SOURCE-LINKED INTELLIGENCE
Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints
Objective assessment of robotic surgery uses instrument kinematics, which must be reconstructed when only video is available. We introduce a kinematic reconstruction network for estimating instrument position, orientation and jaw angle from monocular video. Our visual representation combines global attention pooling of frozen DINOv3 features with local pooling at instrument landmarks from fine-tuned SAM 3.1 masks. Our shared Transformer encoder and temporal convolutional heads integrate this representation with mask geometry, monocular depth and visual state estimates from arm-specific multila
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-23T01:49:27.000Z
First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.