id	sid	tid	token	lemma	pos
ajst-32387	1	1	142	142	NUM
ajst-32387	1	2	surgical	surgical	ADJ
ajst-32387	1	3	tool	tool	NOUN
ajst-32387	1	4	detection	detection	NOUN
ajst-32387	1	5	on	on	ADP
ajst-32387	1	6	cholectrack20	cholectrack20	NOUN
ajst-32387	1	7	using	use	VERB
ajst-32387	1	8	lightweight	lightweight	ADJ
ajst-32387	1	9	deep	deep	ADJ
ajst-32387	1	10	learning	learning	NOUN
ajst-32387	1	11	models	model	NOUN
ajst-32387	1	12	yuteng	yuteng	PROPN
ajst-32387	1	13	zhao	zhao	PROPN
ajst-32387	1	14	creative	creative	PROPN
ajst-32387	1	15	computing	computing	PROPN
ajst-32387	1	16	institute	institute	PROPN
ajst-32387	1	17	,	,	PUNCT
ajst-32387	1	18	university	university	PROPN
ajst-32387	1	19	of	of	ADP
ajst-32387	1	20	the	the	DET
ajst-32387	1	21	arts	arts	PROPN
ajst-32387	1	22	london	london	PROPN
ajst-32387	1	23	,	,	PUNCT
ajst-32387	1	24	london	london	PROPN
ajst-32387	1	25	,	,	PUNCT
ajst-32387	1	26	se5	se5	NOUN
ajst-32387	1	27	8uf	8uf	PROPN
ajst-32387	1	28	y.zhao0820232@arts.ac.uk	y.zhao0820232@arts.ac.uk	PROPN
ajst-32387	1	29	abstract	abstract	NOUN
ajst-32387	1	30	.	.	PUNCT
ajst-32387	2	1	with	with	ADP
ajst-32387	2	2	the	the	DET
ajst-32387	2	3	rapid	rapid	ADJ
ajst-32387	2	4	development	development	NOUN
ajst-32387	2	5	of	of	ADP
ajst-32387	2	6	minimally	minimally	ADV
ajst-32387	2	7	invasive	invasive	ADJ
ajst-32387	2	8	surgery	surgery	NOUN
ajst-32387	2	9	(	(	PUNCT
ajst-32387	2	10	mis	mis	NOUN
ajst-32387	2	11	)	)	PUNCT
ajst-32387	2	12	and	and	CCONJ
ajst-32387	2	13	robot	robot	NOUN
ajst-32387	2	14	-	-	PUNCT
ajst-32387	2	15	assisted	assist	VERB
ajst-32387	2	16	surgery	surgery	NOUN
ajst-32387	2	17	,	,	PUNCT
ajst-32387	2	18	real	real	ADJ
ajst-32387	2	19	-	-	PUNCT
ajst-32387	2	20	time	time	NOUN
ajst-32387	2	21	,	,	PUNCT
ajst-32387	2	22	accurate	accurate	ADJ
ajst-32387	2	23	,	,	PUNCT
ajst-32387	2	24	and	and	CCONJ
ajst-32387	2	25	robust	robust	ADJ
ajst-32387	2	26	surgical	surgical	ADJ
ajst-32387	2	27	instrument	instrument	NOUN
ajst-32387	2	28	detection	detection	NOUN
ajst-32387	2	29	and	and	CCONJ
ajst-32387	2	30	tracking	tracking	NOUN
ajst-32387	2	31	has	have	AUX
ajst-32387	2	32	become	become	VERB
ajst-32387	2	33	a	a	DET
ajst-32387	2	34	core	core	NOUN
ajst-32387	2	35	research	research	NOUN
ajst-32387	2	36	focus	focus	NOUN
ajst-32387	2	37	in	in	ADP
ajst-32387	2	38	medical	medical	ADJ
ajst-32387	2	39	ai	ai	NOUN
ajst-32387	2	40	.	.	PUNCT
ajst-32387	3	1	this	this	DET
ajst-32387	3	2	review	review	NOUN
ajst-32387	3	3	summarizes	summarize	VERB
ajst-32387	3	4	the	the	DET
ajst-32387	3	5	current	current	ADJ
ajst-32387	3	6	state	state	NOUN
ajst-32387	3	7	of	of	ADP
ajst-32387	3	8	surgical	surgical	ADJ
ajst-32387	3	9	tool	tool	NOUN
ajst-32387	3	10	detection	detection	NOUN
ajst-32387	3	11	and	and	CCONJ
ajst-32387	3	12	tracking	tracking	NOUN
ajst-32387	3	13	,	,	PUNCT
ajst-32387	3	14	with	with	ADP
ajst-32387	3	15	a	a	DET
ajst-32387	3	16	particular	particular	ADJ
ajst-32387	3	17	focus	focus	NOUN
ajst-32387	3	18	on	on	ADP
ajst-32387	3	19	the	the	DET
ajst-32387	3	20	application	application	NOUN
ajst-32387	3	21	of	of	ADP
ajst-32387	3	22	lightweight	lightweight	ADJ
ajst-32387	3	23	deep	deep	ADJ
ajst-32387	3	24	learning	learning	NOUN
ajst-32387	3	25	models	model	NOUN
ajst-32387	3	26	on	on	ADP
ajst-32387	3	27	the	the	DET
ajst-32387	3	28	cholectrack20	cholectrack20	NOUN
ajst-32387	3	29	dataset	dataset	VERB
ajst-32387	3	30	.	.	PUNCT
ajst-32387	4	1	models	model	NOUN
ajst-32387	4	2	such	such	ADJ
ajst-32387	4	3	as	as	ADP
ajst-32387	4	4	mobilenetv2	mobilenetv2	PROPN
ajst-32387	4	5	and	and	CCONJ
ajst-32387	4	6	yolov8n	yolov8n	PROPN
ajst-32387	4	7	demonstrate	demonstrate	VERB
ajst-32387	4	8	promising	promise	VERB
ajst-32387	4	9	deployment	deployment	NOUN
ajst-32387	4	10	potential	potential	NOUN
ajst-32387	4	11	and	and	CCONJ
ajst-32387	4	12	performance	performance	NOUN
ajst-32387	4	13	on	on	ADP
ajst-32387	4	14	embedded	embed	VERB
ajst-32387	4	15	and	and	CCONJ
ajst-32387	4	16	low	low	ADJ
ajst-32387	4	17	-	-	PUNCT
ajst-32387	4	18	computation	computation	NOUN
ajst-32387	4	19	platforms	platform	NOUN
ajst-32387	4	20	.	.	PUNCT
ajst-32387	5	1	we	we	PRON
ajst-32387	5	2	analyze	analyze	VERB
ajst-32387	5	3	their	their	PRON
ajst-32387	5	4	advantages	advantage	NOUN
ajst-32387	5	5	and	and	CCONJ
ajst-32387	5	6	limitations	limitation	NOUN
ajst-32387	5	7	in	in	ADP
ajst-32387	5	8	small	small	ADJ
ajst-32387	5	9	-	-	PUNCT
ajst-32387	5	10	object	object	NOUN
ajst-32387	5	11	detection	detection	NOUN
ajst-32387	5	12	,	,	PUNCT
ajst-32387	5	13	occlusion	occlusion	NOUN
ajst-32387	5	14	handling	handling	NOUN
ajst-32387	5	15	,	,	PUNCT
ajst-32387	5	16	multi	multi	ADJ
ajst-32387	5	17	-	-	ADJ
ajst-32387	5	18	view	view	ADJ
ajst-32387	5	19	tracking	tracking	NOUN
ajst-32387	5	20	,	,	PUNCT
ajst-32387	5	21	and	and	CCONJ
ajst-32387	5	22	end	end	NOUN
ajst-32387	5	23	-	-	PUNCT
ajst-32387	5	24	to	to	ADP
ajst-32387	5	25	-	-	PUNCT
ajst-32387	5	26	end	end	VERB
ajst-32387	5	27	real	real	ADJ
ajst-32387	5	28	-	-	PUNCT
ajst-32387	5	29	time	time	NOUN
ajst-32387	5	30	inference	inference	NOUN
ajst-32387	5	31	,	,	PUNCT
ajst-32387	5	32	and	and	CCONJ
ajst-32387	5	33	discuss	discuss	VERB
ajst-32387	5	34	potential	potential	ADJ
ajst-32387	5	35	improvements	improvement	NOUN
ajst-32387	5	36	through	through	ADP
ajst-32387	5	37	multi	multi	ADJ
ajst-32387	5	38	-	-	ADJ
ajst-32387	5	39	frame	frame	ADJ
ajst-32387	5	40	fusion	fusion	NOUN
ajst-32387	5	41	,	,	PUNCT
ajst-32387	5	42	feature	feature	NOUN
ajst-32387	5	43	pyramid	pyramid	NOUN
ajst-32387	5	44	networks	network	NOUN
ajst-32387	5	45	,	,	PUNCT
ajst-32387	5	46	lightweight	lightweight	ADJ
ajst-32387	5	47	attention	attention	NOUN
ajst-32387	5	48	modules	module	NOUN
ajst-32387	5	49	,	,	PUNCT
ajst-32387	5	50	and	and	CCONJ
ajst-32387	5	51	data	datum	NOUN
ajst-32387	5	52	augmentation	augmentation	NOUN
ajst-32387	5	53	strategies	strategy	NOUN
ajst-32387	5	54	.	.	PUNCT
ajst-32387	6	1	furthermore	furthermore	ADV
ajst-32387	6	2	,	,	PUNCT
ajst-32387	6	3	future	future	ADJ
ajst-32387	6	4	research	research	NOUN
ajst-32387	6	5	directions	direction	NOUN
ajst-32387	6	6	are	be	AUX
ajst-32387	6	7	outlined	outline	VERB
ajst-32387	6	8	,	,	PUNCT
ajst-32387	6	9	including	include	VERB
ajst-32387	6	10	multimodal	multimodal	NOUN
ajst-32387	6	11	perception	perception	NOUN
ajst-32387	6	12	(	(	PUNCT
ajst-32387	6	13	vision	vision	NOUN
ajst-32387	6	14	+	+	CCONJ
ajst-32387	6	15	tactile	tactile	ADJ
ajst-32387	6	16	/	/	SYM
ajst-32387	6	17	force	force	NOUN
ajst-32387	6	18	feedback	feedback	NOUN
ajst-32387	6	19	)	)	PUNCT
ajst-32387	6	20	,	,	PUNCT
ajst-32387	6	21	explainable	explainable	ADJ
ajst-32387	6	22	ai	ai	NOUN
ajst-32387	6	23	(	(	PUNCT
ajst-32387	6	24	xai	xai	PROPN
ajst-32387	6	25	)	)	PUNCT
ajst-32387	6	26	,	,	PUNCT
ajst-32387	6	27	and	and	CCONJ
ajst-32387	6	28	uncertainty	uncertainty	NOUN
ajst-32387	6	29	estimation	estimation	NOUN
ajst-32387	6	30	to	to	PART
ajst-32387	6	31	ensure	ensure	VERB
ajst-32387	6	32	clinical	clinical	ADJ
ajst-32387	6	33	safety	safety	NOUN
ajst-32387	6	34	and	and	CCONJ
ajst-32387	6	35	regulatory	regulatory	ADJ
ajst-32387	6	36	compliance	compliance	NOUN
ajst-32387	6	37	.	.	PUNCT
ajst-32387	7	1	overall	overall	ADJ
ajst-32387	7	2	,	,	PUNCT
ajst-32387	7	3	lightweight	lightweight	ADJ
ajst-32387	7	4	models	model	NOUN
ajst-32387	7	5	offer	offer	VERB
ajst-32387	7	6	practical	practical	ADJ
ajst-32387	7	7	deployment	deployment	NOUN
ajst-32387	7	8	value	value	NOUN
ajst-32387	7	9	for	for	ADP
ajst-32387	7	10	surgical	surgical	ADJ
ajst-32387	7	11	tool	tool	NOUN
ajst-32387	7	12	detection	detection	NOUN
ajst-32387	7	13	and	and	CCONJ
ajst-32387	7	14	tracking	tracking	NOUN
ajst-32387	7	15	,	,	PUNCT
ajst-32387	7	16	and	and	CCONJ
