Remembering to Reason: Structured Memory for Scene and Workflow Understanding in Robot-Assisted Surgery

Zhiran Zhang, Hu Wang, Yichen Wu, Yutong Xie

Surgical video understanding is an important foundation for intelligent assistance in robot-assisted surgery. Similar surgical views can reflect different actions or procedural stages. Interpreting these views requires access to earlier observations, yet frame-centric prompting leaves this history unavailable. We introduce MemSurg, a framework that remembers surgical observations before reasoning over them. Its structured memory graph stores timestamped entity categories, locations, motion cues, and interaction summaries. Chronological links preserve recent context, while entity-associated links connect recurring observations across the procedure. Task-adaptive retrieval then supplies evidence-grounded prompts for scene and workflow reasoning, supporting both frozen inference and memory-conditioned supervised fine-tuning. Evaluation on robot-assisted prostatectomy and two complementary surgical benchmarks shows a 10.43-percentage-point gain over SurgRAW with GPT-4o. Memory conditioning adds 6.52 points under matched Qwen3-VL-8B fine-tuning, and an inference-time plug-in adds 7.04 points to EndoChat. These results support structured memory as a reusable source of procedural…