Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments

• URL: http://arxiv.org/abs/2602.14666v1
• Date: Mon, 16 Feb 2026 11:46:14 GMT
• Title: Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
• Abstract summary: This paper presents a visual perception platform for a continuum robotic system in endoluminal surgery.<n>We introduce 2D and 3D learning-based perception algorithms to identify position and orientation of flexible instruments.<n>A physically-realistic simulator generates realistic endoluminal scenes, enabling control of flexible robots.
• Score: 28.77639956401214
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible instruments that enable precise tissue resection, potentially improving outcomes. This paper presents a visual perception platform for a continuum robotic system in endoluminal surgery. Our goal is to utilize monocular endoscopic image-based perception algorithms to identify position and orientation of flexible instruments and measure their distances from tissues. We introduce 2D and 3D learning-based perception algorithms and develop a physically-realistic simulator that models flexible instruments dynamics. This simulator generates realistic endoluminal scenes, enabling control of flexible robots and substantial data collection. Using a continuum robot prototype, we conducted module and system-level evaluations. Results show that our algorithms improve control of flexible instruments, reducing manipulation time by over 70% for trajectory-following tasks and enhancing understanding of surgical scenarios, leading to robust endoluminal surgeries.

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