Free-DyGS: Camera-Pose-Free Scene Reconstruction for Dynamic Surgical Videos with Gaussian Splatting
Department of Biomedical Engineering, National University of Singapore (NUS)（生物医学工程系，新加坡国立大学）；National University of Singapore（新加坡国立大学）；Yong Loo Lin School of Medicine, NUS（Yong Loo Lin医学院，新加坡国立大学）；Department of Surgery, National University Hospital（国立大学医院外科部）；Centre for Smart Health, The Hong Kong Polytechnic University（智能健康中心，香港理工大学）
Qian Li, Shuojue Yang, Daiyun Shen, Jimmy Bok Yan So, Jing Qin, Yueming Jin
High-fidelity reconstruction of surgical scene is a fundamentally crucial task to support many applications, such as intra-operative navigation and surgical education. However, most existing methods assume the ideal surgical scenarios - either focus on dynamic reconstruction with deforming tissue yet assuming a given fixed camera pose, or allow endoscope movement yet reconstructing the static scenes. In this paper, we target at a more realistic yet challenging setup - free-pose reconstruction with a moving camera for highly dynamic surgical scenes. Meanwhile, we take the first step to introduce Gaussian Splitting (GS) technique to tackle this challenging setting and propose a novel GS-based framework for fast reconstruction, termed \textit{Free-DyGS}. Concretely, our model embraces a novel scene initialization in which a pre-trained Sparse Gaussian Regressor (SGR) can efficiently parameterize the initial attributes. For each subsequent frame, we propose to jointly optimize the deformation model and 6D camera poses in a frame-by-frame manner, easing training given the limited deformation differences between consecutive frames. A Scene Expansion scheme is followed to expand the GS model for the unseen regions introduced by the moving camera. Moreover, the framework is equipped with a novel Retrospective Deformation Recapitulation (RDR) strategy to preserve the entire-clip deformations throughout the frame-by-frame training scheme. The efficacy of the proposed Free-DyGS is substantiated through extensive experiments on two datasets: StereoMIS and Hamlyn datasets. The experimental outcomes underscore that Free-DyGS surpasses other advanced methods in both rendering accuracy and efficiency. Code will be available.
SurgicalGS: Dynamic 3D Gaussian Splatting for Accurate Robotic-Assisted Surgical Scene Reconstruction
The Hamlyn Centre for Robotic Surgery, Imperial College London（伦敦帝国理工学院哈姆林 robotic外科中心）；Hawkes Institute, University College London（伦敦大学学院霍克斯研究所）；University of Liverpool（利物浦大学）
BridgeSplat: Bidirectionally Coupled CT and Non-Rigid Gaussian Splatting for Deformable Intraoperative Surgical Navigation
Computer Aided Medical Procedures, TU Munich, Munich, Germany（慕尼黑技术大学计算机辅助医疗程序部）；Department of General, Visceral, and Transplantation Surgery, Hospital of the LMU Munich, Ludwig-Maximilians-Universität (LMU), Munich, Germany（慕尼黑路德维希-马克西米利安大学（LMU）普通外科、 visceral外科及移植外科部门）；Harvard Medical School, Brigham and Women's Hospital, Boston, MA, USA（哈佛医学院布里特妇女医院）
DeGenseGS: Geometrically and Semantically Decoupled Surgical Scene Understanding in 4D Gaussian Splatting
School of Automation, Southeast University（东南大学自动化学院）；School of Internet of Things, Nanjing University of Posts and Telecommunications（南京邮电大学物联网学院）；Department of Biomedical Engineering, National University of Singapore（新加坡国立大学生物医学工程系）
SAGS: Self-Adaptive Alias-Free Gaussian Splatting for Dynamic Surgical Endoscopic Reconstruction
University of Technology Sydney, Australia（悉尼技术大学）；Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, China（深圳先进技术研究所）；Shenyang Institute of Automation, Chinese Academy of Sciences, China（沈阳自动化研究所）
SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splatting
The Chinese University of Hong Kong, Hong Kong SAR, China（香港中文大学）；Shenzhen Research Institute, CUHK, Shenzhen, China（深圳研究学院）；Technical University of Munich, Munich, Germany（慕尼黑技术大学）；University of Strasbourg & IHU Strasbourg, Strasbourg, France（斯特拉斯堡大学及斯特拉斯堡IHU）；University College London, London, United Kingdom（伦敦大学学院）
Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting
The Chinese University of Hong Kong (CUHK)（香港中文大学）；University College London（伦敦大学学院）；Shun Hing Institute of Advanced Engineering, CUHK（香港中文大学信兴高等工程研究所）；Shenzhen Research Institute, CUHK（香港中文大学深圳研究院）
SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery
Robotics and Control Laboratory, University of British Columbia（机器人与控制实验室，不列颠哥伦比亚大学）；Department of Biomedical Engineering, National University of Singapore（生物医学工程系，新加坡国立大学）；Division of Otolaryngology – Head and Neck Surgery, University of British Columbia（耳鼻喉科–头颈外科部，不列颠哥伦比亚大学）
SurgicalGaussian: Deformable 3D Gaussians for High-Fidelity Surgical Scene Reconstruction
Center for Digital Media Computing（数字媒体计算中心）；School of Film（电影学院）；School of Informatics（信息学院）；National Institute for Data Science in Health and Medicine（健康与医学数据科学国家研究院）；Xiamen University（厦门大学）；Key Laboratory of Digital Protection and Intelligent Processing of Intangible Cultural Heritage of Fujian and Taiwan, Ministry of Culture and Tourism（文化和旅游部闽台非物质文化遗产数字化保护与智能处理重点实验室）；Guangdong Provincial Key Laboratory IRADS（广东省IRADS重点实验室）；BNU-HKBU United International College（北京师范大学-香港浸会大学联合国际学院）；The University of Texas at Dallas（德克萨斯大学达拉斯分校）
Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splatting
Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong SAR, China（香港中文大学电子工程系）；Shun Hing Institute of Advanced Engineering, CUHK, Hong Kong SAR, China（CUHK先进工程研究所）；City University of Hong Kong, Hong Kong, China（香港城市大学）；The University of Sydney, Sydney, NSW, Australia（悉尼大学）；Centre for Artificial Intelligence（人工智能中心）
Real-Time Spatio-Temporal Reconstruction of Dynamic Endoscopic Scenes with 4D Gaussian Splatting
University of Liverpool, Liverpool, UK（利物浦大学）；Xi'an Jiaotong-Liverpool University, Suzhou, China（西安交通大学利物浦大学）；University of Cambridge, Cambridge, UK（剑桥大学）
Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping
The Chinese University of Hong Kong (CUHK)（香港中文大学）；CUHK Shenzhen Research Institute（香港中文大学深圳研究院）；Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences（中国科学院香港创新研究院）；Qilu Hospital of Shandong University（山东大学齐鲁医院）
EndoFlow-SLAM: Real-Time Endoscopic SLAM with Flow-Constrained Gaussian Splatting
School of Advanced Technology, Xi'an Jiaotong Liverpool University（西安交通大学利物浦大学先进技术学院）；School of AI and Advanced Computing, Xi'an Jiaotong Liverpool University（西安交通大学利物浦大学人工智能与高级计算学院）；School of Physical Sciences, University of Liverpool（利物浦大学物理科学学院）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
ColonSplat: Reconstruction of Peristaltic Motion in Colonoscopy with Dynamic Gaussian Splatting
Jagiellonian University, Kraków, Poland（杰洛尼摩大学）；Warsaw University of Technology, Poland（华沙技术大学）；Sano Centre for Computational Medicine, Kraków, Poland（Sano计算医学中心）；University of Verona, Italy（威尼斯大学）；IDEAS Research Institute, Warsaw, Poland（IDEAS研究机构）
EndoWave: 4D Gaussian Splatting with Rational Wavelet for Endoscopic Reconstruction
Xi'an Jiaotong-Liverpool University（西安交通大学利物浦大学）；University of Liverpool（利物浦大学）；The Chinese University of Hong Kong（香港中文大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；Zhejiang University of Technology（浙江工业大学）
4D Monocular Surgical Reconstruction under Arbitrary Camera Motions
Department of Mechanical and Automation Engineering（机械与自动化工程系）；T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong（T Stone机器人研究院，香港中文大学，香港）；Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China（沈阳自动化研究所，中国科学院，沈阳，中国）；State Key Laboratory of Robotics and Intelligent Systems, Shenyang, China（机器人与智能系统国家重点实验室，中国，沈阳）；School of Integrated Circuits, Shanghai Jiao Tong University, Shanghai, China（集成电路学院，上海交通大学，中国，上海）；School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai, China（自动化与智能感知学院，上海交通大学，中国，上海）；Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China（系统控制与信息处理重点实验室，中国教育部，中国，上海）
IXGS-Intraoperative 3D Reconstruction from Sparse, Arbitrarily Posed Real X-rays
Research in Orthopedic Computer Science, Balgrist University Hospital, Zurich, 8008, Switzerland（骨科计算机科学研究所，巴尔格里斯大学医院，苏黎世，8008，瑞士）；The Australian National University, Canberra, ACT 2601, Australia（澳大利亚国立大学，堪培拉，ACT 2601，澳大利亚）；Department of Orthopedics, Balgrist University Hospital, University of Zurich, Zurich, 8008, Switzerland（骨科系，巴尔格里斯大学医院，苏黎世大学，苏黎世，8008，瑞士）
Registering Neural 4D Gaussians for Endoscopic Surgery
The Chinese University of Hong Kong (CUHK)（香港中文大学）；Shenzhen Research Institute, CUHK（香港中文大学深圳研究院）；KTH, Kungliga Tekniska högskolan Royal Institute of Technology（瑞典皇家理工学院）；Hong Kong Applied Science and Technology Research Institute Company Limited（香港应用科技研究院有限公司）
