G-SHARP: Gaussian Surgical Hardware Accelerated Real-time Pipeline
This addresses the problem of deployable, real-time surgical visualization for minimally invasive procedures, though it is incremental by building on existing Gaussian splatting methods.
The paper tackled real-time 3D reconstruction of deformable tissue in minimally invasive surgery by proposing G-SHARP, a framework that achieved state-of-the-art quality and speed-accuracy trade-offs on the EndoNeRF benchmark.
We propose G-SHARP, a commercially compatible, real-time surgical scene reconstruction framework designed for minimally invasive procedures that require fast and accurate 3D modeling of deformable tissue. While recent Gaussian splatting approaches have advanced real-time endoscopic reconstruction, existing implementations often depend on non-commercial derivatives, limiting deployability. G-SHARP overcomes these constraints by being the first surgical pipeline built natively on the GSplat (Apache-2.0) differentiable Gaussian rasterizer, enabling principled deformation modeling, robust occlusion handling, and high-fidelity reconstructions on the EndoNeRF pulling benchmark. Our results demonstrate state-of-the-art reconstruction quality with strong speed-accuracy trade-offs suitable for intra-operative use. Finally, we provide a Holoscan SDK application that deploys G-SHARP on NVIDIA IGX Orin and Thor edge hardware, enabling real-time surgical visualization in practical operating-room settings.