Papers citing 'SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics'

Title
Unifying Scale-Aware Depth Prediction and Perceptual Priors for Monocular Endoscope Pose Estimation and Tissue Reconstruction Muzammil Khan Enzo Kerkhof Matteo Fusaglia Koert Kuhlmann T. Ruers Françoise J. Siepel MDE 68 0 0 15 Aug 2025
NeeCo: Image Synthesis of Novel Instrument States Based on Dynamic and Deformable 3D Gaussian Reconstruction Tianle Zeng Junlei Hu Gerardo Loza Galindo Sharib Ali Duygu Sarikaya Pietro Valdastri Dominic Jones 76 0 0 11 Aug 2025
SurgPose: Generalisable Surgical Instrument Pose Estimation using Zero-Shot Learning and Stereo VisionIEEE International Conference on Robotics and Automation (ICRA), 2025 Utsav Rai Haozheng Xu Stamatia Giannarou MedIm 183 0 0 16 May 2025
Real-time Capable Learning-based Visual Tool Pose Correction via Differentiable Simulation Shuyuan Yang Zonghe Chua 133 0 0 13 May 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical SubtasksIEEE International Conference on Robotics and Automation (ICRA), 2025 Masoud Moghani Nigel Nelson Mohamed Ghanem Andres Diaz-Pinto Kush Hari Mahdi Azizian Ken Goldberg Sean Huver Animesh Garg 155 2 0 21 Apr 2025
LiteTracker: Leveraging Temporal Causality for Accurate Low-latency Tissue TrackingInternational Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2025 Mert Asim Karaoglu Wenbo Ji Ahmed Abbas Nassir Navab Benjamin Busam A. Ladikos 189 2 0 14 Apr 2025
Feature-EndoGaussian: Feature Distilled Gaussian Splatting in Surgical Deformable Scene Reconstruction Kai Li Junhao Wang William Jongwon Han Ding Zhao 3DGS 323 0 0 08 Mar 2025
Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments Zekai Liang Zih-Yun Chiu Florian Richter Michael C. Yip MedIm 163 5 0 07 Mar 2025
SurgRIPE challenge: Benchmark of Surgical Robot Instrument Pose Estimation Haozheng Xu Alistair Weld Chi Xu Alfie Roddan João Cartucho ... Young-Gon Kim Lucy Fothergill Dominic Jones Pietro Valdastri Duygu Sarikaya 196 2 0 06 Jan 2025
SurgicalGS: Dynamic 3D Gaussian Splatting for Accurate Robotic-Assisted Surgical Scene Reconstruction Jianfei Chen Xin Zhang Mobarakol Islam Francisco Vasconcelos Danail Stoyanov Daniel Elson Baoru Huang 3DGS 202 5 0 11 Oct 2024
Tracking Everything in Robotic-Assisted SurgeryIEEE International Conference on Robotics and Automation (ICRA), 2024 Bohan Zhan Wang Zhao Yi Fang Bo Du Francisco Vasconcelos Danail Stoyanov Daniel Elson Baoru Huang 252 5 0 29 Sep 2024
Towards Robust Automation of Surgical Systems via Digital Twin-based Scene Representations from Foundation Models Hao Ding Lalithkumar Seenivasan Hongchao Shu Grayson Byrd Han Zhang Pu Xiao Juan Antonio Barragan Russell H. Taylor Peter Kazanzides Mathias Unberath 177 10 0 19 Sep 2024
BodySLAM: A Generalized Monocular Visual SLAM Framework for Surgical Applications G. Manni C. Lauretti F. Prata R. Papalia L. Zollo P. Soda 3DGS MDE 174 5 0 06 Aug 2024
SurgicalGaussian: Deformable 3D Gaussians for High-Fidelity Surgical Scene Reconstruction Weixing Xie Junfeng Yao Xianpeng Cao Qiqin Lin Zerui Tang Xiao Dong Xiaohu Guo 3DGS 201 15 0 06 Jul 2024
EndoSparse: Real-Time Sparse View Synthesis of Endoscopic Scenes using Gaussian Splatting Chenxin Li Brandon Yushan Feng Yifan Liu Hengyu Liu Cheng Wang Weihao Yu Yixuan Yuan 3DGS 155 25 0 01 Jul 2024
LGS: A Light-weight 4D Gaussian Splatting for Efficient Surgical Scene Reconstruction Hengyu Liu Yifan Liu Chenxin Li Wenbo Li Yixuan Yuan 3DGS 266 40 0 23 Jun 2024
