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ExtraGS: Enhancing Endoscopic View Extrapolation via Diffusion-Guided 3D Gaussian Splatting
Cheng-Tai Hsieh, Jiwei Shan, Han Fang +6
Robot-assisted minimally invasive surgery (MIS) critically depends on reliable endoscopic perception for navigation and safety. However, conventional endoscopes provide only a limi…
Wearing A Coat: Dual-Arm Robot-Assisted Dressing with Differentiable Clothing Simulation
Yiming Liu, Lijun Han, Hesheng Wang
The development of assistive robots for dressing tasks serves to augment human convenience and improve the quality of life for individuals with physical impairments. However, due t…
4D Monocular Surgical Reconstruction under Arbitrary Camera Motions
Jiwei Shan, Zeyu Cai, Cheng-Tai Hsieh +5
Reconstructing deformable surgical scenes from endoscopic videos is challenging and clinically important. Recent state-of-the-art methods based on implicit neural representations o…
NRGS-SLAM: Monocular Non-Rigid SLAM for Endoscopy via Deformation-Aware 3D Gaussian Splatting
Jiwei Shan, Zeyu Cai, Yirui Li +5
Visual simultaneous localization and mapping (V-SLAM) is a fundamental capability for autonomous perception and navigation. However, endoscopic scenes violate the rigidity assumpti…