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

• URL: http://arxiv.org/abs/2607.27825v2
• Date: Wed, 05 Aug 2026 17:15:18 GMT
• Title: Endo-NeRF++: Uncertainty-Aware Neural Rendering with Multi-Resolution Hash Encoding for Dynamic Surgical Scene Reconstruction
• Abstract summary: Reconstructing dynamic surgical scenes is crucial for robot-assisted minimally invasive surgery.<n>We introduce Endo-NeRF++, a neural rendering framework that accounts for uncertainty in the reconstruction of dynamic surgical scenes.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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 1.22dB (4.3%), increases SSIM by up to 5.3%, and reduces LPIPS by up to 55.1% compared with the EndoNeRF baseline.

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