Endo-NeRF++: Uncertainty-Aware Neural Rendering with Multi-Resolution Hash Encoding for Dynamic Surgical Scene Reconstruction

arXiv:2607.27825v1 Announce Type: cross Abstract: Reconstructing dynamic surgical scenes is crucial for robot-assisted minimally invasive surgery; however, it continues to be difficult because of tissue deformation, occlusions, specular reflections, and restricted viewpoints. In this study, we introduce Endo-NeRF++, a neural rendering framework that accounts for uncertainty in the reconstruction of dynamic surgical scenes. Expanding on EndoNeRF, the suggested approach incorporates multi-resolution hash-grid encoding, temporal feature merging, and uncertainty-informed adaptive sampling to enhance reconstruction accuracy and temporal coherence in deformable endoscopic scenes.The multi-resolution hash-grid representation within the framework effectively captures both coarse and fine anatomical details, while temporal feature blending ensures stable reconstruction during tissue deformation and surgical tool occlusions. Additionally, uncertainty-driven adaptive sampling assigns more samples to uncertain areas to enhance rendering quality and geometric coherence. Experiments on robotic surgical video sequences demonstrate that the proposed uncertainty-guided adaptive sampling improves PSNR by up to 1.22,dB (4.3%), increases SSIM by up to 5.3%, and reduces LPIPS by up to 55.1% compared with the EndoNeRF baseline.

Related

• EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting
• Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery
• Hash-QNeRF: Multiresolution Hash Encoding for Quantum Neural Radiance Fields
• PCM-NeRF: Probabilistic Camera Modeling for Neural Radiance Fields under Pose Uncertainty

Source: arXiv cs.CV | 2026-07-31