Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
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arXiv
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| Format: | Preprint |
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2026
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| author | Wei, Ruofeng Chen, Kai Ng, Yui Lun Ma, Yiyao Ho, Justin Di-Lang Tong, Hon Sing Wang, Xiaomei Dai, Jing Kwok, Ka-Wai Dou, Qi |
| author_facet | Wei, Ruofeng Chen, Kai Ng, Yui Lun Ma, Yiyao Ho, Justin Di-Lang Tong, Hon Sing Wang, Xiaomei Dai, Jing Kwok, Ka-Wai Dou, Qi |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_14666 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments Wei, Ruofeng Chen, Kai Ng, Yui Lun Ma, Yiyao Ho, Justin Di-Lang Tong, Hon Sing Wang, Xiaomei Dai, Jing Kwok, Ka-Wai Dou, Qi Robotics 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. |
| title | Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.14666 |