ajst-32387	7	17	provide	provide	VERB
ajst-32387	7	18	a	a	DET
ajst-32387	7	19	feasible	feasible	ADJ
ajst-32387	7	20	pathway	pathway	NOUN
ajst-32387	7	21	toward	toward	ADP
ajst-32387	7	22	intelligent	intelligent	ADJ
ajst-32387	7	23	,	,	PUNCT
ajst-32387	7	24	multimodal	multimodal	ADJ
ajst-32387	7	25	surgical	surgical	ADJ
ajst-32387	7	26	systems	system	NOUN
ajst-32387	7	27	.	.	PUNCT
ajst-32387	8	1	keywords	keyword	NOUN
ajst-32387	8	2	:	:	PUNCT
ajst-32387	8	3	minimally	minimally	ADV
ajst-32387	8	4	invasive	invasive	ADJ
ajst-32387	8	5	surgery	surgery	NOUN
ajst-32387	8	6	,	,	PUNCT
ajst-32387	8	7	surgical	surgical	ADJ
ajst-32387	8	8	tool	tool	NOUN
ajst-32387	8	9	detection	detection	NOUN
ajst-32387	8	10	and	and	CCONJ
ajst-32387	8	11	tracking	tracking	NOUN
ajst-32387	8	12	,	,	PUNCT
ajst-32387	8	13	lightweight	lightweight	ADJ
ajst-32387	8	14	deep	deep	ADJ
ajst-32387	8	15	learning	learning	NOUN
ajst-32387	8	16	.	.	PUNCT
ajst-32387	9	1	1	1	X
ajst-32387	9	2	.	.	X
ajst-32387	9	3	introduction	introduction	NOUN
ajst-32387	9	4	with	with	ADP
ajst-32387	9	5	technological	technological	ADJ
ajst-32387	9	6	advances	advance	NOUN
ajst-32387	9	7	,	,	PUNCT
ajst-32387	9	8	minimally	minimally	ADV
ajst-32387	9	9	invasive	invasive	ADJ
ajst-32387	9	10	surgery	surgery	NOUN
ajst-32387	9	11	(	(	PUNCT
ajst-32387	9	12	mis	mis	NOUN
ajst-32387	9	13	)	)	PUNCT
ajst-32387	9	14	and	and	CCONJ
ajst-32387	9	15	robot	robot	NOUN
ajst-32387	9	16	-	-	PUNCT
ajst-32387	9	17	assisted	assist	VERB
ajst-32387	9	18	surgery	surgery	NOUN
ajst-32387	9	19	have	have	AUX
ajst-32387	9	20	become	become	VERB
ajst-32387	9	21	central	central	ADJ
ajst-32387	9	22	trends	trend	NOUN
ajst-32387	9	23	in	in	ADP
ajst-32387	9	24	modern	modern	ADJ
ajst-32387	9	25	healthcare	healthcare	NOUN
ajst-32387	10	1	[	[	X
ajst-32387	10	2	1	1	NUM
ajst-32387	10	3	]	]	PUNCT
ajst-32387	10	4	.	.	PUNCT
ajst-32387	11	1	the	the	DET
ajst-32387	11	2	evolution	evolution	NOUN
ajst-32387	11	3	from	from	ADP
ajst-32387	11	4	traditional	traditional	ADJ
ajst-32387	11	5	open	open	ADJ
ajst-32387	11	6	surgery	surgery	NOUN
ajst-32387	11	7	to	to	ADP
ajst-32387	11	8	endoscopic	endoscopic	ADJ
ajst-32387	11	9	surgery	surgery	NOUN
ajst-32387	11	10	,	,	PUNCT
ajst-32387	11	11	minimally	minimally	ADV
ajst-32387	11	12	invasive	invasive	ADJ
ajst-32387	11	13	surgery	surgery	NOUN
ajst-32387	11	14	(	(	PUNCT
ajst-32387	11	15	mis	mis	NOUN
ajst-32387	11	16	)	)	PUNCT
ajst-32387	11	17	,	,	PUNCT
ajst-32387	11	18	and	and	CCONJ
ajst-32387	11	19	ultimately	ultimately	ADV
ajst-32387	11	20	robot	robot	NOUN
ajst-32387	11	21	-	-	PUNCT
ajst-32387	11	22	assisted	assist	VERB
ajst-32387	11	23	surgery	surgery	NOUN
ajst-32387	11	24	reflects	reflect	VERB
ajst-32387	11	25	a	a	DET
ajst-32387	11	26	continuous	continuous	ADJ
ajst-32387	11	27	drive	drive	NOUN
ajst-32387	11	28	toward	toward	ADP
ajst-32387	11	29	greater	great	ADJ
ajst-32387	11	30	precision	precision	NOUN
ajst-32387	11	31	,	,	PUNCT
ajst-32387	11	32	intelligence	intelligence	NOUN
ajst-32387	11	33	,	,	PUNCT
ajst-32387	11	34	and	and	CCONJ
ajst-32387	11	35	minimal	minimal	ADJ
ajst-32387	11	36	invasiveness	invasiveness	NOUN
ajst-32387	11	37	.	.	PUNCT
ajst-32387	12	1	the	the	DET
ajst-32387	12	2	development	development	NOUN
ajst-32387	12	3	of	of	ADP
ajst-32387	12	4	medical	medical	ADJ
ajst-32387	12	5	robotics	robotic	NOUN
ajst-32387	12	6	and	and	CCONJ
ajst-32387	12	7	mis	mis	PROPN
ajst-32387	12	8	has	have	AUX
ajst-32387	12	9	increased	increase	VERB
ajst-32387	12	10	the	the	DET
ajst-32387	12	11	demand	demand	NOUN
ajst-32387	12	12	for	for	ADP
ajst-32387	12	13	real	real	ADJ
ajst-32387	12	14	-	-	PUNCT
ajst-32387	12	15	time	time	NOUN
ajst-32387	12	16	visual	visual	ADJ
ajst-32387	12	17	assistance	assistance	NOUN
ajst-32387	12	18	systems	system	NOUN
ajst-32387	12	19	,	,	PUNCT
ajst-32387	12	20	which	which	PRON
ajst-32387	12	21	determine	determine	VERB
ajst-32387	12	22	the	the	DET
ajst-32387	12	23	operator	operator	NOUN
ajst-32387	12	24	's	's	PART
ajst-32387	12	25	or	or	CCONJ
ajst-32387	12	26	robot	robot	NOUN
ajst-32387	12	27	’s	’s	PART
ajst-32387	12	28	perception	perception	NOUN
ajst-32387	12	29	of	of	ADP
ajst-32387	12	30	anatomical	anatomical	ADJ
ajst-32387	12	31	structures	structure	NOUN
ajst-32387	12	32	and	and	CCONJ
ajst-32387	12	33	instrument	instrument	NOUN
ajst-32387	12	34	states	state	NOUN
ajst-32387	12	35	[	[	X
ajst-32387	12	36	2	2	NUM
ajst-32387	12	37	]	]	PUNCT
ajst-32387	12	38	.	.	PUNCT
ajst-32387	13	1	such	such	ADJ
ajst-32387	13	2	systems	system	NOUN
ajst-32387	13	3	are	be	AUX
ajst-32387	13	4	fundamental	fundamental	ADJ
ajst-32387	13	5	for	for	ADP
ajst-32387	13	6	precise	precise	ADJ
ajst-32387	13	7	operation	operation	NOUN
ajst-32387	13	8	,	,	PUNCT
ajst-32387	13	9	navigation	navigation	NOUN
ajst-32387	13	10	guidance	guidance	NOUN
ajst-32387	13	11	,	,	PUNCT
ajst-32387	13	12	and	and	CCONJ
ajst-32387	13	13	immediate	immediate	ADJ
ajst-32387	13	14	feedback	feedback	NOUN
ajst-32387	13	15	.	.	PUNCT
ajst-32387	14	1	recent	recent	ADJ
ajst-32387	14	2	advances	advance	NOUN
ajst-32387	14	3	in	in	ADP
ajst-32387	14	4	deep	deep	ADJ
ajst-32387	14	5	learning	learning	NOUN
ajst-32387	14	6	–	–	PUNCT
ajst-32387	14	7	based	base	VERB
ajst-32387	14	8	surgical	surgical	ADJ
ajst-32387	14	9	tool	tool	NOUN
ajst-32387	14	10	detection	detection	NOUN
ajst-32387	14	11	and	and	CCONJ
ajst-32387	14	12	tracking	tracking	NOUN
ajst-32387	14	13	have	have	AUX
ajst-32387	14	14	progressed	progress	VERB
ajst-32387	14	15	from	from	ADP
ajst-32387	14	16	single	single	ADJ
ajst-32387	14	17	-	-	PUNCT
ajst-32387	14	18	frame	frame	NOUN
ajst-32387	14	19	recognition	recognition	NOUN
ajst-32387	14	20	to	to	ADP
ajst-32387	14	21	multi	multi	ADJ
ajst-32387	14	22	-	-	VERB
ajst-32387	14	23	frame	frame	ADJ
ajst-32387	14	24	,	,	PUNCT
ajst-32387	14	25	temporally	temporally	ADV
ajst-32387	14	26	consistent	consistent	ADJ
ajst-32387	14	27	tracking	tracking	NOUN
ajst-32387	14	28	,	,	PUNCT
ajst-32387	14	29	moving	move	VERB
ajst-32387	14	30	from	from	ADP
ajst-32387	14	31	basic	basic	ADJ
ajst-32387	14	32	2d	2d	NOUN
ajst-32387	14	33	detection	detection	NOUN
ajst-32387	14	34	toward	toward	ADP
ajst-32387	14	35	3d	3d	NUM
ajst-32387	14	36	localization	localization	NOUN
ajst-32387	14	37	and	and	CCONJ
ajst-32387	14	38	pose	pose	VERB
ajst-32387	14	39	estimation	estimation	NOUN
ajst-32387	14	40	[	[	X
ajst-32387	14	41	3	3	NUM
ajst-32387	14	42	,	,	PUNCT
ajst-32387	14	43	4	4	NUM
ajst-32387	14	44	]	]	PUNCT
ajst-32387	14	45	.	.	PUNCT
ajst-32387	15	1	nevertheless	nevertheless	ADV
ajst-32387	15	2	,	,	PUNCT
ajst-32387	15	3	significant	significant	ADJ
ajst-32387	15	4	challenges	challenge	NOUN
ajst-32387	15	5	remain	remain	VERB
ajst-32387	15	6	:	:	PUNCT
ajst-32387	15	7	complex	complex	ADJ
ajst-32387	15	8	surgical	surgical	ADJ
ajst-32387	15	9	environments	environment	NOUN
ajst-32387	15	10	involving	involve	VERB
ajst-32387	15	11	multiple	multiple	ADJ
ajst-32387	15	12	instruments	instrument	NOUN
ajst-32387	15	13	,	,	PUNCT
ajst-32387	15	14	occlusions	occlusion	NOUN
ajst-32387	15	15	,	,	PUNCT
ajst-32387	15	16	and	and	CCONJ
ajst-32387	15	17	varying	vary	VERB
ajst-32387	15	18	lighting	lighting	NOUN
ajst-32387	15	19	conditions	condition	NOUN
ajst-32387	15	20	pose	pose	VERB
ajst-32387	15	21	dual	dual	ADJ
ajst-32387	15	22	challenges	challenge	NOUN
ajst-32387	15	23	to	to	ADP
ajst-32387	15	24	accuracy	accuracy	NOUN
ajst-32387	15	25	and	and	CCONJ
ajst-32387	15	26	real	real	ADJ
ajst-32387	15	27	-	-	PUNCT
ajst-32387	15	28	time	time	NOUN
ajst-32387	15	29	performance	performance	NOUN
ajst-32387	15	30	[	[	X
ajst-32387	15	31	5	5	NUM
ajst-32387	15	32	]	]	PUNCT
ajst-32387	15	33	.	.	PUNCT
ajst-32387	16	1	additionally	additionally	ADV
ajst-32387	16	2	,	,	PUNCT
