Gradient Surgery

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Period ending 2026-09-21

4 new papers

A weekly snapshot of new work published in Gradient Surgery.

Period ending 2026-09-14

5 new papers

A weekly snapshot of new work published in Gradient Surgery.

Period ending 2026-09-07

3 new papers

A weekly snapshot of new work published in Gradient Surgery.

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183 papers

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  1. Shaft-Configuration-Adaptive Catheter Tip Position Estimation via Motor-History Conditioned Residual Learning

    Sep 22, 2026Peihan Zhang, Michael C. Yip, Ankur Kapoor +1Catheter Tip TrackingSelf-Synchronized Multi-View Joint Angle Monitoring

  2. Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

    Sep 22, 2026Juahn Oh, Dongho Yee, Jinseok Lee +9Robot-Assisted Minimally Invasive SurgeryDeformable Objects

  3. From Instrument-Mounted Demonstrations to In-Vivo Execution: Learning Bimanual Laparoscopic Appendectomy Without Robot-Collected Demonstrations

    Sep 22, 2026Dongho Yee, Juahn Oh, Jinseok Lee +10Robot-Assisted Minimally Invasive SurgeryRobotic Manipulation Policies

  4. Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots

    Sep 22, 2026Chang Liu, Chenhao Yu, Honghao Zhao +5Robot-Assisted Minimally Invasive SurgeryTeleoperation

  5. Video-based Surgical Skill Assessment Using Dynamics-and-Uncertainty-Aware Tree-based Gaussian Process Classifier

    Sep 21, 2026Arefeh Rezaei, Mohammad Javad Ahmadi, Amir Molaei +1Surgical Videos

  6. HumynexSurg-1: A Curated Expert Liposuction Dataset

    Sep 20, 2026Rhea Huang, David L. Matlock, Laurence ReichRobotic DatasetsRobot-Assisted Minimally Invasive Surgery

  7. Object-Centered Reconstruction for Vision-Based 3D Force Estimation

    Sep 20, 2026Zhonghao Zhang, Mingyeung Wu, Hao Yang +3Robot-Assisted Minimally Invasive SurgeryGround Reaction Forces

  8. Japanese Stroke LLM Evaluation: A Conversational Benchmark for Safe Stroke Care in Japanese Using Large Language Models

    Sep 15, 2026Keisuke Masuda, Kazutaka Yatsushiro, Hirohumi Iwamoto +2Large Language Model EvaluationStroke

  9. Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy

    Sep 14, 2026Ethan Kilmer, Pit Henrich, Jiawei Ge +13Robot-Assisted Minimally Invasive SurgeryOccupancy

  10. Automated Perceptually-Motivated Assessment of Photographic Consistency in Paired Clinical Photographs: Pipeline Development and Internal Evaluation

    Sep 14, 2026Derrick Lin, Samantha Rabinovich, Joclin Rabinovich +5Image Quality AssessmentInter-Rater Variability

  11. Autonomous Precision Milling of Biological Structures via Generic Anatomical Priors and Active Boundary Perception

    Sep 14, 2026Enduo Zhao, Xiaofeng Lin, Yifan Wang +4Anatomical PriorsRobot-Assisted Minimally Invasive Surgery

  12. Tackling Failure Modes of PINNs and PIKANs Using Conflict-Free Gradients

    Sep 13, 2026Sidharth S. Menon, Irina Tezaur, Ameya D. JagtapConventional Physics-Informed Neural NetworksGradient Surgery

  13. A Controlled Comparison of Manual and Teleoperated Intraocular Instrument Motion for an Input Device

    Sep 8, 2026Korab Hoxha, Mirza Imamovic, Angelo Henriques +1Robot-Assisted Minimally Invasive SurgeryTeleoperation

  14. Not All Variables Agree: Reliability-Aware Variable-Wise Gradient Surgery for Multivariate Time-Series Forecasting

    Sep 8, 2026Jinwoo Park, Hyeongwon Kang, Pilsung KangMultivariate Time Series ForecastingMultivariate Forecasting

  15. STSG-VQA: Evidence-Grounded Temporal Question Answering from Surgical Spatio-Temporal Scene Graphs

    Sep 8, 2026Jing Li, Duygu SarikayaSurgical VideosTextvqa

  16. Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT

    Sep 7, 2026Danial Arbabi, Korab Hoxha, Angelo Henriques +2Robot-Assisted Minimally Invasive SurgeryHaptic Feedback

  17. Phase-and-First-Arrival VLM Feedback for Sparse-Reward Reinforcement Learning in Surgical Manipulation

    Sep 7, 2026Wanli Liuchen, Fangyuan Wang, Bin Li +4Sparse RewardsRobot-Assisted Minimally Invasive Surgery

  18. A Multi-Vine Soft Robot Enabling Accessible Working Channel and Steering

    Sep 3, 2026Reza Kashef, Cem Suulker, Mohammad Sheikh Sofla +1Soft RobotsAutonomous Endovascular Navigation

