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. Author manuscript; available in PMC: 2023 Mar 24.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2021 Jul 15;3(3):762–772. doi: 10.1109/tmrb.2021.3097415

Figure 6.

Figure 6.

Detection of stay sutures and suturing endpoints. Yellow dot is the average coordinates of all the segmented pixels. The two closest points (yellow circles) of each suture to that point are selected (one on each side of the dividing blue line) and midpoint between each pair is used to delimit the suturing task.