ajst-32387	16	3	there	there	PRON
ajst-32387	16	4	is	be	VERB
ajst-32387	16	5	a	a	DET
ajst-32387	16	6	critical	critical	ADJ
ajst-32387	16	7	need	need	NOUN
ajst-32387	16	8	for	for	ADP
ajst-32387	16	9	lightweight	lightweight	ADJ
ajst-32387	16	10	models	model	NOUN
ajst-32387	16	11	suitable	suitable	ADJ
ajst-32387	16	12	for	for	ADP
ajst-32387	16	13	clinical	clinical	ADJ
ajst-32387	16	14	deployment	deployment	NOUN
ajst-32387	16	15	,	,	PUNCT
ajst-32387	16	16	highlighting	highlight	VERB
ajst-32387	16	17	the	the	DET
ajst-32387	16	18	importance	importance	NOUN
ajst-32387	16	19	of	of	ADP
ajst-32387	16	20	research	research	NOUN
ajst-32387	16	21	on	on	ADP
ajst-32387	16	22	compact	compact	ADJ
ajst-32387	16	23	architectures	architecture	NOUN
ajst-32387	16	24	and	and	CCONJ
ajst-32387	16	25	edge	edge	NOUN
ajst-32387	16	26	-	-	PUNCT
ajst-32387	16	27	device	device	NOUN
ajst-32387	16	28	optimization	optimization	NOUN
ajst-32387	16	29	to	to	PART
ajst-32387	16	30	enhance	enhance	VERB
ajst-32387	16	31	performance	performance	NOUN
ajst-32387	16	32	in	in	ADP
ajst-32387	16	33	real	real	ADJ
ajst-32387	16	34	-	-	PUNCT
ajst-32387	16	35	world	world	NOUN
ajst-32387	16	36	surgical	surgical	ADJ
ajst-32387	16	37	settings	setting	NOUN
ajst-32387	16	38	[	[	X
ajst-32387	16	39	6	6	NUM
ajst-32387	16	40	]	]	PUNCT
ajst-32387	16	41	.	.	PUNCT
ajst-32387	17	1	the	the	DET
ajst-32387	17	2	cholectrack20	cholectrack20	NOUN
ajst-32387	17	3	dataset	dataset	VERB
ajst-32387	17	4	provides	provide	VERB
ajst-32387	17	5	a	a	DET
ajst-32387	17	6	dedicated	dedicated	ADJ
ajst-32387	17	7	video	video	NOUN
ajst-32387	17	8	dataset	dataset	NOUN
ajst-32387	17	9	for	for	ADP
ajst-32387	17	10	multi	multi	ADJ
ajst-32387	17	11	-	-	ADJ
ajst-32387	17	12	class	class	ADJ
ajst-32387	17	13	surgical	surgical	ADJ
ajst-32387	17	14	instrument	instrument	NOUN
ajst-32387	17	15	detection	detection	NOUN
ajst-32387	17	16	and	and	CCONJ
ajst-32387	17	17	tracking	tracking	NOUN
ajst-32387	17	18	in	in	ADP
ajst-32387	17	19	laparoscopic	laparoscopic	ADJ
ajst-32387	17	20	surgery	surgery	NOUN
ajst-32387	17	21	,	,	PUNCT
ajst-32387	17	22	providing	provide	VERB
ajst-32387	17	23	high	high	ADJ
ajst-32387	17	24	-	-	PUNCT
ajst-32387	17	25	quality	quality	NOUN
ajst-32387	17	26	,	,	PUNCT
ajst-32387	17	27	multi	multi	ADJ
ajst-32387	17	28	-	-	ADJ
ajst-32387	17	29	view	view	ADJ
ajst-32387	17	30	annotations	annotation	NOUN
ajst-32387	17	31	of	of	ADP
ajst-32387	17	32	surgical	surgical	ADJ
ajst-32387	17	33	tools	tool	NOUN
ajst-32387	17	34	,	,	PUNCT
ajst-32387	17	35	including	include	VERB
ajst-32387	17	36	spatial	spatial	ADJ
ajst-32387	17	37	positions	position	NOUN
ajst-32387	17	38	,	,	PUNCT
ajst-32387	17	39	classes	class	NOUN
ajst-32387	17	40	,	,	PUNCT
ajst-32387	17	41	identities	identity	NOUN
ajst-32387	17	42	,	,	PUNCT
ajst-32387	17	43	operator	operator	NOUN
ajst-32387	17	44	information	information	NOUN
ajst-32387	17	45	,	,	PUNCT
ajst-32387	17	46	surgical	surgical	ADJ
ajst-32387	17	47	phases	phase	NOUN
ajst-32387	17	48	,	,	PUNCT
ajst-32387	17	49	and	and	CCONJ
ajst-32387	17	50	visual	visual	ADJ
ajst-32387	17	51	challenge	challenge	NOUN
ajst-32387	17	52	labels	label	NOUN
ajst-32387	17	53	[	[	X
ajst-32387	17	54	7	7	NUM
ajst-32387	17	55	]	]	PUNCT
ajst-32387	17	56	.	.	PUNCT
ajst-32387	18	1	it	it	PRON
ajst-32387	18	2	offers	offer	VERB
ajst-32387	18	3	three	three	NUM
ajst-32387	18	4	distinct	distinct	ADJ
ajst-32387	18	5	tracking	tracking	NOUN
ajst-32387	18	6	perspectives	perspective	NOUN
ajst-32387	18	7	to	to	PART
ajst-32387	18	8	meet	meet	VERB
ajst-32387	18	9	diverse	diverse	ADJ
ajst-32387	18	10	clinical	clinical	ADJ
ajst-32387	18	11	requirements	requirement	NOUN
ajst-32387	18	12	,	,	PUNCT
ajst-32387	18	13	making	make	VERB
ajst-32387	18	14	it	it	PRON
ajst-32387	18	15	a	a	DET
ajst-32387	18	16	valuable	valuable	ADJ
ajst-32387	18	17	resource	resource	NOUN
ajst-32387	18	18	for	for	ADP
ajst-32387	18	19	research	research	NOUN
ajst-32387	18	20	on	on	ADP
ajst-32387	18	21	surgical	surgical	ADJ
ajst-32387	18	22	tool	tool	NOUN
ajst-32387	18	23	tracking	tracking	NOUN
ajst-32387	18	24	and	and	CCONJ
ajst-32387	18	25	ai	ai	AUX
ajst-32387	18	26	-	-	PUNCT
ajst-32387	18	27	assisted	assist	VERB
ajst-32387	18	28	surgical	surgical	ADJ
ajst-32387	18	29	systems	system	NOUN
ajst-32387	18	30	.	.	PUNCT
ajst-32387	19	1	in	in	ADP
ajst-32387	19	2	the	the	DET
ajst-32387	19	3	following	follow	VERB
ajst-32387	19	4	sections	section	NOUN
ajst-32387	19	5	,	,	PUNCT
ajst-32387	19	6	this	this	DET
ajst-32387	19	7	review	review	NOUN
ajst-32387	19	8	initially	initially	ADV
ajst-32387	19	9	presents	present	VERB
ajst-32387	19	10	the	the	DET
ajst-32387	19	11	task	task	NOUN
ajst-32387	19	12	of	of	ADP
ajst-32387	19	13	surgical	surgical	ADJ
ajst-32387	19	14	instrument	instrument	NOUN
ajst-32387	19	15	detection	detection	NOUN
ajst-32387	19	16	and	and	CCONJ
ajst-32387	19	17	tracking	tracking	NOUN
ajst-32387	19	18	,	,	PUNCT
ajst-32387	19	19	detailing	detail	VERB
ajst-32387	19	20	the	the	DET
ajst-32387	19	21	required	required	ADJ
ajst-32387	19	22	hardware	hardware	NOUN
ajst-32387	19	23	and	and	CCONJ
ajst-32387	19	24	software	software	NOUN
ajst-32387	19	25	support	support	NOUN
ajst-32387	19	26	as	as	ADV
ajst-32387	19	27	well	well	ADV
ajst-32387	19	28	as	as	ADP
ajst-32387	19	29	the	the	DET
ajst-32387	19	30	primary	primary	ADJ
ajst-32387	19	31	technical	technical	ADJ
ajst-32387	19	32	challenges	challenge	NOUN
ajst-32387	19	33	.	.	PUNCT
ajst-32387	20	1	it	it	PRON
ajst-32387	20	2	then	then	ADV
ajst-32387	20	3	outlines	outline	VERB
ajst-32387	20	4	the	the	DET
ajst-32387	20	5	development	development	NOUN
ajst-32387	20	6	of	of	ADP
ajst-32387	20	7	methods	method	NOUN
ajst-32387	20	8	,	,	PUNCT
ajst-32387	20	9	from	from	ADP
ajst-32387	20	10	conventional	conventional	ADJ
ajst-32387	20	11	image	image	NOUN
ajst-32387	20	12	processing	processing	NOUN
ajst-32387	20	13	and	and	CCONJ
ajst-32387	20	14	hand	hand	NOUN
ajst-32387	20	15	-	-	PUNCT
ajst-32387	20	16	engineered	engineer	VERB
ajst-32387	20	17	features	feature	NOUN
ajst-32387	20	18	to	to	ADP
ajst-32387	20	19	contemporary	contemporary	ADJ
ajst-32387	20	20	deep	deep	ADJ
ajst-32387	20	21	learning	learning	NOUN
ajst-32387	20	22	techniques	technique	NOUN
ajst-32387	20	23	in	in	ADP
ajst-32387	20	24	the	the	DET
ajst-32387	20	25	form	form	NOUN
ajst-32387	20	26	of	of	ADP
ajst-32387	20	27	cnns	cnns	PROPN
ajst-32387	20	28	,	,	PUNCT
ajst-32387	20	29	rnns	rnn	NOUN
ajst-32387	20	30	,	,	PUNCT
ajst-32387	20	31	and	and	CCONJ
ajst-32387	20	32	143	143	NUM
ajst-32387	20	33	transformers	transformer	NOUN
ajst-32387	20	34	.	.	PUNCT
ajst-32387	21	1	practical	practical	ADJ
ajst-32387	21	2	application	application	NOUN
ajst-32387	21	3	demands	demand	NOUN
ajst-32387	21	4	within	within	ADP
ajst-32387	21	5	navigation	navigation	NOUN
ajst-32387	21	6	,	,	PUNCT
ajst-32387	21	7	automation	automation	NOUN
ajst-32387	21	8	,	,	PUNCT
ajst-32387	21	9	and	and	CCONJ
ajst-32387	21	10	surgical	surgical	ADJ
ajst-32387	21	11	training	training	NOUN
ajst-32387	21	12	are	be	AUX
ajst-32387	21	13	then	then	ADV
ajst-32387	21	14	debated	debate	VERB
ajst-32387	21	15	,	,	PUNCT
ajst-32387	21	16	followed	follow	VERB
ajst-32387	21	17	by	by	ADP
ajst-32387	21	18	a	a	DET
ajst-32387	21	19	review	review	NOUN
ajst-32387	21	20	of	of	ADP
ajst-32387	21	21	the	the	DET
ajst-32387	21	22	cholectrack20	cholectrack20	NOUN
ajst-32387	21	23	dataset	dataset	VERB
ajst-32387	21	24	and	and	CCONJ
ajst-32387	21	25	its	its	PRON
ajst-32387	21	26	benchmarking	benchmarke	VERB
ajst-32387	21	27	significance	significance	NOUN
ajst-32387	21	28	.	.	PUNCT
ajst-32387	22	1	comparative	comparative	ADJ
ajst-32387	22	2	experimentation	experimentation	NOUN
ajst-32387	22	3	of	of	ADP