  19. MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows

    Sep 2, 2026Ziyang Chen, Shutong Jin, Preethi Satish +6Robot-Assisted Minimally Invasive SurgeryGripper

  20. SurgSkill-Bench: A Benchmark for Multimodal Surgical Skill Assessment

    Aug 31, 2026Chaohui Dang, Zheheng Jiang, James Glasbey +3Gradient SurgeryMultimodal Evaluation

  21. Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy

    Aug 31, 2026Husnu Halid Alabay, Tuan-Anh Le, Ping Wang +1Autonomous Endovascular NavigationAutonomous Navigation

  22. CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning

    Aug 25, 2026Yafei Ou, Ahnaf Naheen, Tleukhan Mussin +3Robot-Assisted Minimally Invasive SurgeryPhysics Simulation

  23. S2-HWM: Sparse Event-Structured Hierarchical World Model for Long-Horizon Surgical Robot Manipulation

    Aug 13, 2026Shuzhe Zhang, Xin Zhu, Yinling Qian +1Long-Horizon PlanningEfficient World-Action Model

  24. Clinical Feasibility of Low-Magnification Fluorescence Imaging for Breast Cancer Margin Detection Using Texture Analysis and Deep Learning

    Aug 11, 2026Pouya Afshin, Tianling Niu, Tongtong Lu +6MammographyMicroscopy

  25. Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning

    Aug 11, 2026Wenrui Bao, Tianyun Jiang, Zhiben Chen +3Surgical VideosRobot-Assisted Minimally Invasive Surgery

  26. Uncertainty-Aware Compositional Localization and Placement Assessment of Catheters and Tubes in Chest X-Rays

    Aug 11, 2026Harshil LodhiyaChest X-RayCatheter Tip Tracking

  27. RoSE: A Robotic Soft Esophagus for Endoprosthetic Stent Testing

    Aug 10, 2026Dipankar Bhattacharya, Sherine Jesna V. A., Leo K. Cheng +1Autonomous Endovascular NavigationRobot-Assisted Minimally Invasive Surgery

  28. Nonlinear Model Predictive Control of a Robotic Soft Esophagus

    Aug 10, 2026Dipankar Bhattacharya, Ryman Hashem, Leo K. Cheng +1Model Predictive ControlSoft Robots

  29. Hallucinations and Constraints : Regulating surgical workflow recognition beyond accuracy

    Aug 10, 2026John S. H. Baxter, Pierre JanninRobot-Assisted Minimally Invasive SurgeryHallucinations

  30. Bootstrapping Vision-Language Model for Hysteroscopic Surgical Scene Segmentation

    Aug 10, 2026Jun Huang, Meiyi Chen, Zijie Yue +6Medical Vision-Language ModelsSurgical Videos

  31. Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation

    Aug 10, 2026Mingwu Su, Guankun Wang, Jinsong Lin +8Robot-Assisted Minimally Invasive SurgeryGeneralizable Robotic Manipulations

  32. Agentic AI-driven Immersive Simulation: A Knowledge-Aware Virtual Training Platform forHigh Dose Rate (HDR) Brachytherapy

    Aug 8, 2026Ronghua Xu, Kepha Barasa, Manoj Kumal +3RadiotherapySimulated Patients

  33. SurgWMBench: A Vision-Based Benchmark for World-Modeling Surgical Instrument Motion Planning

    Aug 8, 2026Huanrong Liu, Weiliang Huang, Bob Zhang +3Surgical VideosGradient Surgery

  34. SurgLAT: Surgical Latent Attention Tracking for Depth-Aware Robotic Laparoscope Control

    Aug 8, 2026Rulin Zhou, Qiujie Song, Yujie Ma +10Robot-Assisted Minimally Invasive SurgeryLatent Actions

  35. Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts

    Aug 7, 2026Rulin Zhou, Wanhao Liu, Guoheng Ma +8Surgical VideosGradient Surgery

  36. Toward surface-based registration of a virtual preoperative cutting guide onto the mandible for reconstruction surgery

    Aug 6, 2026Yue Yang, Jie Ying WuImage RegistrationCone-Beam Computed Tomography

  37. Enhanced Real-Time 6-DOF Extended Reality Catheter Tracking for Evaluating Potential Improvement in Efficiency, Precision, and Depth Perception for Cardiac Interventions

    Aug 6, 2026Mohsen Annabestani, Sandhya Sriram, Andrew Kuzemczak +3Catheter Tip TrackingVirtual Reality

  38. A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units

    Aug 6, 2026Haonan Peng, Dun-Tin Chiang, Jordan Hendricks +5Robot-Assisted Minimally Invasive SurgeryGround Reaction Forces

  39. AI-based single-shot structured-light depth reconstruction for real-time laparoscopic surgical guidance

    Aug 5, 2026Wayne Wonseok Rodgers, Xiangyi Le, Seonghoon Jang +5Fringe Projection ProfilometryRobot-Assisted Minimally Invasive Surgery

  40. SurgNarrator: A Generative Retrieval Framework for Surgical Video Understanding

    Aug 5, 2026Yuqing Feng, Jiawei Ma, Kevin Qinghong Lin +6Surgical VideosGradient Surgery