Improving the realism of robotic surgery simulation through injection of learning-based estimated errors Juan Antonio Barragan Hisashi Ishida Adnan Munawar Peter Kazanzides 194 2 0 11 Jun 2024
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments Nikhil Shinde Xiao Liang Fei Liu Yutong Zhang Florian Richter Sylvia Herbert Michael C. Yip 132 9 0 16 May 2024
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical AssistantsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Masoud Moghani Lars Doorenbos Will Panitch Sean Huver Mahdi Azizian Ken Goldberg Animesh Garg 225 12 0 08 May 2024
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation Nikhil Shinde Zih-Yun Chiu Florian Richter Jason Lim Yuheng Zhi Sylvia Herbert Michael C. Yip 123 4 0 29 Mar 2024
Neural Fields for 3D Tracking of Anatomy and Surgical Instruments in Monocular Laparoscopic Video Clips Beerend G. A. Gerats J. Wolterink Seb P. Mol I. A. Broeders 171 2 0 28 Mar 2024
Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-Template MatchingIEEE International Conference on Robotics and Automation (ICRA), 2024 Jiaxin Guo Jiangliu Wang Zhaoshuo Li Tongyu Jia Qi Dou Yao Xiao MedIm 179 2 0 11 Mar 2024
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric PrimitivesIEEE International Conference on Robotics and Automation (ICRA), 2024 Christopher DÁmbrosia Florian Richter Zih-Yun Chiu Nikhil Shinde Fei Liu Henrik I. Christensen Michael C. Yip 111 5 0 08 Mar 2024
EndoGaussians: Single View Dynamic Gaussian Splatting for Deformable Endoscopic Tissues Reconstruction Yangsen Chen Hao Wang 3DGS 127 7 0 24 Jan 2024
EndoGaussian: Real-time Gaussian Splatting for Dynamic Endoscopic Scene Reconstruction Yifan Liu Chenxin Li Chen Yang Yixuan Yuan 3DGS 163 18 0 23 Jan 2024
EndoGS: Deformable Endoscopic Tissues Reconstruction with Gaussian Splatting Lingting Zhu Zhao Wang Jiahao Cui Zhenchao Jin Guying Lin Lequan Yu 3DGS 215 43 0 21 Jan 2024
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectorsIEEE International Conference on Robotics and Automation (ICRA), 2024 Uksang Yoo Ziven Lopez Jeffrey Ichnowski Jean Oh 176 10 0 17 Jan 2024
Efficient Deformable Tissue Reconstruction via Orthogonal Neural Plane Chen Yang Kai Wang Yuehao Wang Qi Dou Yunbo Wang Wei Shen 151 24 0 23 Dec 2023
Tracking and Mapping in Medical Computer Vision: A Review Adam Schmidt Omid Mohareri S. DiMaio Michael C. Yip Septimiu E. Salcudean 239 49 0 17 Oct 2023
Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robotsIEEE International Conference on Robotics and Automation (ICRA), 2023 Samuel Schmidgall Axel Krieger Nhan Duy Truong OOD 252 20 0 07 Oct 2023
Surgical Tattoos in Infrared: A Dataset for Quantifying Tissue Tracking and MappingIEEE Transactions on Medical Imaging (TMI), 2023 Adam Schmidt Omid Mohareri S. DiMaio Septimiu E. Salcudean 203 12 0 28 Sep 2023
SuPerPM: A Surgical Perception Framework Based on Deep Point Matching Learned from Physical Constrained Simulation DataIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Sha Lin Albert J. Miao Ali Alabiad Fei Liu Kaiyuan Wang Jingpei Lu Florian Richter Michael C. Yip 274 3 0 25 Sep 2023
RIDE: Self-Supervised Learning of Rotation-Equivariant Keypoint Detection and Invariant Description for EndoscopyIEEE International Conference on Robotics and Automation (ICRA), 2023 Mert Asim Karaoglu Viktoria Markova Nassir Navab Benjamin Busam A. Ladikos 169 7 0 18 Sep 2023
