mlsanityData to 14 Oct 2026

EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videos

arXiv 2307.11307 ↗First posted 21 Jul 2023cs.CVcited by 69

Not on the map. Why?

Abstract (arXiv)

Reconstructing soft tissues from stereo endoscope videos is an essential prerequisite for many medical applications. Previous methods struggle to produce high-quality geometry and appearance due to their inadequate representations of 3D scenes. To address this issue, we propose a novel neural-field-based method, called EndoSurf, which effectively learns to represent a deforming surface from an RGBD sequence. In EndoSurf, we model surface dynamics, shape, and texture with three neural fields. First, 3D points are transformed from the observed space to the canonical space using the deformation field. The signed distance function (SDF) field and radiance field then predict their SDFs and colors, respectively, with which RGBD images can be synthesized via differentiable volume rendering. We constrain the learned shape by tailoring multiple regularization strategies and disentangling geometry and appearance. Experiments on public endoscope datasets demonstrate that EndoSurf significantly outperforms existing solutions, particularly in reconstructing high-fidelity shapes. Code is available at https://github.com/Ruyi-Zha/endosurf.git.

Key facts. Cited by 69 papers in the map (data through 14 Oct 2026). Builds on 19 of its 28 references that are in the map. First posted on arXiv 21 Jul 2023.

Builds on

19 of 28 references.

References · 19

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,200
  3. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,712
  4. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,465
  5. 2020Implicit Geometric Regularization for Learning Shapescited by 710
  6. 2019Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervisioncited by 700
  7. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 646
  8. 2019SAL: Sign Agnostic Learning of Shapes from Raw Datacited by 390
  9. 2020Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformerscited by 190
  10. 2020Hierarchical Neural Architecture Search for Deep Stereo Matchingcited by 166
  11. 2022Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgerycited by 123
  12. 2021Stereo Correspondence and Reconstruction of Endoscopic Data Challengecited by 103
7 more
  1. 2019DeepDeform: Learning Non-rigid RGB-D Reconstruction with Semi-supervised Datacited by 77
  2. 2022Neural Surface Reconstruction of Dynamic Scenes with Monocular RGB-D Cameracited by 57
  3. 2019SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Roboticscited by 47
  4. 2021E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perceptioncited by 46
  5. 2019SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstructioncited by 31
  6. 2020Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgerycited by 23
  7. 2022Deep Laparoscopic Stereo Matching with Transformerscited by 9

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 4; 2024: 30; 2025: 16; 2026: 19.

69 papers.

Sort:

By area:

