. Author manuscript; available in PMC: 2019 Oct 1.

Published in final edited form as: Rep U S. 2019 Jan 7;2018:1298–1305. doi: 10.1109/IROS.2018.8594471

Algorithm 2:

Virtual Tool Rendering

\begin{array}{l} I n p u t : Tool Model, θ_{1}, θ_{2}, θ_{3}, g_{C B}, g_{B T}, P \\ 1 tool_geometry = C o m p u t e_t o o l_g e o m e t r y (Tool Model, θ_{1}, θ_{2}, θ_{3}, g_{C B}, g_{B T}) \\ 2 virtual image = S i l h o u e t t e_e x t r a c t i o n (tool_geometry, P) \\ O u t p u t : virtual image \end{array}