SurgCast: Action-Conditioned Future Skeletons for Controllable Surgical World Models
Surgical world models must turn prospective robot actions into visually faithful, structurally consistent instrument motion. We introduce SurgCast, which predicts future instrument skeletons from current structure, robot state, and future actions, then uses the forecast to control video generation. Dual-path injection combines skeleton geometry with derived, instrument-specific motion descriptors through geometric residuals and conditioning modulation. Both paths complement native action conditioning and are retained in a four-step causal student. On SutureBot and SRTH-Porcine-Cholei, the teacher and student improve all seven reported quality and instrument-consistency metrics over their ...
| Authors | Wanhao Liu, Rulin Zhou, Liangjing Shao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 11 October 2026 |
| Last updated at source | 11 October 2026 |
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