{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T18:08:54Z","timestamp":1774030134844,"version":"3.50.1"},"reference-count":38,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,6,27]],"date-time":"2025-06-27T00:00:00Z","timestamp":1750982400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:p>In nasal endoscopic surgery, the narrow nasal cavity restricts the surgical field of view and the manipulation of surgical instruments. Therefore, precise real-time intraoperative navigation, which can provide precise 3D information, plays a crucial role in avoiding critical areas with dense blood vessels and nerves. Although significant progress has been made in endoscopic 3D reconstruction methods, their application in nasal scenarios still faces numerous challenges. On the one hand, there is a lack of high-quality, annotated nasal endoscopy datasets. On the other hand, issues such as motion blur and soft tissue deformations complicate the nasal endoscopy reconstruction process. To tackle these challenges, a series of nasal endoscopy examination videos are collected, and the pose information for each frame is recorded. Additionally, a novel model named Mip-EndoGS is proposed, which integrates 3D Gaussian Splatting for reconstruction and rendering and a diffusion module to reduce image blurring in endoscopic data. Meanwhile, by incorporating an adaptive low-pass filter into the rendering pipeline, the aliasing artifacts (jagged edges) are mitigated, which occur during the rendering process. Extensive quantitative and visual experiments show that the proposed model is capable of reconstructing 3D scenes within the nasal cavity in real-time, thereby offering surgeons more detailed and precise information about the surgical scene. Moreover, the proposed approach holds great potential for integration with AR-based surgical navigation systems to enhance intraoperative guidance.<\/jats:p>","DOI":"10.3389\/fnbot.2025.1630728","type":"journal-article","created":{"date-parts":[[2025,6,27]],"date-time":"2025-06-27T05:31:28Z","timestamp":1751002288000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["A robust and effective framework for 3D scene reconstruction and high-quality rendering in nasal endoscopy surgery"],"prefix":"10.3389","volume":"19","author":[{"given":"Xueqin","family":"Ji","sequence":"first","affiliation":[]},{"given":"Shuting","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Di","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Feng","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Xinrong","family":"Chen","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2025,6,27]]},"reference":[{"key":"B1","first-page":"5855","author":"Barron","year":"2021"},{"key":"B2","first-page":"502","article-title":"\u201cLightneus: Neural surface reconstruction in endoscopy using illumination decline,\u201d","volume-title":"International Conference on Medical Image Computing and Computer-Assisted Intervention","author":"Batlle","year":"2023"},{"key":"B3","first-page":"350","article-title":"\u201cEnabling rapid and high-quality 3D scene reconstruction in cystoscopy through neural radiance fields,\u201d","volume-title":"Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling","author":"Chen","year":"2024"},{"key":"B4","article-title":"\u201cHierarchical integration diffusion model for realistic image deblurring,\u201d","volume-title":"Advances in Neural Information Processing Systems 36","author":"Chen","year":"2024"},{"key":"B5","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1145\/7529.8927","article-title":"Stochastic sampling in computer graphics","volume":"5","author":"Cook","year":"1986","journal-title":"ACM Trans. Graph"},{"key":"B6","first-page":"5501","article-title":"\u201cPlenoxels: Radiance fields without neural networks,\u201d","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Fridovich-Keil","year":"2022"},{"key":"B7","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1109\/TMI.2013.2282997","article-title":"Visual slam for handheld monocular endoscope","volume":"33","author":"Grasa","year":"2013","journal-title":"IEEE Trans. Med. Imag"},{"key":"B8","unstructured":"Heckbert\n              P. S.\n            \n          \n          39110560\n          Fundamentals of Texture Mapping and Image Warping\n          \n          1989"},{"key":"B9","first-page":"19774","article-title":"\u201cTri-MipRF: Tri-Mip representation for efficient anti-aliasing neural radiance fields,\u201d","volume-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision","author":"Hu","year":"2023"},{"key":"B10","first-page":"3907","article-title":"\u201cNeural 3D mesh renderer,\u201d","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Kato","year":"2018"},{"key":"B11","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/2487228.2487237","article-title":"Screened poisson surface reconstruction","volume":"32","author":"Kazhdan","year":"2013","journal-title":"ACM Trans. Graph"},{"key":"B12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3592433","article-title":"3d gaussian splatting for real-time radiance field rendering","volume":"42","author":"Kerbl","year":"2023","journal-title":"ACM Trans. Graph"},{"key":"B13","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3550454.3555497","article-title":"Neural point catacaustics for novel-view synthesis of reflections","volume":"41","author":"Kopanas","year":"2022","journal-title":"ACM Trans. Graph"},{"key":"B14","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1111\/cgf.14339","article-title":"Point-based neural rendering with per-view optimization","volume":"40","author":"Kopanas","year":"2021","journal-title":"Comp. Graphics Forum"},{"key":"B15","first-page":"235","article-title":"\u201cImage-based navigation for functional endoscopic sinus surgery using structure from motion,\u201d","volume-title":"Medical Imaging 2016: Image Processing","author":"Leonard","year":"2016"},{"key":"B16","first-page":"20834","article-title":"\u201cNeuraludf: