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Minimally invasive surgery (MIS) is poised to be revolutionized by binocular endoscopy, a consequence of advances in stereo vision technology. Despite efforts, some problems endure, including low reconstruction accuracy, a narrow surgical area, and inefficient computation. For the purpose of resolving these difficulties, a framework for real-time, dense binocular endoscopic reconstruction was crafted. Initially, an SGBM algorithm yielded the dis


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