ajst-32387	22	4	six	six	NUM
ajst-32387	22	5	lightweight	lightweight	ADJ
ajst-32387	22	6	models	model	NOUN
ajst-32387	22	7	is	be	AUX
ajst-32387	22	8	then	then	ADV
ajst-32387	22	9	outlined	outline	VERB
ajst-32387	22	10	,	,	PUNCT
ajst-32387	22	11	paying	pay	VERB
ajst-32387	22	12	close	close	ADJ
ajst-32387	22	13	attention	attention	NOUN
ajst-32387	22	14	to	to	ADP
ajst-32387	22	15	mobilenetv2	mobilenetv2	PROPN
ajst-32387	22	16	and	and	CCONJ
ajst-32387	22	17	yolov8n	yolov8n	PROPN
ajst-32387	22	18	.	.	PUNCT
ajst-32387	23	1	the	the	DET
ajst-32387	23	2	review	review	NOUN
ajst-32387	23	3	concludes	conclude	VERB
ajst-32387	23	4	by	by	ADP
ajst-32387	23	5	noting	note	VERB
ajst-32387	23	6	current	current	ADJ
ajst-32387	23	7	limitations	limitation	NOUN
ajst-32387	23	8	and	and	CCONJ
ajst-32387	23	9	suggesting	suggest	VERB
ajst-32387	23	10	future	future	ADJ
ajst-32387	23	11	research	research	NOUN
ajst-32387	23	12	avenues	avenue	NOUN
ajst-32387	23	13	,	,	PUNCT
ajst-32387	23	14	encompassing	encompass	VERB
ajst-32387	23	15	lightweight	lightweight	ADJ
ajst-32387	23	16	optimization	optimization	NOUN
ajst-32387	23	17	,	,	PUNCT
ajst-32387	23	18	multimodal	multimodal	ADJ
ajst-32387	23	19	fusion	fusion	NOUN
ajst-32387	23	20	,	,	PUNCT
ajst-32387	23	21	and	and	CCONJ
ajst-32387	23	22	explainability	explainability	NOUN
ajst-32387	23	23	toward	toward	ADP
ajst-32387	23	24	safe	safe	ADJ
ajst-32387	23	25	clinical	clinical	ADJ
ajst-32387	23	26	translation	translation	NOUN
ajst-32387	23	27	.	.	PUNCT
ajst-32387	24	1	this	this	DET
ajst-32387	24	2	review	review	NOUN
ajst-32387	24	3	focuses	focus	VERB
ajst-32387	24	4	on	on	ADP
ajst-32387	24	5	the	the	DET
ajst-32387	24	6	rapid	rapid	ADJ
ajst-32387	24	7	development	development	NOUN
ajst-32387	24	8	of	of	ADP
ajst-32387	24	9	mis	mis	PROPN
ajst-32387	24	10	and	and	CCONJ
ajst-32387	24	11	robot	robot	NOUN
ajst-32387	24	12	-	-	PUNCT
ajst-32387	24	13	assisted	assist	VERB
ajst-32387	24	14	surgery	surgery	NOUN
ajst-32387	24	15	and	and	CCONJ
ajst-32387	24	16	examines	examine	VERB
ajst-32387	24	17	how	how	SCONJ
ajst-32387	24	18	lightweight	lightweight	ADJ
ajst-32387	24	19	deep	deep	ADJ
ajst-32387	24	20	learning	learning	NOUN
ajst-32387	24	21	models	model	NOUN
ajst-32387	24	22	,	,	PUNCT
ajst-32387	24	23	such	such	ADJ
ajst-32387	24	24	as	as	ADP
ajst-32387	24	25	mobilenetv2	mobilenetv2	PROPN
ajst-32387	24	26	and	and	CCONJ
ajst-32387	24	27	yolov8n	yolov8n	PROPN
ajst-32387	24	28	,	,	PUNCT
ajst-32387	24	29	can	can	AUX
ajst-32387	24	30	be	be	AUX
ajst-32387	24	31	effectively	effectively	ADV
ajst-32387	24	32	and	and	CCONJ
ajst-32387	24	33	accurately	accurately	ADV
ajst-32387	24	34	applied	apply	VERB
ajst-32387	24	35	to	to	ADP
ajst-32387	24	36	cholectrack20	cholectrack20	NOUN
ajst-32387	24	37	for	for	ADP
ajst-32387	24	38	real	real	ADJ
ajst-32387	24	39	-	-	PUNCT
ajst-32387	24	40	time	time	NOUN
ajst-32387	24	41	surgical	surgical	ADJ
ajst-32387	24	42	instrument	instrument	NOUN
ajst-32387	24	43	detection	detection	NOUN
ajst-32387	24	44	and	and	CCONJ
ajst-32387	24	45	tracking	tracking	NOUN
ajst-32387	24	46	.	.	PUNCT
ajst-32387	25	1	it	it	PRON
ajst-32387	25	2	also	also	ADV
ajst-32387	25	3	discusses	discuss	VERB
ajst-32387	25	4	model	model	NOUN
ajst-32387	25	5	performance	performance	NOUN
ajst-32387	25	6	,	,	PUNCT
ajst-32387	25	7	deployment	deployment	NOUN
ajst-32387	25	8	potential	potential	NOUN
ajst-32387	25	9	,	,	PUNCT
ajst-32387	25	10	and	and	CCONJ
ajst-32387	25	11	current	current	ADJ
ajst-32387	25	12	research	research	NOUN
ajst-32387	25	13	challenges	challenge	NOUN
ajst-32387	25	14	.	.	PUNCT
ajst-32387	26	1	2	2	X
ajst-32387	26	2	.	.	X
ajst-32387	26	3	surgical	surgical	ADJ
ajst-32387	26	4	tool	tool	NOUN
ajst-32387	26	5	detection	detection	NOUN
ajst-32387	26	6	and	and	CCONJ
ajst-32387	26	7	tracking	track	VERB
ajst-32387	26	8	2.1	2.1	NUM
ajst-32387	26	9	.	.	PUNCT
ajst-32387	27	1	task	task	NOUN
ajst-32387	27	2	definition	definition	NOUN
ajst-32387	27	3	and	and	CCONJ
ajst-32387	27	4	core	core	NOUN
ajst-32387	27	5	challenges	challenge	VERB
ajst-32387	27	6	artificial	artificial	ADJ
ajst-32387	27	7	intelligence	intelligence	NOUN
ajst-32387	27	8	(	(	PUNCT
ajst-32387	27	9	ai	ai	PROPN
ajst-32387	27	10	)	)	PUNCT
ajst-32387	27	11	has	have	AUX
ajst-32387	27	12	been	be	AUX
ajst-32387	27	13	increasingly	increasingly	ADV
ajst-32387	27	14	applied	apply	VERB
ajst-32387	27	15	to	to	ADP
ajst-32387	27	16	surgical	surgical	ADJ
ajst-32387	27	17	instrument	instrument	NOUN
ajst-32387	27	18	detection	detection	NOUN
ajst-32387	27	19	and	and	CCONJ
ajst-32387	27	20	tracking	tracking	NOUN
ajst-32387	27	21	,	,	PUNCT
ajst-32387	27	22	a	a	DET
ajst-32387	27	23	core	core	ADJ
ajst-32387	27	24	interdisciplinary	interdisciplinary	ADJ
ajst-32387	27	25	research	research	NOUN
ajst-32387	27	26	area	area	NOUN
ajst-32387	27	27	combining	combine	VERB
ajst-32387	27	28	computer	computer	NOUN
ajst-32387	27	29	vision	vision	NOUN
ajst-32387	27	30	,	,	PUNCT
ajst-32387	27	31	robotics	robotic	NOUN
ajst-32387	27	32	,	,	PUNCT
ajst-32387	27	33	and	and	CCONJ
ajst-32387	27	34	medical	medical	ADJ
ajst-32387	27	35	engineering	engineering	NOUN
ajst-32387	27	36	[	[	X
ajst-32387	27	37	8	8	NUM
ajst-32387	27	38	]	]	PUNCT
ajst-32387	27	39	.	.	PUNCT
ajst-32387	28	1	the	the	DET
ajst-32387	28	2	goal	goal	NOUN
ajst-32387	28	3	is	be	AUX
ajst-32387	28	4	to	to	PART
ajst-32387	28	5	achieve	achieve	VERB
ajst-32387	28	6	real	real	ADJ
ajst-32387	28	7	-	-	PUNCT
ajst-32387	28	8	time	time	NOUN
ajst-32387	28	9	,	,	PUNCT
ajst-32387	28	10	precise	precise	ADJ
ajst-32387	28	11	,	,	PUNCT
ajst-32387	28	12	and	and	CCONJ
ajst-32387	28	13	robust	robust	ADJ
ajst-32387	28	14	identification	identification	NOUN
ajst-32387	28	15	and	and	CCONJ
ajst-32387	28	16	localization	localization	NOUN
ajst-32387	28	17	of	of	ADP
ajst-32387	28	18	instruments	instrument	NOUN
ajst-32387	28	19	during	during	ADP
ajst-32387	28	20	surgery	surgery	NOUN
ajst-32387	28	21	,	,	PUNCT
ajst-32387	28	22	supporting	support	VERB
ajst-32387	28	23	surgical	surgical	ADJ
ajst-32387	28	24	assistance	assistance	NOUN
ajst-32387	28	25	systems	system	NOUN
ajst-32387	28	26	,	,	PUNCT
ajst-32387	28	27	skill	skill	NOUN
ajst-32387	28	28	assessment	assessment	NOUN
ajst-32387	28	29	,	,	PUNCT
ajst-32387	28	30	and	and	CCONJ
ajst-32387	28	31	safety	safety	NOUN
ajst-32387	28	32	monitoring	monitoring	NOUN
ajst-32387	28	33	.	.	PUNCT
ajst-32387	29	1	this	this	DET
ajst-32387	29	2	integration	integration	NOUN
ajst-32387	29	3	is	be	AUX
ajst-32387	29	4	a	a	DET
ajst-32387	29	5	cornerstone	cornerstone	NOUN
ajst-32387	29	6	toward	toward	ADP
ajst-32387	29	7	intelligent	intelligent	ADJ
ajst-32387	29	8	surgical	surgical	ADJ
ajst-32387	29	9	ecosystems	ecosystem	NOUN
ajst-32387	29	10	in	in	ADP
ajst-32387	29	11	which	which	PRON
ajst-32387	29	12	humans	human	NOUN
ajst-32387	29	13	and	and	CCONJ
ajst-32387	29	14	machines	machine	NOUN
ajst-32387	29	15	cooperate	cooperate	VERB
ajst-32387	29	16	.	.	PUNCT
ajst-32387	30	1	hardware	hardware	NOUN
ajst-32387	30	2	support	support	NOUN
ajst-32387	30	3	is	be	AUX
ajst-32387	30	4	critical	critical	ADJ
ajst-32387	30	5	for	for	ADP
ajst-32387	30	6	ensuring	ensure	VERB
ajst-32387	30	7	system	system	NOUN
ajst-32387	30	8	performance	performance	NOUN
ajst-32387	30	9	and	and	CCONJ
ajst-32387	30	10	reliability	reliability	NOUN
ajst-32387	30	11	.	.	PUNCT
ajst-32387	31	1	essential	essential	ADJ
ajst-32387	31	2	components	component	NOUN
ajst-32387	31	3	include	include	VERB
ajst-32387	31	4	:	:	PUNCT
ajst-32387	31	5	(	(	PUNCT
ajst-32387	31	6	1	1	X
ajst-32387	31	7	)	)	PUNCT
ajst-32387	31	8	vision	vision	NOUN
ajst-32387	31	9	sensors	sensor	NOUN
ajst-32387	31	10	,	,	PUNCT
ajst-32387	31	11	eintel	eintel	VERB
