Figure 1.

Overview of the surgical skill assessment system in robotic surgery. (a) Surgical instrument tracking algorithm. The pipeline consisted of a deep learning-based instance segmentation framework and a tracking framework. Accurate trajectory of the surgical instruments was determined by surgical instrument tip detection and arm-indicator recognition. (b) Assessment of surgical skills. Motion metrics (e.g., instruments out of view) were calculated based on the acquired trajectory of surgical instruments and used to develop a surgical skill assessment system.