Extended Data Table 4 |.

Average landmark error (mm) for surgical tool detection as a mean of 5-fold individual testing on 264 real X-ray images of the continuum manipulator

	Sim2Real		Real2Real
	Mean	CI	Mean	CI
Base	1.09 ± 0.69	0.09	1.09 ± 0.89	0.11
Tip	1.12 ± 1.04	0.13	1.29 ± 3.40	0.43
All	1.10 ± 0.88	0.08	1.19 ± 2.49	0.22

CI refers to confidence intervals. They are computed using the 2-tailed z-test with a critical value for a 95% level of confidence (p<0.05). Real2Real refers to training and testing both in real domain datasets. Sim2Real means training in simulation dataset and testing in real dataset.