ajst-32387	31	12	realsense	realsense	NOUN
ajst-32387	31	13	d435	d435	PROPN
ajst-32387	31	14	depth	depth	NOUN
ajst-32387	31	15	camera	camera	NOUN
ajst-32387	31	16	for	for	ADP
ajst-32387	31	17	high	high	ADJ
ajst-32387	31	18	-	-	PUNCT
ajst-32387	31	19	precision	precision	NOUN
ajst-32387	31	20	3d	3d	NOUN
ajst-32387	31	21	localization	localization	NOUN
ajst-32387	31	22	and	and	CCONJ
ajst-32387	31	23	tracking	tracking	NOUN
ajst-32387	31	24	,	,	PUNCT
ajst-32387	31	25	or	or	CCONJ
ajst-32387	31	26	ar	ar	NOUN
ajst-32387	31	27	hmd	hmd	NOUN
ajst-32387	31	28	cameras	camera	NOUN
ajst-32387	31	29	integrated	integrate	VERB
ajst-32387	31	30	in	in	ADP
ajst-32387	31	31	the	the	DET
ajst-32387	31	32	sttar	sttar	NOUN
ajst-32387	31	33	framework	framework	NOUN
ajst-32387	31	34	with	with	ADP
ajst-32387	31	35	reflective	reflective	ADJ
ajst-32387	31	36	markers	marker	NOUN
ajst-32387	31	37	for	for	ADP
ajst-32387	31	38	real	real	ADJ
ajst-32387	31	39	-	-	PUNCT
ajst-32387	31	40	time	time	NOUN
ajst-32387	31	41	tracking	tracking	NOUN
ajst-32387	31	42	and	and	CCONJ
ajst-32387	31	43	eye	eye	NOUN
ajst-32387	31	44	-	-	PUNCT
ajst-32387	31	45	motion	motion	NOUN
ajst-32387	31	46	-	-	PUNCT
ajst-32387	31	47	controlled	control	VERB
ajst-32387	31	48	cameras	camera	NOUN
ajst-32387	31	49	[	[	X
ajst-32387	31	50	9	9	NUM
ajst-32387	31	51	,	,	PUNCT
ajst-32387	31	52	10	10	NUM
ajst-32387	31	53	]	]	PUNCT
ajst-32387	31	54	;	;	PUNCT
ajst-32387	31	55	(	(	PUNCT
ajst-32387	31	56	2	2	X
ajst-32387	31	57	)	)	PUNCT
ajst-32387	31	58	robotic	robotic	ADJ
ajst-32387	31	59	arms	arm	NOUN
ajst-32387	31	60	and	and	CCONJ
ajst-32387	31	61	end	end	NOUN
ajst-32387	31	62	-	-	PUNCT
ajst-32387	31	63	effectors	effector	NOUN
ajst-32387	31	64	,	,	PUNCT
ajst-32387	31	65	senhance	senhance	NOUN
ajst-32387	31	66	surgical	surgical	ADJ
ajst-32387	31	67	robot	robot	NOUN
ajst-32387	31	68	system	system	NOUN
ajst-32387	31	69	,	,	PUNCT
ajst-32387	31	70	combining	combine	VERB
ajst-32387	31	71	vision	vision	NOUN
ajst-32387	31	72	guidance	guidance	NOUN
ajst-32387	31	73	for	for	ADP
ajst-32387	31	74	accurate	accurate	ADJ
ajst-32387	31	75	tool	tool	NOUN
ajst-32387	31	76	manipulation	manipulation	NOUN
ajst-32387	31	77	,	,	PUNCT
ajst-32387	31	78	supported	support	VERB
ajst-32387	31	79	by	by	ADP
ajst-32387	31	80	control	control	NOUN
ajst-32387	31	81	platforms	platform	NOUN
ajst-32387	31	82	such	such	ADJ
ajst-32387	31	83	as	as	ADP
ajst-32387	31	84	nvidia	nvidia	PROPN
ajst-32387	31	85	isaac	isaac	PROPN
ajst-32387	31	86	for	for	ADP
ajst-32387	31	87	healthcare	healthcare	NOUN
ajst-32387	31	88	for	for	ADP
ajst-32387	31	89	integrating	integrate	VERB
ajst-32387	31	90	custom	custom	NOUN
ajst-32387	31	91	arms	arm	NOUN
ajst-32387	31	92	and	and	CCONJ
ajst-32387	31	93	sensors	sensor	NOUN
ajst-32387	31	94	[	[	X
ajst-32387	31	95	11	11	NUM
ajst-32387	31	96	,	,	PUNCT
ajst-32387	31	97	12	12	NUM
ajst-32387	31	98	]	]	PUNCT
ajst-32387	31	99	;	;	PUNCT
ajst-32387	31	100	(	(	PUNCT
ajst-32387	31	101	3	3	X
ajst-32387	31	102	)	)	PUNCT
ajst-32387	31	103	processing	processing	NOUN
ajst-32387	31	104	platforms	platform	NOUN
ajst-32387	31	105	and	and	CCONJ
ajst-32387	31	106	computational	computational	ADJ
ajst-32387	31	107	resources	resource	NOUN
ajst-32387	31	108	,	,	PUNCT
ajst-32387	31	109	e.g.	e.g.	ADV
ajst-32387	31	110	,	,	PUNCT
ajst-32387	31	111	nvidia	nvidia	PROPN
ajst-32387	31	112	jetson	jetson	PROPN
ajst-32387	31	113	embedded	embed	VERB
ajst-32387	31	114	gpu	gpu	NOUN
ajst-32387	31	115	platforms	platform	NOUN
ajst-32387	31	116	for	for	ADP
ajst-32387	31	117	real	real	ADJ
ajst-32387	31	118	-	-	PUNCT
ajst-32387	31	119	time	time	NOUN
ajst-32387	31	120	image	image	NOUN
ajst-32387	31	121	processing	processing	NOUN
ajst-32387	31	122	and	and	CCONJ
ajst-32387	31	123	deep	deep	ADJ
ajst-32387	31	124	learning	learning	NOUN
ajst-32387	31	125	inference	inference	NOUN
ajst-32387	31	126	,	,	PUNCT
ajst-32387	31	127	and	and	CCONJ
ajst-32387	31	128	rtos	rto	NOUN
ajst-32387	31	129	such	such	ADJ
ajst-32387	31	130	as	as	ADP
ajst-32387	31	131	linux	linux	NOUN
ajst-32387	31	132	-	-	PUNCT
ajst-32387	31	133	based	base	VERB
ajst-32387	31	134	rmp	rmp	NOUN
ajst-32387	31	135	for	for	ADP
ajst-32387	31	136	multi	multi	ADJ
ajst-32387	31	137	-	-	ADJ
ajst-32387	31	138	axis	axis	ADJ
ajst-32387	31	139	motion	motion	NOUN
ajst-32387	31	140	,	,	PUNCT
ajst-32387	31	141	vision	vision	NOUN
ajst-32387	31	142	,	,	PUNCT
ajst-32387	31	143	and	and	CCONJ
ajst-32387	31	144	ai	ai	VERB
ajst-32387	31	145	integration	integration	NOUN
ajst-32387	31	146	[	[	X
ajst-32387	31	147	13	13	NUM
ajst-32387	31	148	,	,	PUNCT
ajst-32387	31	149	14	14	NUM
ajst-32387	31	150	]	]	PUNCT
ajst-32387	31	151	;	;	PUNCT
ajst-32387	31	152	(	(	PUNCT
ajst-32387	31	153	4	4	X
ajst-32387	31	154	)	)	PUNCT
ajst-32387	31	155	localization	localization	NOUN
ajst-32387	31	156	and	and	CCONJ
ajst-32387	31	157	tracking	tracking	NOUN
ajst-32387	31	158	systems	system	NOUN
ajst-32387	31	159	,	,	PUNCT
ajst-32387	31	160	optical	optical	ADJ
ajst-32387	31	161	tracking	tracking	NOUN
ajst-32387	31	162	in	in	ADP
ajst-32387	31	163	rosa	rosa	PROPN
ajst-32387	31	164	knee	knee	PROPN
ajst-32387	31	165	systems	system	NOUN
ajst-32387	31	166	using	use	VERB
ajst-32387	31	167	reflective	reflective	ADJ
ajst-32387	31	168	markers	marker	NOUN
ajst-32387	31	169	to	to	PART
ajst-32387	31	170	precisely	precisely	ADV
ajst-32387	31	171	localize	localize	VERB
ajst-32387	31	172	tools	tool	NOUN
ajst-32387	31	173	and	and	CCONJ
ajst-32387	31	174	patient	patient	ADJ
ajst-32387	31	175	anatomy	anatomy	NOUN
ajst-32387	31	176	[	[	X
ajst-32387	31	177	15	15	NUM
ajst-32387	31	178	]	]	PUNCT
ajst-32387	31	179	.	.	PUNCT
ajst-32387	32	1	these	these	DET
ajst-32387	32	2	hardware	hardware	NOUN
ajst-32387	32	3	and	and	CCONJ
ajst-32387	32	4	computational	computational	ADJ
ajst-32387	32	5	components	component	NOUN
ajst-32387	32	6	form	form	VERB
ajst-32387	32	7	the	the	DET
ajst-32387	32	8	cornerstone	cornerstone	NOUN
ajst-32387	32	9	of	of	ADP
ajst-32387	32	10	ai	ai	ADV
ajst-32387	32	11	-	-	PUNCT
ajst-32387	32	12	supported	support	VERB
ajst-32387	32	13	surgical	surgical	ADJ
ajst-32387	32	14	platforms	platform	NOUN
ajst-32387	32	15	and	and	CCONJ
ajst-32387	32	16	thus	thus	ADV
ajst-32387	32	17	ensure	ensure	VERB
ajst-32387	32	18	efficiency	efficiency	NOUN
ajst-32387	32	19	and	and	CCONJ
ajst-32387	32	20	reliability	reliability	NOUN
ajst-32387	32	21	.	.	PUNCT
ajst-32387	33	1	surgical	surgical	ADJ
ajst-32387	33	2	tool	tool	NOUN
ajst-32387	33	3	detection	detection	NOUN
ajst-32387	33	4	and	and	CCONJ
ajst-32387	33	5	tracking	tracking	NOUN
ajst-32387	33	6	is	be	AUX
ajst-32387	33	7	inherently	inherently	ADV
ajst-32387	33	8	interdisciplinary	interdisciplinary	ADJ
ajst-32387	33	9	,	,	PUNCT
ajst-32387	33	10	requiring	require	VERB
ajst-32387	33	11	real	real	ADJ
ajst-32387	33	12	-	-	PUNCT
ajst-32387	33	13	time	time	NOUN
ajst-32387	33	14	video	video	NOUN
ajst-32387	33	15	analysis	analysis	NOUN
ajst-32387	33	16	,	,	PUNCT
ajst-32387	33	17	precise	precise	ADJ
ajst-32387	33	18	robotic	robotic	ADJ
ajst-32387	33	19	control	control	NOUN
ajst-32387	33	20	,	,	PUNCT
ajst-32387	33	21	and	and	CCONJ
ajst-32387	33	22	adherence	adherence	NOUN
ajst-32387	33	23	to	to	ADP
ajst-32387	33	24	clinical	clinical	ADJ
ajst-32387	33	25	safety	safety	NOUN
ajst-32387	33	26	standards	standard	NOUN
ajst-32387	33	27	[	[	X
ajst-32387	33	28	16	16	NUM
ajst-32387	33	29	]	]	PUNCT
ajst-32387	33	30	.	.	PUNCT
ajst-32387	34	1	core	core	NOUN
ajst-32387	34	2	challenges	challenge	NOUN
ajst-32387	34	3	include	include	VERB
ajst-32387	34	4	real	real	ADJ
ajst-32387	34	5	-	-	PUNCT
ajst-32387	34	6	time	time	NOUN
ajst-32387	34	7	processing	processing	NOUN
ajst-32387	34	8	,	,	PUNCT
