# MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing

arXiv: https://arxiv.org/abs/1803.02009 · HTML: https://mlsanity.com/paper/1803.02009/

## Key facts

- Cited by 30 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Mar 2018.

## Built on by (most cited first, 30 of 30)

- [Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs](https://mlsanity.com/paper/2101.06894/) (2021)
- [Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints](https://mlsanity.com/paper/2103.16525/) (2021)
- [Learning How To Robustly Estimate Camera Pose in Endoscopic Videos](https://mlsanity.com/paper/2304.08023/) (2023)
- [E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perception](https://mlsanity.com/paper/2107.00229/) (2021)
- [Tracking and Mapping in Medical Computer Vision: A Review](https://mlsanity.com/paper/2310.11475/) (2023)
- [SAGE: SLAM with Appearance and Geometry Prior for Endoscopy](https://mlsanity.com/paper/2202.09487/) (2022)
- [Long-Term Temporally Consistent Unpaired Video Translation from Simulated Surgical 3D Data](https://mlsanity.com/paper/2103.17204/) (2021)
- [Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking](https://mlsanity.com/paper/2210.16674/) (2022)
- [SENDD: Sparse Efficient Neural Depth and Deformation for Tissue Tracking](https://mlsanity.com/paper/2305.06477/) (2023)
- [CudaSIFT-SLAM: multiple-map visual SLAM for full procedure mapping in real human endoscopy](https://mlsanity.com/paper/2405.16932/) (2024)
- [A geometry-aware deep network for depth estimation in monocular endoscopy](https://mlsanity.com/paper/2304.10241/) (2023)
- [Direct and Sparse Deformable Tracking](https://mlsanity.com/paper/2109.07370/) (2021)
- [Real-time Nonrigid Mosaicking of Laparoscopy Images](https://mlsanity.com/paper/2103.07414/) (2021)
- [The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenes](https://mlsanity.com/paper/2306.16917/) (2023)
- [BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fields](https://mlsanity.com/paper/2309.15329/) (2023)
- [BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching](https://mlsanity.com/paper/2205.03133/) (2022)
- [A-MFST: Adaptive Multi-Flow Sparse Tracker for Real-Time Tissue Tracking Under Occlusion](https://mlsanity.com/paper/2410.19996/) (2024)
- [BridgeSplat: Bidirectionally Coupled CT and Non-Rigid Gaussian Splatting for Deformable Intraoperative Surgical Navigation](https://mlsanity.com/paper/2509.18501/) (2025)
- [Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery](https://mlsanity.com/paper/2106.07136/) (2021)
- [Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-Template Matching](https://mlsanity.com/paper/2403.06479/) (2024)
- [A Quantitative Evaluation of Dense 3D Reconstruction of Sinus Anatomy from Monocular Endoscopic Video](https://mlsanity.com/paper/2310.14364/) (2023)
- [BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery](https://mlsanity.com/paper/2312.15679/) (2023)
- [SLAM assisted 3D tracking system for laparoscopic surgery](https://mlsanity.com/paper/2409.11688/) (2024)
- [Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Cameras](https://mlsanity.com/paper/2503.15917/) (2025)
- [Endo-TTAP: Robust Endoscopic Tissue Tracking via Multi-Facet Guided Attention and Hybrid Flow-point Supervision](https://mlsanity.com/paper/2503.22394/) (2025)
- [Neural shape reconstruction from multiple views with static pattern projection](https://mlsanity.com/paper/2506.01389/) (2025)
- [Surg-InvNeRF: Invertible NeRF for 3D tracking and reconstruction in surgical vision](https://mlsanity.com/paper/2508.09681/) (2025)
- [The Dresden Dataset for 4D Reconstruction of Non-Rigid Abdominal Surgical Scenes](https://mlsanity.com/paper/2603.02985/) (2026)
- [LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery](https://mlsanity.com/paper/2609.19954/) (2026)
- [Dense Endoluminal Mapping and Localisation from Monocular Bronchoscopy](https://mlsanity.com/paper/2610.16570/) (2026)

## Abstract (arXiv)

Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense deformable SLAM system with stereoscope in Minimal Invasive Surgery based on heterogeneous computing by making full use of CPU and GPU. Idled CPU is used to perform ORB- SLAM for providing robust global pose. Strategies are taken to integrate modules from CPU and GPU. We solved the key problem raised in previous work, that is, fast movement of scope and blurry images make the scope tracking fail. Benefiting from improved localization, MIS-SLAM can achieve large scale scope localizing and dense mapping in real-time. It transforms and deforms current model and incrementally fuses new observation while keeping vivid texture. In-vivo experiments conducted on publicly available datasets presented in the form of videos demonstrate the feasibility and practicality of MIS-SLAM for potential clinical purpose.