# NeRFscopy: Neural Radiance Fields for in-vivo Time-Varying Tissues from Endoscopy

arXiv: https://arxiv.org/abs/2602.15775 · HTML: https://mlsanity.com/paper/2602.15775/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 30 references that are in the map.
- First posted on arXiv 17 Feb 2026.

## Builds on (most cited first, 13 of 13)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [Learning Depth from Monocular Videos using Direct Methods](https://mlsanity.com/paper/1712.00175/) (2017)
- [Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery](https://mlsanity.com/paper/2206.15255/) (2022)
- [EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videos](https://mlsanity.com/paper/2307.11307/) (2023)
- [Neural LerPlane Representations for Fast 4D Reconstruction of Deformable Tissues](https://mlsanity.com/paper/2305.19906/) (2023)
- [SERV-CT: A disparity dataset from CT for validation of endoscopic 3D reconstruction](https://mlsanity.com/paper/2012.11779/) (2020)
- [EndoGaussian: Real-time Gaussian Splatting for Dynamic Endoscopic Scene Reconstruction](https://mlsanity.com/paper/2401.12561/) (2024)
- [Bimodal Camera Pose Prediction for Endoscopy](https://mlsanity.com/paper/2204.04968/) (2022)
- [LightDepth: Single-View Depth Self-Supervision from Illumination Decline](https://mlsanity.com/paper/2308.10525/) (2023)
- [4DPV: 4D Pet from Videos by Coarse-to-Fine Non-Rigid Radiance Fields](https://mlsanity.com/paper/2411.10275/) (2024)

## Built on by (most cited first, 2 of 2)

- [Deformable Triangle Splatting: Flexible Primitives for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2607.22446/) (2026)
- [Endo-NeRF++: Uncertainty-Aware Neural Rendering with Multi-Resolution Hash Encoding for Dynamic Surgical Scene Reconstruction](https://mlsanity.com/paper/2607.27825/) (2026)

## Abstract (arXiv)

Endoscopy is essential in medical imaging, used for diagnosis, prognosis and treatment. Developing a robust dynamic 3D reconstruction pipeline for endoscopic videos could enhance visualization, improve diagnostic accuracy, aid in treatment planning, and guide surgery procedures. However, challenges arise due to the deformable nature of the tissues, the use of monocular cameras, illumination changes, occlusions and unknown camera trajectories. Inspired by neural rendering, we introduce NeRFscopy, a self-supervised pipeline for novel view synthesis and 3D reconstruction of deformable endoscopic tissues from a monocular video. NeRFscopy includes a deformable model with a canonical radiance field and a time-dependent deformation field parameterized by SE(3) transformations. In addition, the color images are efficiently exploited by introducing sophisticated terms to learn a 3D implicit model without assuming any template or pre-trained model, solely from data. NeRFscopy achieves accurate results in terms of novel view synthesis, outperforming competing methods across various challenging endoscopy scenes.