{"id":"https://openalex.org/W7214738653","doi":"https://doi.org/10.48550/arxiv.2609.33237","title":"SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation","display_name":"SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation","publication_year":2026,"publication_date":"2026-09-27","ids":{"openalex":"https://openalex.org/W7214738653","doi":"https://doi.org/10.48550/arxiv.2609.33237"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2609.33237","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33237","pdf_url":"https://arxiv.org/pdf/2609.33237","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2609.33237","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101674364","display_name":"Changwei Chen","orcid":"https://orcid.org/0000-0002-1527-2370","observed_orcids":["https://orcid.org/0000-0002-1527-2370"]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen, Changwei","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153477483","display_name":"Xiao Liang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liang, Xiao","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134511141","display_name":"Yinuo Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang, Yinuo","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5152639490","display_name":"Nicole Shen","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shen, Nicole","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5153440876","display_name":"Peihan Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhang, Peihan","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054814635","display_name":"Sara G. Wickenhiser","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wickenhiser, Sara","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033399342","display_name":"Zekai Liang","orcid":"https://orcid.org/0009-0007-3834-6436","observed_orcids":["https://orcid.org/0009-0007-3834-6436"]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liang, Zekai","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037321708","display_name":"Soofiyan Atar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Atar, Soofiyan","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172","observed_orcids":["https://orcid.org/0000-0001-9689-0172"]},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yip, Michael","raw_affiliation_strings":["Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , University of California San Diego , La Jolla , CA 92093 , USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9136000275611877,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9136000275611877,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.05480000004172325,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.020500000566244125,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-prediction","display_name":"contact prediction","score":0.5070000290870667},{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"unsupervised learning","score":0.5580000281333923},{"id":"https://openalex.org/keywords/flow-matching","display_name":"flow matching","score":0.5070000290870667},{"id":"https://openalex.org/keywords/3d-object-tracking","display_name":"3D object tracking","score":0.7620000243186951},{"id":"https://openalex.org/keywords/grasp-and-release","display_name":"grasp and release","score":0.699999988079071},{"id":"https://openalex.org/keywords/da-vinci-research-kit","display_name":"da Vinci Research Kit","score":0.8230000138282776},{"id":"https://openalex.org/keywords/zero-shot-transfer","display_name":"zero-shot transfer","score":0.7289999723434448},{"id":"https://openalex.org/keywords/tissue-retraction","display_name":"tissue retraction","score":0.7369999885559082},{"id":"https://openalex.org/keywords/handover","display_name":"handover","score":0.5189999938011169}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7215999960899353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7128999829292297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.660099983215332},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6470999717712402},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6419000029563904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6144000291824341},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5795999765396118},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5479999780654907},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5023000240325928},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.4823000133037567},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4546000063419342},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4447000026702881},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.412200003862381},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4004000127315521},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.36419999599456787},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3634999990463257},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.34850001335144043},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.3025999963283539},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29499998688697815},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28110000491142273},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.27720001339912415},{"id":"https://openalex.org/C2778181360","wikidata":"https://www.wikidata.org/wiki/Q1074814","display_name":"Surgical instrument","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.33237","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33237","pdf_url":"https://arxiv.org/pdf/2609.33237","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2609.33237","doi":"https://doi.org/10.48550/arxiv.2609.33237","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.33237","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.33237","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.33237","pdf_url":"https://arxiv.org/pdf/2609.33237","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7214738653.pdf","grobid_xml":"https://content.openalex.org/works/W7214738653.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W4283785166","https://openalex.org/W4303647933","https://openalex.org/W4391157837","https://openalex.org/W4392781512","https://openalex.org/W4402346185","https://openalex.org/W4402354026","https://openalex.org/W4402354045","https://openalex.org/W4406072763","https://openalex.org/W4414368103","https://openalex.org/W4414969233","https://openalex.org/W4416155345","https://openalex.org/W4417098224","https://openalex.org/W7117671840","https://openalex.org/W7119476772","https://openalex.org/W7155518926","https://openalex.org/W7161684655","https://openalex.org/W7164810171"],"related_works":["https://openalex.org/W7202281905","https://openalex.org/W4416062460","https://openalex.org/W4391157837","https://openalex.org/W4417097705","https://openalex.org/W7117988078","https://openalex.org/W7203692628","https://openalex.org/W7087578502","https://openalex.org/W4416232591","https://openalex.org/W2925576064","https://openalex.org/W7131879067"],"abstract_inverted_index":{"Paired":[0],"video-action":[1],"demonstrations":[2],"enable":[3],"autonomous":[4],"surgical":[5,73],"behavior,":[6],"but":[7,35],"such":[8],"data":[9,20,153],"is":[10,21,56],"scarce:":[11],"robots":[12],"perform":[13],"roughly":[14],"1%":[15],"of":[16,135],"surgeries,":[17],"while":[18,117],"video-only":[19],"abundant.":[22],"Learning":[23],"3D":[24,67,86,95],"object":[25,41,80],"flow":[26,36,102],"offers":[27],"an":[28,40],"embodiment-agnostic":[29],"way":[30],"to":[31,105,112,161],"utilize":[32],"video":[33,74],"data,":[34],"alone":[37],"specifies":[38],"how":[39],"should":[42,50],"move,":[43],"not":[44],"where":[45],"and":[46,88,97,108,115,146,168,174],"when":[47],"the":[48,125],"tool":[49],"engage":[51],"it,":[52],"a":[53,63,84,101,162],"distinction":[54],"that":[55,65],"critical":[57],"in":[58,133],"surgery.":[59],"We":[60,91],"introduce":[61],"SurgFlow,":[62],"framework":[64],"learns":[66],"Object-Centric":[68],"Contact":[69],"Flow":[70],"from":[71,122],"stereo":[72],"without":[75,156],"action":[76,157],"labels.":[77,158],"For":[78],"each":[79],"point,":[81],"it":[82],"predicts":[83],"future":[85],"trajectory":[87],"contact":[89,111],"scores.":[90],"extract":[92],"targets":[93],"via":[94],"tracking":[96],"tool-object":[98],"proximity,":[99],"train":[100],"matching":[103],"generator":[104],"predict":[106],"them,":[107],"use":[109],"predicted":[110],"trigger":[113],"grasp":[114],"release":[116],"optimizing":[118],"end":[119],"effector":[120],"motion":[121],"flow.":[123],"On":[124],"da":[126],"Vinci":[127],"Research":[128],"Kit":[129],"(dVRK),":[130],"SurgFlow":[131],"succeeds":[132],"37":[134],"39":[136],"stage":[137],"evaluations":[138],"across":[139],"tissue":[140],"retraction,":[141],"bimanual":[142],"reveal,":[143],"needle":[144],"pickup,":[145],"handover,":[147],"outperforming":[148],"baselines":[149],"trained":[150],"on":[151],"equal":[152],"with":[154],"or":[155],"Zero-shot":[159],"transfer":[160],"humanoid-based":[163],"laparoscopic":[164],"robot":[165],"achieves":[166],"85%":[167],"70%":[169],"average":[170],"success":[171],"under":[172],"similar":[173],"novel":[175],"camera":[176],"viewpoints,":[177],"respectively.":[178]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-09-30T00:00:00"}