ajst-32387	34	9	accuracy	accuracy	NOUN
ajst-32387	34	10	,	,	PUNCT
ajst-32387	34	11	robustness	robustness	NOUN
ajst-32387	34	12	,	,	PUNCT
ajst-32387	34	13	and	and	CCONJ
ajst-32387	34	14	domain	domain	NOUN
ajst-32387	34	15	adaptation	adaptation	NOUN
ajst-32387	34	16	.	.	PUNCT
ajst-32387	35	1	surgical	surgical	ADJ
ajst-32387	35	2	videos	video	NOUN
ajst-32387	35	3	are	be	AUX
ajst-32387	35	4	typically	typically	ADV
ajst-32387	35	5	1080p–4k	1080p–4k	NUM
ajst-32387	35	6	at	at	ADP
ajst-32387	35	7	30–60	30–60	PROPN
ajst-32387	35	8	fps	fps	PROPN
ajst-32387	35	9	,	,	PUNCT
ajst-32387	35	10	with	with	ADP
ajst-32387	35	11	tools	tool	NOUN
ajst-32387	35	12	moving	move	VERB
ajst-32387	35	13	rapidly	rapidly	ADV
ajst-32387	35	14	,	,	PUNCT
ajst-32387	35	15	frequent	frequent	ADJ
ajst-32387	35	16	occlusions	occlusion	NOUN
ajst-32387	35	17	,	,	PUNCT
ajst-32387	35	18	and	and	CCONJ
ajst-32387	35	19	articulated	articulated	ADJ
ajst-32387	35	20	joints	joint	NOUN
ajst-32387	35	21	;	;	PUNCT
ajst-32387	35	22	models	model	NOUN
ajst-32387	35	23	must	must	AUX
ajst-32387	35	24	maintain	maintain	VERB
ajst-32387	35	25	≥25–30	≥25–30	PROPN
ajst-32387	35	26	fps	fps	PROPN
ajst-32387	35	27	while	while	SCONJ
ajst-32387	35	28	providing	provide	VERB
ajst-32387	35	29	stable	stable	ADJ
ajst-32387	35	30	,	,	PUNCT
ajst-32387	35	31	low	low	ADJ
ajst-32387	35	32	-	-	PUNCT
ajst-32387	35	33	jitter	jitter	NOUN
ajst-32387	35	34	detection	detection	NOUN
ajst-32387	35	35	and	and	CCONJ
ajst-32387	35	36	tracking	tracking	NOUN
ajst-32387	35	37	[	[	X
ajst-32387	35	38	17	17	NUM
ajst-32387	35	39	]	]	PUNCT
ajst-32387	35	40	.	.	PUNCT
ajst-32387	36	1	articulated	articulated	ADJ
ajst-32387	36	2	instruments	instrument	NOUN
ajst-32387	36	3	pose	pose	VERB
ajst-32387	36	4	precision	precision	NOUN
ajst-32387	36	5	challenges	challenge	NOUN
ajst-32387	36	6	due	due	ADJ
ajst-32387	36	7	to	to	ADP
ajst-32387	36	8	similar	similar	ADJ
ajst-32387	36	9	appearance	appearance	NOUN
ajst-32387	36	10	,	,	PUNCT
ajst-32387	36	11	elongated	elongate	VERB
ajst-32387	36	12	shape	shape	NOUN
ajst-32387	36	13	,	,	PUNCT
ajst-32387	36	14	and	and	CCONJ
ajst-32387	36	15	fine	fine	ADJ
ajst-32387	36	16	details	detail	NOUN
ajst-32387	36	17	,	,	PUNCT
ajst-32387	36	18	necessitating	necessitate	VERB
ajst-32387	36	19	pixel	pixel	ADJ
ajst-32387	36	20	-	-	PUNCT
ajst-32387	36	21	level	level	NOUN
ajst-32387	36	22	boundaries	boundary	NOUN
ajst-32387	36	23	,	,	PUNCT
ajst-32387	36	24	keypoints	keypoint	NOUN
ajst-32387	36	25	,	,	PUNCT
ajst-32387	36	26	poses	pose	NOUN
ajst-32387	36	27	,	,	PUNCT
ajst-32387	36	28	and	and	CCONJ
ajst-32387	36	29	even	even	ADV
ajst-32387	36	30	6d	6d	NUM
ajst-32387	36	31	localization	localization	NOUN
ajst-32387	36	32	[	[	X
ajst-32387	36	33	18	18	NUM
ajst-32387	36	34	]	]	PUNCT
ajst-32387	36	35	.	.	PUNCT
ajst-32387	37	1	real	real	ADJ
ajst-32387	37	2	surgical	surgical	ADJ
ajst-32387	37	3	environments	environment	NOUN
ajst-32387	37	4	include	include	VERB
ajst-32387	37	5	smoke	smoke	NOUN
ajst-32387	37	6	,	,	PUNCT
ajst-32387	37	7	blood	blood	NOUN
ajst-32387	37	8	,	,	PUNCT
ajst-32387	37	9	reflections	reflection	NOUN
ajst-32387	37	10	,	,	PUNCT
ajst-32387	37	11	high	high	ADJ
ajst-32387	37	12	-	-	PUNCT
ajst-32387	37	13	frequency	frequency	NOUN
ajst-32387	37	14	jitter	jitter	NOUN
ajst-32387	37	15	,	,	PUNCT
ajst-32387	37	16	rapid	rapid	ADJ
ajst-32387	37	17	deformations	deformation	NOUN
ajst-32387	37	18	,	,	PUNCT
ajst-32387	37	19	and	and	CCONJ
ajst-32387	37	20	occlusions	occlusion	NOUN
ajst-32387	37	21	,	,	PUNCT
ajst-32387	37	22	with	with	ADP
ajst-32387	37	23	distribution	distribution	NOUN
ajst-32387	37	24	shifts	shift	NOUN
ajst-32387	37	25	across	across	ADP
ajst-32387	37	26	surgical	surgical	ADJ
ajst-32387	37	27	phases	phase	NOUN
ajst-32387	37	28	.	.	PUNCT
ajst-32387	38	1	variations	variation	NOUN
ajst-32387	38	2	in	in	ADP
ajst-32387	38	3	hospitals	hospital	NOUN
ajst-32387	38	4	,	,	PUNCT
ajst-32387	38	5	devices	device	NOUN
ajst-32387	38	6	,	,	PUNCT
ajst-32387	38	7	procedures	procedure	NOUN
ajst-32387	38	8	,	,	PUNCT
ajst-32387	38	9	and	and	CCONJ
ajst-32387	38	10	patient	patient	ADJ
ajst-32387	38	11	populations	population	NOUN
ajst-32387	38	12	can	can	AUX
ajst-32387	38	13	significantly	significantly	ADV
ajst-32387	38	14	degrade	degrade	VERB
ajst-32387	38	15	cross	cross	ADJ
ajst-32387	38	16	-	-	ADJ
ajst-32387	38	17	domain	domain	ADJ
ajst-32387	38	18	performance	performance	NOUN
ajst-32387	38	19	,	,	PUNCT
ajst-32387	38	20	highlighting	highlight	VERB
ajst-32387	38	21	the	the	DET
ajst-32387	38	22	need	need	NOUN
ajst-32387	38	23	for	for	ADP
ajst-32387	38	24	robust	robust	ADJ
ajst-32387	38	25	and	and	CCONJ
ajst-32387	38	26	adaptive	adaptive	ADJ
ajst-32387	38	27	models	model	NOUN
ajst-32387	38	28	[	[	X
ajst-32387	38	29	19	19	NUM
ajst-32387	38	30	]	]	PUNCT
ajst-32387	38	31	.	.	PUNCT
ajst-32387	39	1	these	these	DET
ajst-32387	39	2	variations	variation	NOUN
ajst-32387	39	3	in	in	ADP
ajst-32387	39	4	hospitals	hospital	NOUN
ajst-32387	39	5	,	,	PUNCT
ajst-32387	39	6	devices	device	NOUN
ajst-32387	39	7	,	,	PUNCT
ajst-32387	39	8	procedures	procedure	NOUN
ajst-32387	39	9	,	,	PUNCT
ajst-32387	39	10	and	and	CCONJ
ajst-32387	39	11	patient	patient	ADJ
ajst-32387	39	12	populations	population	NOUN
ajst-32387	39	13	significantly	significantly	ADV
ajst-32387	39	14	degrade	degrade	VERB
ajst-32387	39	15	cross	cross	ADJ
ajst-32387	39	16	-	-	ADJ
ajst-32387	39	17	domain	domain	ADJ
ajst-32387	39	18	performance	performance	NOUN
ajst-32387	39	19	,	,	PUNCT
ajst-32387	39	20	underscoring	underscore	VERB
ajst-32387	39	21	the	the	DET
ajst-32387	39	22	pressing	press	VERB
ajst-32387	39	23	need	need	NOUN
ajst-32387	39	24	for	for	ADP
ajst-32387	39	25	robust	robust	ADJ
ajst-32387	39	26	,	,	PUNCT
ajst-32387	39	27	adaptive	adaptive	ADJ
ajst-32387	39	28	,	,	PUNCT
ajst-32387	39	29	and	and	CCONJ
ajst-32387	39	30	clinically	clinically	ADV
ajst-32387	39	31	validated	validate	VERB
ajst-32387	39	32	ai	ai	NOUN
ajst-32387	39	33	models	model	NOUN
ajst-32387	39	34	.	.	PUNCT
ajst-32387	40	1	2.2	2.2	NUM
ajst-32387	40	2	.	.	PUNCT
ajst-32387	41	1	technical	technical	ADJ
ajst-32387	41	2	evolution	evolution	NOUN
ajst-32387	41	3	surgical	surgical	ADJ
ajst-32387	41	4	instrument	instrument	NOUN
ajst-32387	41	5	detection	detection	NOUN
ajst-32387	41	6	and	and	CCONJ
ajst-32387	41	7	tracking	tracking	NOUN
ajst-32387	41	8	has	have	AUX
ajst-32387	41	9	evolved	evolve	VERB
ajst-32387	41	10	from	from	ADP
ajst-32387	41	11	rule	rule	NOUN
ajst-32387	41	12	-	-	PUNCT
ajst-32387	41	13	based	base	VERB
ajst-32387	41	14	handcrafted	handcraft	VERB
ajst-32387	41	15	feature	feature	NOUN
ajst-32387	41	16	methods	method	NOUN
ajst-32387	41	17	(	(	PUNCT
ajst-32387	41	18	traditional	traditional	ADJ
ajst-32387	41	19	image	image	NOUN
ajst-32387	41	20	processing	processing	NOUN
ajst-32387	41	21	)	)	PUNCT
ajst-32387	41	22	to	to	ADP
ajst-32387	41	23	deep	deep	ADJ
ajst-32387	41	24	learning	learning	NOUN
ajst-32387	41	25	-	-	PUNCT
ajst-32387	41	26	driven	drive	VERB
ajst-32387	41	27	,	,	PUNCT
ajst-32387	41	28	multi	multi	ADJ
ajst-32387	41	29	-	-	NOUN
ajst-32387	41	30	task	task	ADJ
ajst-32387	41	31	,	,	PUNCT
ajst-32387	41	32	end	end	NOUN
ajst-32387	41	33	-	-	PUNCT
ajst-32387	41	34	to	to	ADP
ajst-32387	41	35	-	-	PUNCT
ajst-32387	41	36	end	end	NOUN
ajst-32387	41	37	approaches	approach	NOUN
ajst-32387	41	38	,	,	PUNCT
ajst-32387	41	39	with	with	ADP
ajst-32387	41	40	technical	technical	ADJ
ajst-32387	41	41	development	development	NOUN
ajst-32387	41	42	gradually	gradually	ADV
ajst-32387	41	43	moving	move	VERB
ajst-32387	41	44	toward	toward	ADP
ajst-32387	41	45	higher	high	ADJ
ajst-32387	41	46	accuracy	accuracy	NOUN
ajst-32387	41	47	,	,	PUNCT
ajst-32387	41	48	real	real	ADJ