  41. TRCoRSurg: Temporal-Relational Co-Reasoning for Surgical Video Triplet Recognition

    Aug 5, 2026Fang Li, Shihao Zou, Weixin Si +3Gradient SurgerySpatial Priors

  42. CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction

    Aug 4, 2026Wanhao Liu, Jinsong Lin, Rulin Zhou +11Cross-ViewSurgical Videos

  43. Forbidden Region Dynamic Active Constraints in Robot-Assisted Minimally Invasive Surgery

    Aug 4, 2026Zejian Cui, Ferdinando Rodriguez y BaenaRobot-Assisted Minimally Invasive SurgeryGradient Surgery

  44. Action-grounded tissue affordance enables anticipatory auto-framing that lowers surgeon cognitive workload during laparoscopic surgery

    Aug 3, 2026Jiayu Gu, Yiwei Wang, Jie Zhang +14Gradient SurgeryAffordances

  45. Extended KAFR: A kinematic-adaptive paradigm for the efficient analysis of surgical video

    Aug 2, 2026Huu Phong Nguyen, Shekhar Madhav Khairnar, Ganesh SankaranarayananSurgical VideosMotion Estimation

  46. Leveraging Transfer Learning with Class-Specific Decoders for Laparoscopic Segmentation

    Jul 31, 2026Priya Tomar, Aditya Parikh, Christian Bauckhage +1Medical Image SegmentationTransfer Learning

  47. First Investigation of Deep Learning for Intraoperative Gauze Segmentation in Minimally Invasive Abdominal Surgery

    Jul 31, 2026Priya Tomar, Maximilian Broß, Philipp Feodorovici +7Medical Image SegmentationRobot-Assisted Minimally Invasive Surgery

  48. Large scale cross-regional remote sensing flood monitoring framework for operative mapping and impact analysis

    Jul 30, 2026Ilya Novikov, Svetlana Illarionova, Ruslan Dzharkinov +6Flood DetectionSen1Floods11

  49. Failure Detection for Surgical Robot Imitation Policies via Flow-Matching World Modeling

    Jul 29, 2026Zhefeng Huang, Yilin Cai, Ankit Patel +3Robot-Assisted Minimally Invasive SurgeryImitation Learning

  50. Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning

    Jul 29, 2026Tleukhan Mussin, Yafei Ou, Mahdi TavakoliRobot-Assisted Minimally Invasive SurgerySimulation-Based Reinforcement Learning

  51. Reeling It In: Flexible Needle Pick Up via Thread Manipulation for Autonomous Suturing

    Jul 28, 2026Emma Huang, Zih-Yun Chiu, Neelay Joglekar +2Robot-Assisted Minimally Invasive SurgerySequential

  52. Modular Robotic Catheters for Endovascular Aneurysm Repair

    Jul 28, 2026Alex Ranne, Jinshi Zhao, Ali Anil Demircali +5Catheter Tip Tracking

  53. Extended Reality as a Mediation Layer for Situated Human Control in Human-Robot Teaming

    Jul 27, 2026Jens Grubert, John Dudley, Eyal Ofek +1Virtual RealityHuman Oversight

  54. Development of a Handheld Actuation Mechanism for a Tendon-driven Robotically Steered Guidewire

    Jul 27, 2026Saima Chavenet, Timothy A. Brumfiel, Revanth Konda +1Autonomous Endovascular Navigation

  55. Surgical Re-enactment for Operating Room Workflow Datasets

    Jul 27, 2026Jana Nina Friedrich, Andrea Karin Maria Ross, Angelo Henriques +3Robot-Assisted Minimally Invasive SurgeryReal-World Clinical Workflows

  56. MiSS: A Logic-Driven Explanation of Minimal Sufficient Coalitions for Point Cloud Classifiers

    Jul 27, 2026Mengda Xing, Jean-Marie LagniezExplainabilityAbductive Reasoning

  57. Patient-Agnostic Synthetic Pretraining for Efficient Patient-Specific Intraoperative 2D/3D Registration

    Jul 25, 2026Minheng Chen, Youyong KongImage RegistrationTomography

  58. Learning-based Hierarchical Tracheal Anatomy Understanding from Sparse Surgical Demonstration Annotations for Ultrasound Robots

    Jul 24, 2026Hiu Ching Cheung, Wenchao Yue, Zhengran Han +4Robot-Assisted Minimally Invasive SurgeryUltrasound

  59. Metric Surface Reconstruction of Neurosurgical Scenes from Monocular Operating Microscope Images and Microscope Pose

    Jul 24, 2026Thomas Bucher, Didier Neuenschwander, Thomas Petutschnigg +4High-Fidelity Surface ReconstructionMicroscopy

  60. RL-MACRO: A Cybernetic Closed-Loop Intelligence Framework for Multimodal Adaptive Robotic Craniotomy

    Jul 23, 2026Xiao Zhang, Jiaxuan Li, Renzhen Le +9Robot-Assisted Minimally Invasive SurgeryTissue Architecture