A Progressive Gaussian Splatting Framework for Monocular-Only High-Fidelity Surgical Scene Reconstruction.

Abstract

Accurate and reliable 3D scene reconstruction is a key component of intelligent surgery, enabling enhanced spatial understanding and data-driven analysis in minimally invasive surgery (MIS). However, existing clinical systems are often bulky and workflow-incompatible, while vision-based Structure-from-Motion methods struggle with sparse textures and specularities, leading to unstable pose estimation and high computational cost. To address these limitations, we present SurGSplat++, a progressive, pose-free Gaussian splatting framework for monocular surgical scene reconstruction that requires no auxiliary hardware or pre-computed camera poses. Experiments show that SurGSplat++ achieves improved geometric stability, reduced pose drift, and superior novel-view synthesis compared with existing approaches. By producing accurate and consistent 3D reconstructions, the proposed method provides a practical solution for post-operative analysis, pre-operative planning, and data-driven surgical modeling in clinical environments. Code will be released at https://surgsplus.github.io/.