Figure 4. Recognition Results of Instance Segmentation for the 8 Types of Surgical Instruments in a Complete Laparoscopic Sigmoid Colon Resection Procedure.

The vertical axis indicates each surgical instrument, the horizontal axis is the operating time, and the timing of the appearance of each surgical instrument is plotted with black lines to show the time series. The first and second outlined areas represent the surgical steps of inferior mesenteric artery (IMA) transection and rectal transection, respectively. The third and fourth outlined areas indicate extracorporeal procedures and represent the surgical steps of specimen extraction and wound closure, respectively.