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.
Cite
@article{arxiv.2512.02482,
title = {G-SHARP: Gaussian Surgical Hardware Accelerated Real-time Pipeline},
author = {Vishwesh Nath and Javier G. Tejero and Aravind S. Kumar and Ruilong Li and Filippo Filicori and Mahdi Azizian and Sean D. Huver},
journal= {arXiv preprint arXiv:2512.02482},
year = {2026}
}