Table 7.

Accuracy of EndoVis articulated robotic surgical instrument train data for Head and Shaft points with high quality annotation.

	Seq 1L	Seq 1R	Seq 2	Seq 3	Seq 4	Whole
In-view (IV) and Out-of-view (OV) frame number
IV	1107	1107	1125	1124	1123	5586
OV	0	0	0	0	0	0
Total	1107	1107	1125	1124	1123	5586
Head accuracy ($Thres=20$ px)
Acc. (%)	100.0	100.0	99.82	100.0	100.0	99.96
Dist. (px)	3.06	4.10	10.32	4.52	6.33	5.68
Shaft accuracy ($Thres=20$ px)
Acc. (%)	100.0	98.46	100	99.91	100	99.68
Dist. (px)	2.48	12.08	6.82	4.79	6.48	6.51