SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation

arXiv:2609.33237 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Flow Matching — 6× in this paper · explained in 8 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Foundation Model — 3× in this paper · explained in 3 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 3× in this paper · explained in 4 episodes
• Ablation — 2× in this paper · explained in 1 episode
• World Model — 2× in this paper · explained in 7 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Clustering — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
• General surgery vision transformer: A video pre-trained foundation model for general surgery
• Cosmos-H-Surgical: Learning Surgical Robot Policies from Videos via World Modeling
• Any-point Trajectory Modeling for Policy Learning
• PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation
• Flow as the Cross-Domain Manipulation Interface
• General Flow as Foundation Affordance for Scalable Robot Learning
• 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
• $\mu_0$: A Scalable 3D Interaction-Trace World Model
• RoboFlow4D: A Lightweight Flow World Model Toward Real-Time Flow-Guided Robotic Manipulation
• Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
• LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
• Feedback Matters: Augmenting Autonomous Dissection with Visual and Topological Feedback
• FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects
• Flow Matching for Generative Modeling
• LiteTracker: Leveraging Temporal Causality for Accurate Low-latency Tissue Tracking

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