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Decoupling geometry from semantics in surgical scene understanding leads to unprecedented robustness in 4D reconstruction, even amidst drastic tissue changes.
Synthetic data can overcome data scarcity and textureless challenges to enable surprisingly accurate surgical instrument pose estimation from RGB images alone.
Ditch the fiducial markers: SurgCalib achieves sub-5mm 3D tool-tip error in surgical robot hand-eye calibration using Gaussian Splatting, opening the door to sterile, markerless OR workflows.
