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. 2024 Apr 27;14:9686. doi: 10.1038/s41598-024-60574-w

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Forceps pressure estimation data in the cropping model. (a) Waveform of force estimation over time. () indicates the actual force generation and () indicates the force generation estimated by the model. Both the timing and magnitude of force generation are more consistent than those in the non-cropping model. (b) The saliency map shows that the ROIs in the estimated model are distributed at the tips of the forceps. ROI Region of interest.

Inline graphic — Forceps pressure estimation data in the cropping model. (a) Waveform of force estimation over time. () indicates the actual force generation and () indicates the force generation estimated by the model. Both the timing and magnitude of force generation are more consistent than those in the non-cropping model. (b) The saliency map shows that the ROIs in the estimated model are distributed at the tips of the forceps. ROI Region of interest.