G-SHARP实现实时微创手术三维重建，兼容商用硬件部署。
G-SHARP: Gaussian Surgical Hardware Accelerated Real-time Pipeline
- 基于GSplat可微高斯光栅化器构建，支持形变建模与遮挡处理。
- 在EndoNeRF基准上达到顶尖重建质量，满足术中实时性要求。
- 已适配NVIDIA IGX Orin/Thor设备，可直接用于手术室场景。
我们提出G-SHARP，一种专为微创手术设计的、商业兼容的实时手术场景重建框架，旨在实现对可变形组织的快速高精度三维建模。尽管近期高斯点阵方法推动了内窥镜实时重建的发展，但现有方案多依赖非商业衍生工具，限制了实际部署。G-SHARP首次基于GSplat（Apache-2.0许可）可微高斯光栅化器原生构建，实现规范化的形变建模、鲁棒的遮挡处理以及在EndoNeRF基准上的高保真重建。实验表明，该方法在重建质量与速度-精度权衡上均达到当前最优水平，适用于术中使用。最后，我们提供了基于Holoscan SDK的应用程序，可在NVIDIA IGX Orin和Thor边缘硬件上部署G-SHARP，实现真实手术室环境中的实时可视化。
原文摘要 · Abstract (English)
We propose G-SHARP, a commercially compatible, real-time surgical scene reconstruction framework designed for minimally invasive procedures that require fast and accurate 3D modeling of deformable tissue. While recent Gaussian splatting approaches have advanced real-time endoscopic reconstruction, existing implementations often depend on non-commercial derivatives, limiting deployability. G-SHARP overcomes these constraints by being the first surgical pipeline built natively on the GSplat (Apache-2.0) differentiable Gaussian rasterizer, enabling principled deformation modeling, robust occlusion handling, and high-fidelity reconstructions on the EndoNeRF pulling benchmark. Our results demonstrate state-of-the-art reconstruction quality with strong speed-accuracy trade-offs suitable for intra-operative use. Finally, we provide a Holoscan SDK application that deploys G-SHARP on NVIDIA IGX Orin and Thor edge hardware, enabling real-time surgical visualization in practical operating-room settings.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。