UltraVoxelGS: Voxel-First Feed-Forward Gaussian Splatting for 3D Ultrasound Reconstruction

We present UltraVoxelGS, a 3D ultrasound reconstruction method that achieves both fast reconstruction and physically faithful rendering for the first time, bringing live spatial feedback during 2D ultrasound scanning within reach. This is made possible by a feed-forward design that predicts a complete Gaussian scene representation from posed ultrasound images directly, entirely bypassing the per-scene optimization bottleneck that has confined prior methods to offline use. Realising such feed-forward prediction in this setting is non-trivial: unlike natural images, ultrasound slices share at most one-dimensional intersections and exhibit view-dependent appearance due to acoustic propagation and attenuation, violating the dense overlap and photometric consistency assumed by existing feed-forward Gaussian methods. Hence, to achieve fast reconstruction, we introduce a feed-forward voxel-to-Gaussian pass that decouples representation size from input count by lifting all posed slices into a fixed-size voxel support and predicting Gaussian parameters directly. For faithful rendering, we propose ultrasound-aware appearance rendering strategy factorize reflection from cumulative attenuation during training and exploit appearance continuity among spatially adjacent slices for efficient Render-time Appearance Adaptation. On both real-world and simulated datasets, UltraVoxelGS achieves best PSNR/SSIM compared with per-scene optimization baselines while reducing inference from 10-20 minutes to approximately 10 seconds (over 35 times faster) and scales to sequences exceeding 1,000 frames. Code is available at https://github.com/YuebyYue/UltraVoxelGS-camera-ready.