in Robotic Surgery
Wenzhen Dong, Jieming Yu, Yiming Huang +5
The recent SAM 3 and SAM 3D have introduced significant advancements over the predecessor, SAM 2, particularly with the integration of language-based segmentation and enhanced 3D p…
NeuroABench: A Multimodal Evaluation Benchmark for Neurosurgical Anatomy Identification
Ziyang Song, Zelin Zang, Xiaofan Ye +7
Multimodal Large Language Models (MLLMs) have shown significant potential in surgical video understanding. With improved zero-shot performance and more effective human-machine inte…
Recognizing Surgical Phases Anywhere: Few-Shot Test-time Adaptation and Task-graph Guided Refinement
Kun Yuan, Tingxuan Chen, Shi Li +9
The complexity and diversity of surgical workflows, driven by heterogeneous operating room settings, institutional protocols, and anatomical variability, present a significant chal…
Geo-RepNet: Geometry-Aware Representation Learning for Surgical Phase Recognition in Endoscopic Submucosal Dissection
Rui Tang, Haochen Yin, Guankun Wang +5
Surgical phase recognition plays a critical role in developing intelligent assistance systems for minimally invasive procedures such as Endoscopic Submucosal Dissection (ESD). Howe…