# EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting

arXiv: https://arxiv.org/abs/2605.16022 · HTML: https://mlsanity.com/paper/2605.16022/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 33 references that are in the map.
- First posted on arXiv 15 May 2026.

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

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2403.14627/) (2024)
- [PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics](https://mlsanity.com/paper/2311.12198/) (2023)
- [π3: Permutation-Equivariant Visual Geometry Learning](https://mlsanity.com/paper/2507.13347/) (2025)
- [PhysGen: Rigid-Body Physics-Grounded Image-to-Video Generation](https://mlsanity.com/paper/2409.18964/) (2024)
- [Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery](https://mlsanity.com/paper/2206.15255/) (2022)
- [CholecSeg8k: A Semantic Segmentation Dataset for Laparoscopic Cholecystectomy Based on Cholec80](https://mlsanity.com/paper/2012.12453/) (2020)
- [Physics3D: Learning Physical Properties of 3D Gaussians via Video Diffusion](https://mlsanity.com/paper/2406.04338/) (2024)
- [EndoSurf: Neural Surface Reconstruction of Deformable Tissues with Stereo Endoscope Videos](https://mlsanity.com/paper/2307.11307/) (2023)
- [GIC: Gaussian-Informed Continuum for Physical Property Identification and Simulation](https://mlsanity.com/paper/2406.14927/) (2024)
- [Surgical SAM 2: Real-time Segment Anything in Surgical Video by Efficient Frame Pruning](https://mlsanity.com/paper/2408.07931/) (2024)
- [Endo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting](https://mlsanity.com/paper/2401.16416/) (2024)
- [PhysFlow: Unleashing the Potential of Multi-modal Foundation Models and Video Diffusion for 4D Dynamic Physical Scene Simulation](https://mlsanity.com/paper/2411.14423/) (2024)
- [VoMP: Predicting Volumetric Mechanical Property Fields](https://mlsanity.com/paper/2510.22975/) (2025)
- [SurgTPGS: Semantic 3D Surgical Scene Understanding with Text Promptable Gaussian Splatting](https://mlsanity.com/paper/2506.23309/) (2025)

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

- [Parameter-Efficient Adaptation of SAM3 for Prompt-Driven Surgical Concept Segmentation](https://mlsanity.com/paper/2607.23694/) (2026)

## Abstract (arXiv)

In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical outcomes. However, existing methods primarily focus on visual reconstruction, lacking physics-based descriptions of the scene required for realistic simulation. We propose a unified framework that achieves physics-aware reconstruction and physical simulation of endoscopic scenes through Multi-modal Large Language Models (MLLMs)-guided Gaussian Splatting. Our approach utilizes 4D Gaussian Splatting (4DGS) integrated with pre-trained segmentation and depth estimation to represent deformable tissues and tools. To achieve automatic inference of physical properties, we introduce an object-wise material field that initializes material parameters via MLLM and refines them through a differentiable Material Point Method (MPM) under joint supervision from rendered images and optical flow. Validated on both open-source and in-house datasets, our framework achieves superior simulation fidelity and physical accuracy compared to state-of-the-art methods, underscoring its potential to advance robot-assisted surgical applications.