A kinematic-to-visual lifting paradigm combined with hierarchically routed control generates action-conditioned surgical videos with better faithfulness, fidelity, and efficiency.
arXiv:2511.01775 (2025)
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SWoMo decouples symbolic rule-based motion modeling via scene graphs from visual realism via diffusion models, trained through inverse pairing of real cataract surgery videos reconstructed in the simulator for sim-to-real translation.
The paper introduces Dyadic Partnership (DP) as an intermediate paradigm for robot-clinician collaboration that uses foundation models and multi-modal interfaces to enable safer gradual progress toward autonomous medical robotics.
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SWoMo: Neuro-Symbolic World Model for Cataract Surgery Simulation
SWoMo decouples symbolic rule-based motion modeling via scene graphs from visual realism via diffusion models, trained through inverse pairing of real cataract surgery videos reconstructed in the simulator for sim-to-real translation.