AI RESEARCH
SurgCalib: Gaussian Splatting-Based Hand-Eye Calibration for Robot-Assisted Minimally Invasive Surgery
arXiv CS.CV
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ArXi:2603.08983v1 Announce Type: cross We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transformation between the robot base and the camera frame is essential for reliable closed-loop control. For cable-driven surgical robots, this task faces unique challenges. The encoders of surgical instruments often produce inaccurate proprioceptive measurements due to cable stretch and backlash.