ajst-32387	41	49	-	-	PUNCT
ajst-32387	41	50	time	time	NOUN
ajst-32387	41	51	performance	performance	NOUN
ajst-32387	41	52	,	,	PUNCT
ajst-32387	41	53	robustness	robustness	NOUN
ajst-32387	41	54	,	,	PUNCT
ajst-32387	41	55	and	and	CCONJ
ajst-32387	41	56	cross	cross	ADJ
ajst-32387	41	57	-	-	ADJ
ajst-32387	41	58	domain	domain	ADJ
ajst-32387	41	59	generalization	generalization	NOUN
ajst-32387	41	60	[	[	X
ajst-32387	41	61	20	20	NUM
ajst-32387	41	62	]	]	PUNCT
ajst-32387	41	63	.	.	PUNCT
ajst-32387	42	1	traditional	traditional	ADJ
ajst-32387	42	2	methods	method	NOUN
ajst-32387	42	3	rely	rely	VERB
ajst-32387	42	4	on	on	ADP
ajst-32387	42	5	manually	manually	ADV
ajst-32387	42	6	designed	design	VERB
ajst-32387	42	7	144	144	NUM
ajst-32387	42	8	image	image	NOUN
ajst-32387	42	9	features	feature	NOUN
ajst-32387	42	10	and	and	CCONJ
ajst-32387	42	11	rule	rule	NOUN
ajst-32387	42	12	-	-	PUNCT
ajst-32387	42	13	based	base	VERB
ajst-32387	42	14	matching	matching	NOUN
ajst-32387	42	15	,	,	PUNCT
ajst-32387	42	16	such	such	ADJ
ajst-32387	42	17	as	as	ADP
ajst-32387	42	18	edge	edge	NOUN
ajst-32387	42	19	detection	detection	NOUN
ajst-32387	42	20	,	,	PUNCT
ajst-32387	42	21	hough	hough	PROPN
ajst-32387	42	22	transforms	transform	VERB
ajst-32387	42	23	,	,	PUNCT
ajst-32387	42	24	and	and	CCONJ
ajst-32387	42	25	color	color	NOUN
ajst-32387	42	26	segmentation	segmentation	NOUN
ajst-32387	42	27	,	,	PUNCT
ajst-32387	42	28	often	often	ADV
ajst-32387	42	29	combined	combine	VERB
ajst-32387	42	30	with	with	ADP
ajst-32387	42	31	kalman	kalman	NOUN
ajst-32387	42	32	or	or	CCONJ
ajst-32387	42	33	particle	particle	NOUN
ajst-32387	42	34	filters	filter	NOUN
ajst-32387	42	35	for	for	ADP
ajst-32387	42	36	multi	multi	ADJ
ajst-32387	42	37	-	-	ADJ
ajst-32387	42	38	frame	frame	ADJ
ajst-32387	42	39	tracking	tracking	NOUN
ajst-32387	42	40	.	.	PUNCT
ajst-32387	43	1	while	while	SCONJ
ajst-32387	43	2	simple	simple	ADJ
ajst-32387	43	3	,	,	PUNCT
ajst-32387	43	4	these	these	DET
ajst-32387	43	5	algorithms	algorithm	NOUN
ajst-32387	43	6	are	be	AUX
ajst-32387	43	7	highly	highly	ADV
ajst-32387	43	8	sensitive	sensitive	ADJ
ajst-32387	43	9	to	to	ADP
ajst-32387	43	10	lighting	lighting	NOUN
ajst-32387	43	11	,	,	PUNCT
ajst-32387	43	12	reflections	reflection	NOUN
ajst-32387	43	13	,	,	PUNCT
ajst-32387	43	14	and	and	CCONJ
ajst-32387	43	15	occlusion	occlusion	NOUN
ajst-32387	43	16	,	,	PUNCT
ajst-32387	43	17	exhibiting	exhibit	VERB
ajst-32387	43	18	poor	poor	ADJ
ajst-32387	43	19	generalization	generalization	NOUN
ajst-32387	43	20	.	.	PUNCT
ajst-32387	44	1	subsequent	subsequent	ADJ
ajst-32387	44	2	research	research	NOUN
ajst-32387	44	3	further	far	ADV
ajst-32387	44	4	developed	develop	VERB
ajst-32387	44	5	these	these	DET
ajst-32387	44	6	approaches	approach	NOUN
ajst-32387	44	7	by	by	ADP
ajst-32387	44	8	employing	employ	VERB
ajst-32387	44	9	classifiers	classifier	NOUN
ajst-32387	44	10	such	such	ADJ
ajst-32387	44	11	as	as	ADP
ajst-32387	44	12	random	random	ADJ
ajst-32387	44	13	forests	forest	NOUN
ajst-32387	44	14	and	and	CCONJ
ajst-32387	44	15	svms	svms	VERB
ajst-32387	44	16	in	in	ADP
ajst-32387	44	17	combination	combination	NOUN
ajst-32387	44	18	with	with	ADP
ajst-32387	44	19	handcrafted	handcraft	VERB
ajst-32387	44	20	features	feature	NOUN
ajst-32387	44	21	like	like	ADP
ajst-32387	44	22	hog	hog	NOUN
ajst-32387	44	23	,	,	PUNCT
ajst-32387	44	24	sift	sift	ADJ
ajst-32387	44	25	,	,	PUNCT
ajst-32387	44	26	and	and	CCONJ
ajst-32387	44	27	surf	surf	NOUN
ajst-32387	44	28	for	for	ADP
ajst-32387	44	29	binary	binary	ADJ
ajst-32387	44	30	or	or	CCONJ
ajst-32387	44	31	multi	multi	ADJ
ajst-32387	44	32	-	-	ADJ
ajst-32387	44	33	class	class	ADJ
ajst-32387	44	34	detection	detection	NOUN
ajst-32387	44	35	,	,	PUNCT
ajst-32387	44	36	with	with	ADP
ajst-32387	44	37	exploration	exploration	NOUN
ajst-32387	44	38	of	of	ADP
ajst-32387	44	39	multi	multi	ADJ
ajst-32387	44	40	-	-	ADJ
ajst-32387	44	41	view	view	ADJ
ajst-32387	44	42	fusion	fusion	NOUN
ajst-32387	44	43	and	and	CCONJ
ajst-32387	44	44	structured	structure	VERB
ajst-32387	44	45	prediction	prediction	NOUN
ajst-32387	44	46	to	to	PART
ajst-32387	44	47	improve	improve	VERB
ajst-32387	44	48	generalization	generalization	NOUN
ajst-32387	44	49	and	and	CCONJ
ajst-32387	44	50	accuracy	accuracy	NOUN
ajst-32387	44	51	[	[	X
ajst-32387	44	52	21	21	NUM
ajst-32387	44	53	]	]	PUNCT
ajst-32387	44	54	.	.	PUNCT
ajst-32387	45	1	since	since	SCONJ
ajst-32387	45	2	2016	2016	NUM
ajst-32387	45	3	,	,	PUNCT
ajst-32387	45	4	deep	deep	ADJ
ajst-32387	45	5	learning	learning	NOUN
ajst-32387	45	6	methods	method	NOUN
ajst-32387	45	7	have	have	AUX
ajst-32387	45	8	achieved	achieve	VERB
ajst-32387	45	9	significant	significant	ADJ
ajst-32387	45	10	progress	progress	NOUN
ajst-32387	45	11	:	:	PUNCT
ajst-32387	45	12	convolutional	convolutional	ADJ
ajst-32387	45	13	neural	neural	ADJ
ajst-32387	45	14	networks	network	NOUN
ajst-32387	45	15	(	(	PUNCT
ajst-32387	45	16	cnns	cnns	PROPN
ajst-32387	45	17	)	)	PUNCT
ajst-32387	45	18	have	have	AUX
ajst-32387	45	19	been	be	AUX
ajst-32387	45	20	widely	widely	ADV
ajst-32387	45	21	applied	apply	VERB
ajst-32387	45	22	to	to	ADP
ajst-32387	45	23	instrument	instrument	NOUN
ajst-32387	45	24	detection	detection	NOUN
ajst-32387	45	25	and	and	CCONJ
ajst-32387	45	26	segmentation	segmentation	NOUN
ajst-32387	45	27	tasks	task	NOUN
ajst-32387	45	28	;	;	PUNCT
ajst-32387	45	29	recurrent	recurrent	ADJ
ajst-32387	45	30	neural	neural	ADJ
ajst-32387	45	31	networks	network	NOUN
ajst-32387	45	32	(	(	PUNCT
ajst-32387	45	33	rnns	rnns	PROPN
ajst-32387	45	34	)	)	PUNCT
ajst-32387	45	35	and	and	CCONJ
ajst-32387	45	36	long	long	ADJ
ajst-32387	45	37	short	short	ADJ
ajst-32387	45	38	-	-	PUNCT
ajst-32387	45	39	term	term	NOUN
ajst-32387	45	40	memory	memory	NOUN
ajst-32387	45	41	networks	network	NOUN
ajst-32387	45	42	(	(	PUNCT
ajst-32387	45	43	lstms	lstms	ADJ
ajst-32387	45	44	)	)	PUNCT
ajst-32387	45	45	have	have	AUX
ajst-32387	45	46	been	be	AUX
ajst-32387	45	47	used	use	VERB
ajst-32387	45	48	to	to	PART
ajst-32387	45	49	process	process	VERB
ajst-32387	45	50	temporal	temporal	ADJ
ajst-32387	45	51	sequences	sequence	NOUN
ajst-32387	45	52	for	for	ADP
ajst-32387	45	53	instrument	instrument	NOUN
ajst-32387	45	54	tracking	tracking	NOUN
ajst-32387	45	55	and	and	CCONJ
ajst-32387	45	56	surgical	surgical	ADJ
ajst-32387	45	57	phase	phase	NOUN
ajst-32387	45	58	recognition	recognition	NOUN
ajst-32387	45	59	;	;	PUNCT
ajst-32387	45	60	and	and	CCONJ
ajst-32387	45	61	transformer	transformer	NOUN
ajst-32387	45	62	architectures	architecture	NOUN
ajst-32387	45	63	have	have	AUX
ajst-32387	45	64	been	be	AUX
ajst-32387	45	65	introduced	introduce	VERB
ajst-32387	45	66	to	to	PART
ajst-32387	45	67	enhance	enhance	VERB
ajst-32387	45	68	multitask	multitask	ADJ
ajst-32387	45	69	learning	learning	NOUN
ajst-32387	45	70	and	and	CCONJ
ajst-32387	45	71	cross	cross	ADJ
ajst-32387	45	72	-	-	ADJ
ajst-32387	45	73	frame	frame	ADJ
ajst-32387	45	74	modeling	modeling	NOUN
ajst-32387	45	75	.	.	PUNCT
ajst-32387	46	1	for	for	ADP
ajst-32387	46	2	instance	instance	NOUN
ajst-32387	46	3	,	,	PUNCT
ajst-32387	46	4	laptool	laptool	NOUN
ajst-32387	46	5	-	-	PUNCT
ajst-32387	46	6	net	net	NOUN
ajst-32387	46	7	utilizes	utilize	VERB
ajst-32387	46	8	an	an	DET
ajst-32387	46	9	rcnn	rcnn	NOUN
ajst-32387	46	10	architecture	architecture	NOUN
ajst-32387	46	11	to	to	PART
ajst-32387	46	12	integrate	integrate	VERB
ajst-32387	46	13	spatial	spatial	ADJ
ajst-32387	46	14	and	and	CCONJ
ajst-32387	46	15	temporal	temporal	ADJ
ajst-32387	46	16	contextual	contextual	ADJ
ajst-32387	46	17	information	information	NOUN
ajst-32387	46	18	,	,	PUNCT
ajst-32387	46	19	enabling	enable	VERB
ajst-32387	46	20	efficient	efficient	ADJ
