4 papers · 1 filter
DeGenseGS: Geometrically and Semantically Decoupled Surgical Scene Understanding in 4D Gaussian Splatting
Yimo Wang, Bin Kang, Shuojue Yang +1
Real-time, text-promptable 4D reconstruction is indispensable for autonomous surgical interaction. Severe misalignment between semantic meaning and physical anatomy still persists,…
SurfSurg6D: Geometry Consistent Dense Correspondence for Textureless Surgical Instrument Pose Estimation
Daiyun Shen, Shuojue Yang, Chang Han Low +4
Surgical instrument pose estimation provides crucial information for promising applications, including autonomous robotic surgery, skill assessment, and standardization of surgical…
Instrument-Splatting++: Towards Controllable Surgical Instrument Digital Twin Using Gaussian Splatting
Shuojue Yang, Zijian Wu, Chengjiaao Liao +5
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generat…
SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery
Zijian Wu, Shuojue Yang, Yu Chung Lee +3
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transfo…