Fig. 3. Definition of resting, prediction, and disregard window.

For δ = 3 s, τ = 3 s and σ = 1 s the prediction window ranges from t₀ − 6 s to t₀ + 1 s. In the prediction window, the next required instrument is predicted. Subsequently, the predicted instrument is picked up by the RSN and transferred to the surgeon, who inserts it into the corresponding working trocar. At time t₀, the instrument disappears from the laparoscopic video. A resting window precedes each prediction window to prevent possible false predictions and premature movements of the robot.