Learning unsigned distance fields for multi-view reconstruction of surfaces with arbitrary topologies,\u201d","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Long","year":"2023"},{"key":"B17","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1007\/978-3-319-54057-3_7","article-title":"\u201cOrbslam-based endoscope tracking and 3D reconstruction,\u201d","volume-title":"Computer-Assisted and Robotic Endoscopy: Third International Workshop, CARE 2016, Held in Conjunction with MICCAI 2016","author":"Mahmoud","year":"2017"},{"key":"B18","first-page":"1","article-title":"\u201cReal-time visibility-based fusion of depth maps,\u201d","volume-title":"2007 IEEE 11th International Conference on Computer Vision","author":"Merrell","year":"2007"},{"key":"B19","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1145\/3503250","article-title":"Nerf: Representing scenes as neural radiance fields for view synthesis","volume":"65","author":"Mildenhall","year":"2021","journal-title":"Commun. ACM"},{"key":"B20","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1109\/2945.694987","article-title":"Splatting errors and antialiasing","volume":"4","author":"Mueller","year":"1998","journal-title":"IEEE Trans. Visualizat. Comp. Graph"},{"key":"B21","doi-asserted-by":"publisher","first-page":"1323","DOI":"10.1007\/s11042-016-4219-z","article-title":"Content-based processing and analysis of endoscopic images and videos: a survey","volume":"77","author":"M\u00fcnzer","year":"2018","journal-title":"Multimedia Tools Appl"},{"key":"B22","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"Orb-slam: a versatile and accurate monocular slam system","volume":"31","author":"Mur-Artal","year":"2015","journal-title":"IEEE Trans. Robot"},{"key":"B23","first-page":"3883","article-title":"\u201cDeep multi-scale convolutional neural network for dynamic scene deblurring,\u201d","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Nah","year":"2017"},{"key":"B24","doi-asserted-by":"publisher","first-page":"1451","DOI":"10.1097\/00006534-199704001-00042","article-title":"Diagnostic nasal endoscopy","volume":"99","author":"Pownell","year":"1997","journal-title":"Plastic Reconstruct. Surg"},{"key":"B25","first-page":"10684","article-title":"\u201cHigh-resolution image synthesis with latent diffusion models,\u201d","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Rombach","year":"2022"},{"key":"B26","doi-asserted-by":"publisher","first-page":"S1","DOI":"10.1177\/0194599815572097","article-title":"Clinical practice guideline (update): adult sinusitis","volume":"152","author":"Rosenfeld","year":"2015","journal-title":"Otolaryngol.-Head Neck Surg"},{"key":"B27","first-page":"4104","article-title":"\u201cStructure-from-motion revisited,\u201d","volume-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition","author":"Schonberger","year":"2016"},{"key":"B28","volume-title":"Ray Tracing in One Weekend","author":"Shirley","year":"2018"},{"key":"B29","doi-asserted-by":"crossref","first-page":"835","DOI":"10.1145\/1179352.1141964","article-title":"\u201cPhoto tourism: exploring photo collections in 3D,\u201d","author":"Snavely","year":"2006","journal-title":"ACM Siggraph 2006 Papers"},{"key":"B30","doi-asserted-by":"publisher","first-page":"701","DOI":"10.1111\/cgf.14022","article-title":"State of the art on neural rendering","volume":"39","author":"Tewari","year":"2020","journal-title":"Comp. Graphics Forum"},{"key":"B31","doi-asserted-by":"publisher","first-page":"1619","DOI":"10.1007\/s11548-020-02241-9","article-title":"A visual slam-based bronchoscope tracking scheme for bronchoscopic navigation","volume":"15","author":"Wang","year":"2020","journal-title":"Int. J. Comp. Assisted Radiol. Surg"},{"key":"B32","first-page":"431","article-title":"\u201cNeural rendering for stereo 3D reconstruction of deformable tissues in robotic surgery,\u201d","volume-title":"International Conference on Medical Image Computing and Computer-Assisted Intervention","author":"Wang","year":"2022"},{"key":"B33","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/JTEHM.2019.2946802","article-title":"Whole stomach 3D reconstruction and frame localization from monocular endoscope video","volume":"7","author":"Widya","year":"2019","journal-title":"IEEE J. Transl. Eng. Health Med"},{"key":"B34","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.emc.2018.09.007","article-title":"Sinusitis update","volume":"37","author":"Wyler","year":"2019","journal-title":"Emerg. Med. Clini"},{"key":"B35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01839","article-title":"Mip-splatting: Alias-free 3d gaussian splatting","author":"Yu","year":"2023","journal-title":"arXiv"},{"key":"B36","first-page":"5728","article-title":"\u201cRestormer: Efficient transformer for high-resolution image restoration,\u201d","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition","author":"Zamir","year":"2022"},{"key":"B37","first-page":"29","article-title":"\u201cEwa volume splatting,\u201d","volume-title":"Proceedings Visualization, 2001","author":"Zwicker","year":""},{"key":"B38","first-page":"371","article-title":"\u201cSurface splatting,\u201d","volume-title":"Proceedings of the 28th Annual Conference on Computer Graphics and Interactive Techniques","author":"Zwicker","year":""}],"container-title":["Frontiers in Neurorobotics"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2025.1630728\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,27]],"date-time":"2025-06-27T05:31:34Z","timestamp":1751002294000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2025.1630728\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,27]]},"references-count":38,"alternative-id":["10.3389\/fnbot.2025.1630728"],"URL":"https:\/\/doi.org\/10.3389\/fnbot.2025.1630728","relation":{},"ISSN":["1662-5218"],"issn-type":[{"value":"1662-5218","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,6,27]]},"article-number":"1630728"}}