# Real-time Rendering-based Surgical Instrument Tracking via Evolutionary Optimization

arXiv: https://arxiv.org/abs/2603.11404 · HTML: https://mlsanity.com/paper/2603.11404/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 37 references that are in the map.
- First posted on arXiv 12 Mar 2026.

## Builds on (most cited first, 20 of 20)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Accelerating 3D Deep Learning with PyTorch3D](https://mlsanity.com/paper/2007.08501/) (2020)
- [Modular Primitives for High-Performance Differentiable Rendering](https://mlsanity.com/paper/2011.03277/) (2020)
- [Scalable Global Optimization via Local Bayesian Optimization](https://mlsanity.com/paper/1910.01739/) (2019)
- [SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics](https://mlsanity.com/paper/1909.05405/) (2019)
- [Surgical SAM 2: Real-time Segment Anything in Surgical Video by Efficient Frame Pruning](https://mlsanity.com/paper/2408.07931/) (2024)
- [Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks](https://mlsanity.com/paper/2407.12998/) (2024)
- [SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction](https://mlsanity.com/paper/2003.03472/) (2020)
- [Semantic-SuPer: A Semantic-aware Surgical Perception Framework for Endoscopic Tissue Identification, Reconstruction, and Tracking](https://mlsanity.com/paper/2210.16674/) (2022)
- [Robotic Tool Tracking under Partially Visible Kinematic Chain: A Unified Approach](https://mlsanity.com/paper/2102.06235/) (2021)
- [SurgPose: a Dataset for Articulated Robotic Surgical Tool Pose Estimation and Tracking](https://mlsanity.com/paper/2502.11534/) (2025)
- [Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure](https://mlsanity.com/paper/1709.06668/) (2017)
- [EvoTorch: Scalable Evolutionary Computation in Python](https://mlsanity.com/paper/2302.12600/) (2023)
- [Image-based Pose Estimation and Shape Reconstruction for Robot Manipulators and Soft, Continuum Robots via Differentiable Rendering](https://mlsanity.com/paper/2302.14039/) (2023)
- [Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot](https://mlsanity.com/paper/2002.06302/) (2020)
- [Differentiable Rendering-based Pose Estimation for Surgical Robotic Instruments](https://mlsanity.com/paper/2503.05953/) (2025)
- [Instrument-Splatting: Controllable Photorealistic Reconstruction of Surgical Instruments Using Gaussian Splatting](https://mlsanity.com/paper/2503.04082/) (2025)
- [Infeasibility and structural bias in Differential Evolution](https://mlsanity.com/paper/1901.06153/) (2019)
- [Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives](https://mlsanity.com/paper/2403.04971/) (2024)
- [SurgiPose: Estimating Surgical Tool Kinematics from Monocular Video for Surgical Robot Learning](https://mlsanity.com/paper/2512.18068/) (2025)

## Built on by (most cited first, 1 of 1)

- [Robust Surgical Robotic Instrument Tracking via Sequential Multi-Cue Fusion and Sim-to-Real Self-Training](https://mlsanity.com/paper/2610.05491/) (2026)

## Abstract (arXiv)

Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable tool tracking for surgical robots still remains challenging due to partial visibility and specialized articulation design of surgical instruments. Previous works in the field are usually prone to unreliable feature detections under degraded visual quality and data scarcity, whereas rendering-based methods often struggle with computational costs and suboptimal convergence. In this work, we incorporate CMA-ES, an evolutionary optimization strategy, into a versatile tracking pipeline that jointly estimates surgical instrument pose and joint configurations. Using batch rendering to efficiently evaluate multiple pose candidates in parallel, the method significantly reduces inference time and improves convergence robustness. The proposed framework further generalizes to joint angle-free and bi-manual tracking settings, making it suitable for both vision feedback control and online surgery video calibration. Extensive experiments on synthetic and real-world datasets demonstrate that the proposed method significantly outperforms prior approaches in both accuracy and runtime. Source code and data are available at https://github.com/hanyang-hu/online_dvrk_tracking.