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arXiv · 2512.02482

G-SHARP: Gaussian Surgical Hardware Accelerated Real-time Pipeline

Vishwesh Nath·Javier G. Tejero·Aravind S. Kumar·Ruilong Li·Filippo Filicori·Mahdi Azizian·Sean D. Huver
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Abstract

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.

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Vishwesh Nath, Javier G. Tejero, Aravind S. Kumar, Ruilong Li, Filippo Filicori, Mahdi Azizian, Sean D. Huver. 2025-12-02. G-SHARP: Gaussian Surgical Hardware Accelerated Real-time Pipeline. https://arxiv.org/abs/2512.02482

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