SculptBot: Pre-Trained Models for 3D Deformable Object ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2023 Alison Bartsch Charlotte Avra A. Farimani 3DPC AI4CE 192 13 0 15 Sep 2023
EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope VideosInternational Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2023 Ruyi Zha Xuelian Cheng Hongdong Li Mehrtash Harandi Zongyuan Ge MedIm 169 77 0 21 Jul 2023
Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement LearningIEEE Robotics and Automation Letters (RA-L), 2023 Yafei Ou Mahdi Tavakoli 114 25 0 25 Jun 2023
Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy Fangxun Zhong Yao Xiao 102 11 0 13 May 2023
SENDD: Sparse Efficient Neural Depth and Deformation for Tissue TrackingInternational Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2023 Adam Schmidt Omid Mohareri S. DiMaio Septimiu E. Salcudean MedIm 112 14 0 10 May 2023
SemHint-MD: Learning from Noisy Semantic Labels for Self-Supervised Monocular Depth Estimation Shan Lin Yuheng Zhi Michael C. Yip MDE 121 2 0 31 Mar 2023
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real TransferComputer Vision and Pattern Recognition (CVPR), 2023 Jingpei Lu Florian Richter Michael C. Yip 163 33 0 28 Feb 2023
Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable RenderingIEEE International Conference on Robotics and Automation (ICRA), 2023 Jingpei Lu Fei Liu C. Girerd Michael C. Yip 144 26 0 27 Feb 2023
A Modular 3-Degree-of-Freedom Force Sensor for Robot-assisted Minimally Invasive Surgery Research Z. Chua Allison M. Okamura 75 3 0 10 Nov 2022
Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and TrackingIEEE International Conference on Robotics and Automation (ICRA), 2022 Shan Lin Albert J. Miao Jingpei Lu Shunkai Yu Zih-Yun Chiu Florian Richter Michael C. Yip 176 22 0 29 Oct 2022
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic SurgeryIEEE International Conference on Robotics and Automation (ICRA), 2022 Zih-Yun Chiu Florian Richter Michael C. Yip 65 11 0 21 Oct 2022
Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic SurgeryInternational Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2022 Yuehao Wang Yonghao Long Siu Hin Fan Qingxu Dou MedIm 162 170 0 30 Jun 2022
Image Based Reconstruction of Liquids from 2D Surface DetectionsComputer Vision and Pattern Recognition (CVPR), 2021 Florian Richter Ryan K. Orosco Michael C. Yip 112 8 0 22 Nov 2021
Learning from Demonstrations for Autonomous Soft-tissue Retraction Ameya Pore E. Tagliabue Marco Piccinelli Diego DallÁlba A. Casals Paolo Fiorini 190 46 0 01 Oct 2021
Markerless Suture Needle 6D Pose Tracking with Robust Uncertainty Estimation for Autonomous Minimally Invasive Robotic SurgeryIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021 Zih-Yun Chiu Albert Z Liao Florian Richter Bjorn A. Johnson Michael C. Yip 137 23 0 26 Sep 2021
From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion ScalingInternational Symposium on Medical Robotics (ISMR), 2021 Florian Richter E. Funk Won Seo Park Ryan K. Orosco Michael C. Yip 115 11 0 24 Sep 2021
Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted SurgeryIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021 Ameya Pore Davide Corsi Enrico Marchesini Diego DallÁlba A. Casals Alessandro Farinelli Paolo Fiorini 143 45 0 06 Sep 2021