Paper
TopoOR: A Unified Topological Scene Representation for the Operating Room
Authors
Tony Danjun Wang, Ka Young Kim, Tolga Birdal, Nassir Navab, Lennart Bastian
Abstract
Surgical Scene Graphs abstract the complexity of surgical operating rooms (OR) into a structure of entities and their relations, but existing paradigms suffer from strictly dyadic structural limitations. Frameworks that predominantly rely on pairwise message passing or tokenized sequences flatten the manifold geometry inherent to relational structures and lose structure in the process. We introduce TopoOR, a new paradigm that models multimodal operating rooms as a higher-order structure, innately preserving pairwise and group relationships. By lifting interactions between entities into higher-order topological cells, TopoOR natively models complex dynamics and multimodality present in the OR. This topological representation subsumes traditional scene graphs, thereby offering strictly greater expressivity. We also propose a higher-order attention mechanism that explicitly preserves manifold structure and modality-specific features throughout hierarchical relational attention. In this way, we circumvent combining 3D geometry, audio, and robot kinematics into a single joint latent representation, preserving the precise multimodal structure required for safety-critical reasoning, unlike existing methods. Extensive experiments demonstrate that our approach outperforms traditional graph and LLM-based baselines across sterility breach detection, robot phase prediction, and next-action anticipation
Metadata
Related papers
Gen-Searcher: Reinforcing Agentic Search for Image Generation
Kaituo Feng, Manyuan Zhang, Shuang Chen, Yunlong Lin, Kaixuan Fan, Yilei Jian... • 2026-03-30
On-the-fly Repulsion in the Contextual Space for Rich Diversity in Diffusion Transformers
Omer Dahary, Benaya Koren, Daniel Garibi, Daniel Cohen-Or • 2026-03-30
Graphilosophy: Graph-Based Digital Humanities Computing with The Four Books
Minh-Thu Do, Quynh-Chau Le-Tran, Duc-Duy Nguyen-Mai, Thien-Trang Nguyen, Khan... • 2026-03-30
ParaSpeechCLAP: A Dual-Encoder Speech-Text Model for Rich Stylistic Language-Audio Pretraining
Anuj Diwan, Eunsol Choi, David Harwath • 2026-03-30
RAD-AI: Rethinking Architecture Documentation for AI-Augmented Ecosystems
Oliver Aleksander Larsen, Mahyar T. Moghaddam • 2026-03-30
Raw Data (Debug)
{
"raw_xml": "<entry>\n <id>http://arxiv.org/abs/2603.09466v1</id>\n <title>TopoOR: A Unified Topological Scene Representation for the Operating Room</title>\n <updated>2026-03-10T10:19:42Z</updated>\n <link href='https://arxiv.org/abs/2603.09466v1' rel='alternate' type='text/html'/>\n <link href='https://arxiv.org/pdf/2603.09466v1' rel='related' title='pdf' type='application/pdf'/>\n <summary>Surgical Scene Graphs abstract the complexity of surgical operating rooms (OR) into a structure of entities and their relations, but existing paradigms suffer from strictly dyadic structural limitations. Frameworks that predominantly rely on pairwise message passing or tokenized sequences flatten the manifold geometry inherent to relational structures and lose structure in the process. We introduce TopoOR, a new paradigm that models multimodal operating rooms as a higher-order structure, innately preserving pairwise and group relationships. By lifting interactions between entities into higher-order topological cells, TopoOR natively models complex dynamics and multimodality present in the OR. This topological representation subsumes traditional scene graphs, thereby offering strictly greater expressivity. We also propose a higher-order attention mechanism that explicitly preserves manifold structure and modality-specific features throughout hierarchical relational attention. In this way, we circumvent combining 3D geometry, audio, and robot kinematics into a single joint latent representation, preserving the precise multimodal structure required for safety-critical reasoning, unlike existing methods. Extensive experiments demonstrate that our approach outperforms traditional graph and LLM-based baselines across sterility breach detection, robot phase prediction, and next-action anticipation</summary>\n <category scheme='http://arxiv.org/schemas/atom' term='cs.CV'/>\n <published>2026-03-10T10:19:42Z</published>\n <arxiv:primary_category term='cs.CV'/>\n <author>\n <name>Tony Danjun Wang</name>\n </author>\n <author>\n <name>Ka Young Kim</name>\n </author>\n <author>\n <name>Tolga Birdal</name>\n </author>\n <author>\n <name>Nassir Navab</name>\n </author>\n <author>\n <name>Lennart Bastian</name>\n </author>\n </entry>"
}