Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints

arXiv:2609.27227 · cs.CV, cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Transformer — 17× in this paper · explained in 2 episodes
• Benchmark — 11× in this paper · explained in 2 episodes
• Calibration — 8× in this paper · explained in 7 episodes
• Fine-Tuning — 6× in this paper · explained in 5 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• Alignment — 3× in this paper · explained in 1 episode
• Trace — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Pruning — 1× in this paper · explained in 4 episodes

Sources

• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
• SurgicalPart-SAM: Part-to-Whole Collaborative Prompting for Surgical Instrument Segmentation
• Surgical SAM 2: Real-time Segment Anything in Surgical Video by Efficient Frame Pruning
• More than Segmentation: Benchmarking SAM 3 for Segmentation, 3D Perception, and Reconstruction in Robotic Surgery
• Parameter-Efficient Adaptation of SAM3 for Prompt-Driven Surgical Concept Segmentation
• CholecSeg8k: A Semantic Segmentation Dataset for Laparoscopic Cholecystectomy Based on Cholec80
• The Endoscapes Dataset for Surgical Scene Segmentation, Object Detection, and Critical View of Safety Assessment: Official Splits and Benchmark
• DINOv3
• An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modeling

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