Real-Time 3D Organ Tracking with Depth-Based Augmented Reality for Minimally Invasive Surgery
Bibliographic record
Abstract
Tracking deformable organs during minimally invasive surgery is challenging due to dynamic tissue motion and occlusion. We propose a depth-based AR tracking system that integrates point cloud alignment with Kalman motion prediction and graph neural network (GNN) surface modeling. The method continuously updates 3D organ meshes, correcting for non-rigid deformations. Tested on 12 laparoscopic liver datasets, our system achieved 0.9 mm RMS tracking error, maintaining 28 fps on RTX 3080 hardware. Compared with optical tracking, accuracy improved by 22%, while latency was reduced by 35 ms. Surgeon evaluations confirmed more stable guidance during simulated resections.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.020 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.004 | 0.008 |
| Science and technology studies | 0.003 | 0.001 |
| Scholarly communication | 0.002 | 0.003 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".