Endo-TSR: Temporal Spectral Modeling of Appearance and Motion for Endoscopic Reconstruction

Endoscopic scene reconstruction requires modeling tissue motion and temporal appearance while recovering fine surface detail. Deformable Gaussian models provide explicit trajectories, but their fixed colour coefficients lack a dedicated temporal representation for photometric changes. We propose Endo-TSR, which augments deformable Gaussian splatting with bounded Fourier colour residuals and independent translation residuals on shared temporal frequencies. The colour residuals capture local appearance changes, while a Mat'ern spectral prior regularises motion corrections. Multi-scale Laplacian supervision guides tissue-detail recovery during joint image fitting. Extensive experiments on the EndoNeRF and StereoMIS datasets demonstrate state-of-the-art rendering quality, with the highest PSNR across all evaluated sequences. Ablation studies show that temporal appearance yields the largest PSNR gain among the tested component additions, while appearance and detail supervision jointly improve rendering with fixed Gaussian counts.