  1. 2024A Survey on 3D Gaussian Splattingcited by 224
  2. 2024Surgical-DINO: Adapter Learning of Foundation Models for Depth Estimation in Endoscopic Surgerycited by 52
  3. 2024Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splattingcited by 43
  4. 2024Deform3DGS: Flexible Deformation for Fast Surgical Scene Reconstruction with Gaussian Splattingcited by 38
  5. 2023Tracking and Mapping in Medical Computer Vision: A Reviewcited by 36
  6. 2024EndoGS: Deformable Endoscopic Tissues Reconstruction with Gaussian Splattingcited by 33
  7. 2024OphNet: A Large-Scale Video Benchmark for Ophthalmic Surgical Workflow Understandingcited by 32
  8. 2024Recent Trends in 3D Reconstruction of General Non-Rigid Scenescited by 28
  9. 2024EndoGaussian: Real-time Gaussian Splatting for Dynamic Endoscopic Scene Reconstructioncited by 22
  10. 2024LGS: A Light-weight 4D Gaussian Splatting for Efficient Surgical Scene Reconstructioncited by 21
  11. 2023Efficient Deformable Tissue Reconstruction via Orthogonal Neural Planecited by 20
  12. 2024EndoSparse: Real-Time Sparse View Synthesis of Endoscopic Scenes using Gaussian Splattingcited by 16
38 more
  1. 2024SurgicalGS: Dynamic 3D Gaussian Splatting for Accurate Robotic-Assisted Surgical Scene Reconstructioncited by 14
  2. 2024HFGS: 4D Gaussian Splatting with Emphasis on Spatial and Temporal High-Frequency Components for Endoscopic Scene Reconstructioncited by 13
  3. 2025Neural Radiance Fields for the Real World: A Surveycited by 12
  4. 2024SurgicalGaussian: Deformable 3D Gaussians for High-Fidelity Surgical Scene Reconstructioncited by 11
  5. 2024Online 3D reconstruction and dense tracking in endoscopic videoscited by 10
  6. 2025Surgical Gaussian Surfels: Highly Accurate Real-time Surgical Scene Rendering using Gaussian Surfelscited by 10
  7. 2024UC-NeRF: Uncertainty-aware Conditional Neural Radiance Fields from Endoscopic Sparse Viewscited by 8
  8. 2024A Review of 3D Reconstruction Techniques for Deformable Tissues in Robotic Surgerycited by 7
  9. 2024NeRF-US: Removing Ultrasound Imaging Artifacts from Neural Radiance Fields in the Wildcited by 7
  10. 2025SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splattingcited by 7
  11. 2025Deformable Gaussian Splatting for Efficient and High-Fidelity Reconstruction of Surgical Scenescited by 6
  12. 2023BASED: Bundle-Adjusting Surgical Endoscopic Dynamic Video Reconstruction using Neural Radiance Fieldscited by 5
  13. 2024PR-ENDO: Physically Based Relightable Gaussian Splatting for Endoscopycited by 4
  14. 2025EndoWave: 4D Gaussian Splatting with Rational Wavelet for Endoscopic Reconstructioncited by 4
  15. 2024EndoGaussians: Single View Dynamic Gaussian Splatting for Deformable Endoscopic Tissues Reconstructioncited by 3
  16. 2024FLex: Joint Pose and Dynamic Radiance Fields Optimization for Stereo Endoscopic Videoscited by 3
  17. 2024SimEndoGS: Efficient Data-driven Scene Simulation using Robotic Surgery Videos via Physics-embedded 3D Gaussianscited by 3
  18. 2024Intraoperative Registration by Cross-Modal Inverse Neural Renderingcited by 3
  19. 2024Seamless Augmented Reality Integration in Arthroscopy: A Pipeline for Articular Reconstruction and Guidancecited by 3
  20. 2025Towards Dynamic 3D Reconstruction of Hand-Instrument Interaction in Ophthalmic Surgerycited by 3
  21. 2023ColonNeRF: High-Fidelity Neural Reconstruction of Long Colonoscopycited by 2
  22. 2024AI-Enhanced Virtual Reality in Medicine: A Comprehensive Surveycited by 2
  23. 2024Neural Fields for 3D Tracking of Anatomy and Surgical Instruments in Monocular Laparoscopic Video Clipscited by 2
  24. 2024Registering Neural 4D Gaussians for Endoscopic Surgerycited by 2
  25. 2024Real-Time Spatio-Temporal Reconstruction of Dynamic Endoscopic Scenes with 4D Gaussian Splattingcited by 2
  26. 2024Realistic Surgical Simulation from Monocular Videoscited by 2
  27. 2025Endo-4DGX: Robust Endoscopic Scene Reconstruction and Illumination Correction with Gaussian Splattingcited by 2
  28. 2026NeRFscopy: Neural Radiance Fields for in-vivo Time-Varying Tissues from Endoscopycited by 2
  29. 2026Diff2DGS: Reliable Reconstruction of Occluded Surgical Scenes via 2D Gaussian Splattingcited by 2
  30. 2026ColonSplat: Reconstruction of Peristaltic Motion in Colonoscopy with Dynamic Gaussian Splattingcited by 2
  31. 2024Free-DyGS: Camera-Pose-Free Scene Reconstruction for Dynamic Surgical Videos with Gaussian Splattingcited by 1
  32. 2025Learning to Efficiently Adapt Foundation Models for Self-Supervised Endoscopic 3D Scene Reconstruction from Any Camerascited by 1
  33. 2025EndoLRMGS: Complete Endoscopic Scene Reconstruction combining Large Reconstruction Modelling and Gaussian Splattingcited by 1
  34. 20264D Monocular Surgical Reconstruction under Arbitrary Camera Motionscited by 1
  35. 2026EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splattingcited by 1
  36. 2024DaRePlane: Direction-aware Representations for Dynamic Scene Reconstructioncited by 0
  37. 2025Tracking-Aware Deformation Field Estimation for Non-rigid 3D Reconstruction in Robotic Surgeriescited by 0
  38. 2025Feature-EndoGaussian: Feature Distilled Gaussian Splatting in Surgical Deformable Scene Reconstructioncited by 0

50 most cited of 69 All 69 (JSON)