ajst-32387	46	21	multi	multi	ADJ
ajst-32387	46	22	-	-	ADJ
ajst-32387	46	23	label	label	ADJ
ajst-32387	46	24	detection	detection	NOUN
ajst-32387	46	25	of	of	ADP
ajst-32387	46	26	surgical	surgical	ADJ
ajst-32387	46	27	instruments	instrument	NOUN
ajst-32387	46	28	in	in	ADP
ajst-32387	46	29	laparoscopic	laparoscopic	ADJ
ajst-32387	46	30	videos	video	NOUN
ajst-32387	46	31	,	,	PUNCT
ajst-32387	46	32	achieving	achieve	VERB
ajst-32387	46	33	end	end	NOUN
ajst-32387	46	34	-	-	PUNCT
ajst-32387	46	35	to	to	ADP
ajst-32387	46	36	-	-	PUNCT
ajst-32387	46	37	end	end	NOUN
ajst-32387	46	38	training	training	NOUN
ajst-32387	46	39	and	and	CCONJ
ajst-32387	46	40	inference	inference	NOUN
ajst-32387	46	41	[	[	X
ajst-32387	46	42	22	22	NUM
ajst-32387	46	43	]	]	PUNCT
ajst-32387	46	44	.	.	PUNCT
ajst-32387	47	1	2.3	2.3	NUM
ajst-32387	47	2	.	.	PUNCT
ajst-32387	47	3	practical	practical	ADJ
ajst-32387	47	4	application	application	NOUN
ajst-32387	47	5	requirements	requirement	NOUN
ajst-32387	47	6	real	real	ADJ
ajst-32387	47	7	-	-	PUNCT
ajst-32387	47	8	time	time	NOUN
ajst-32387	47	9	detection	detection	NOUN
ajst-32387	47	10	and	and	CCONJ
ajst-32387	47	11	high	high	ADJ
ajst-32387	47	12	-	-	PUNCT
ajst-32387	47	13	precision	precision	NOUN
ajst-32387	47	14	tracking	tracking	NOUN
ajst-32387	47	15	of	of	ADP
ajst-32387	47	16	surgical	surgical	ADJ
ajst-32387	47	17	instruments	instrument	NOUN
ajst-32387	47	18	play	play	VERB
ajst-32387	47	19	a	a	DET
ajst-32387	47	20	crucial	crucial	ADJ
ajst-32387	47	21	role	role	NOUN
ajst-32387	47	22	in	in	ADP
ajst-32387	47	23	surgical	surgical	ADJ
ajst-32387	47	24	navigation	navigation	NOUN
ajst-32387	47	25	,	,	PUNCT
ajst-32387	47	26	robot	robot	NOUN
ajst-32387	47	27	-	-	PUNCT
ajst-32387	47	28	assisted	assist	VERB
ajst-32387	47	29	automated	automate	VERB
ajst-32387	47	30	procedures	procedure	NOUN
ajst-32387	47	31	,	,	PUNCT
ajst-32387	47	32	and	and	CCONJ
ajst-32387	47	33	surgical	surgical	ADJ
ajst-32387	47	34	skill	skill	NOUN
ajst-32387	47	35	assessment	assessment	NOUN
ajst-32387	47	36	.	.	PUNCT
ajst-32387	48	1	however	however	ADV
ajst-32387	48	2	,	,	PUNCT
ajst-32387	48	3	different	different	ADJ
ajst-32387	48	4	clinical	clinical	ADJ
ajst-32387	48	5	applications	application	NOUN
ajst-32387	48	6	impose	impose	VERB
ajst-32387	48	7	distinct	distinct	ADJ
ajst-32387	48	8	and	and	CCONJ
ajst-32387	48	9	often	often	ADV
ajst-32387	48	10	stringent	stringent	ADJ
ajst-32387	48	11	requirements	requirement	NOUN
ajst-32387	48	12	on	on	ADP
ajst-32387	48	13	algorithmic	algorithmic	ADJ
ajst-32387	48	14	speed	speed	NOUN
ajst-32387	48	15	,	,	PUNCT
ajst-32387	48	16	accuracy	accuracy	NOUN
ajst-32387	48	17	,	,	PUNCT
ajst-32387	48	18	robustness	robustness	NOUN
ajst-32387	48	19	,	,	PUNCT
ajst-32387	48	20	and	and	CCONJ
ajst-32387	48	21	latency	latency	NOUN
ajst-32387	48	22	.	.	PUNCT
ajst-32387	49	1	in	in	ADP
ajst-32387	49	2	surgical	surgical	ADJ
ajst-32387	49	3	navigation	navigation	NOUN
ajst-32387	49	4	,	,	PUNCT
ajst-32387	49	5	real	real	ADJ
ajst-32387	49	6	-	-	PUNCT
ajst-32387	49	7	time	time	NOUN
ajst-32387	49	8	detection	detection	NOUN
ajst-32387	49	9	and	and	CCONJ
ajst-32387	49	10	tracking	tracking	NOUN
ajst-32387	49	11	of	of	ADP
ajst-32387	49	12	instrument	instrument	NOUN
ajst-32387	49	13	tips	tip	NOUN
ajst-32387	49	14	must	must	AUX
ajst-32387	49	15	achieve	achieve	VERB
ajst-32387	49	16	precise	precise	ADJ
ajst-32387	49	17	localization	localization	NOUN
ajst-32387	49	18	to	to	PART
ajst-32387	49	19	ensure	ensure	VERB
ajst-32387	49	20	accurate	accurate	ADJ
ajst-32387	49	21	alignment	alignment	NOUN
ajst-32387	49	22	with	with	ADP
ajst-32387	49	23	preoperative	preoperative	ADJ
ajst-32387	49	24	imaging	imaging	NOUN
ajst-32387	49	25	(	(	PUNCT
ajst-32387	49	26	ct	ct	NOUN
ajst-32387	49	27	/	/	SYM
ajst-32387	49	28	mri	mri	NOUN
ajst-32387	49	29	)	)	PUNCT
ajst-32387	49	30	or	or	CCONJ
ajst-32387	49	31	intraoperative	intraoperative	ADJ
ajst-32387	49	32	3d	3d	NOUN
ajst-32387	49	33	models	model	NOUN
ajst-32387	49	34	[	[	X
ajst-32387	49	35	23	23	NUM
ajst-32387	49	36	]	]	PUNCT
ajst-32387	49	37	.	.	PUNCT
ajst-32387	50	1	low	low	ADJ
ajst-32387	50	2	-	-	PUNCT
ajst-32387	50	3	latency	latency	NOUN
ajst-32387	50	4	augmented	augment	VERB
ajst-32387	50	5	reality	reality	NOUN
ajst-32387	50	6	(	(	PUNCT
ajst-32387	50	7	ar	ar	NOUN
ajst-32387	50	8	)	)	PUNCT
ajst-32387	50	9	integration	integration	NOUN
ajst-32387	50	10	is	be	AUX
ajst-32387	50	11	also	also	ADV
ajst-32387	50	12	required	require	VERB
ajst-32387	50	13	to	to	PART
ajst-32387	50	14	enable	enable	VERB
ajst-32387	50	15	surgeons	surgeon	NOUN
ajst-32387	50	16	to	to	PART
ajst-32387	50	17	visualize	visualize	VERB
ajst-32387	50	18	instrument	instrument	NOUN
ajst-32387	50	19	positions	position	NOUN
ajst-32387	50	20	and	and	CCONJ
ajst-32387	50	21	key	key	ADJ
ajst-32387	50	22	anatomical	anatomical	ADJ
ajst-32387	50	23	structures	structure	NOUN
ajst-32387	50	24	in	in	ADP
ajst-32387	50	25	real	real	ADJ
ajst-32387	50	26	time	time	NOUN
ajst-32387	50	27	on	on	ADP
ajst-32387	50	28	surgical	surgical	ADJ
ajst-32387	50	29	displays	display	NOUN
ajst-32387	50	30	or	or	CCONJ
ajst-32387	50	31	ar	ar	NOUN
ajst-32387	50	32	headsets	headset	NOUN
ajst-32387	50	33	.	.	PUNCT
ajst-32387	51	1	in	in	ADP
ajst-32387	51	2	automated	automate	VERB
ajst-32387	51	3	or	or	CCONJ
ajst-32387	51	4	semi	semi	ADJ
ajst-32387	51	5	-	-	ADJ
ajst-32387	51	6	automated	automated	ADJ
ajst-32387	51	7	surgery	surgery	NOUN
ajst-32387	51	8	,	,	PUNCT
ajst-32387	51	9	instrument	instrument	NOUN
ajst-32387	51	10	detection	detection	NOUN
ajst-32387	51	11	and	and	CCONJ
ajst-32387	51	12	tracking	tracking	NOUN
ajst-32387	51	13	results	result	NOUN
ajst-32387	51	14	need	need	VERB
ajst-32387	51	15	to	to	PART
ajst-32387	51	16	be	be	AUX
ajst-32387	51	17	fed	feed	VERB
ajst-32387	51	18	back	back	ADV
ajst-32387	51	19	to	to	ADP
ajst-32387	51	20	the	the	DET
ajst-32387	51	21	robotic	robotic	ADJ
ajst-32387	51	22	control	control	NOUN
ajst-32387	51	23	system	system	NOUN
ajst-32387	51	24	in	in	ADP
ajst-32387	51	25	real	real	ADJ
ajst-32387	51	26	time	time	NOUN
ajst-32387	51	27	to	to	PART
ajst-32387	51	28	support	support	VERB
ajst-32387	51	29	visual	visual	ADJ
ajst-32387	51	30	servoing	servoing	NOUN
ajst-32387	51	31	or	or	CCONJ
ajst-32387	51	32	assisted	assist	VERB
ajst-32387	51	33	operation	operation	NOUN
ajst-32387	52	1	[	[	X
ajst-32387	52	2	24	24	NUM
ajst-32387	52	3	]	]	PUNCT
ajst-32387	52	4	.	.	PUNCT
ajst-32387	53	1	this	this	PRON
ajst-32387	53	2	demands	demand	VERB
ajst-32387	53	3	high	high	ADJ
ajst-32387	53	4	-	-	PUNCT
ajst-32387	53	5	frequency	frequency	NOUN
ajst-32387	53	6	updates	update	NOUN
ajst-32387	53	7	of	of	ADP
ajst-32387	53	8	instrument	instrument	NOUN
ajst-32387	53	9	positions	position	NOUN
ajst-32387	53	10	and	and	CCONJ
ajst-32387	53	11	contingency	contingency	NOUN
ajst-32387	53	12	strategies	strategy	NOUN
ajst-32387	53	13	to	to	PART
ajst-32387	53	14	maintain	maintain	VERB
ajst-32387	53	15	safety	safety	NOUN
ajst-32387	53	16	in	in	ADP
ajst-32387	53	17	cases	case	NOUN
ajst-32387	53	18	of	of	ADP
ajst-32387	53	19	error	error	NOUN
ajst-32387	53	20	,	,	PUNCT
ajst-32387	53	21	latency	latency	NOUN
ajst-32387	53	22	,	,	PUNCT
ajst-32387	53	23	or	or	CCONJ
ajst-32387	53	24	tracking	tracking	NOUN
ajst-32387	53	25	loss	loss	NOUN
ajst-32387	53	26	.	.	PUNCT
ajst-32387	54	1	moreover	moreover	ADV
ajst-32387	54	2	,	,	PUNCT
ajst-32387	54	3	in	in	ADP
ajst-32387	54	4	surgical	surgical	ADJ
ajst-32387	54	5	training	training	NOUN
ajst-32387	54	6	and	and	CCONJ
ajst-32387	54	7	evaluation	evaluation	NOUN
ajst-32387	54	8	,	,	PUNCT
ajst-32387	54	9	instrument	instrument	NOUN
ajst-32387	54	10	trajectories	trajectory	NOUN
ajst-32387	54	11	and	and	CCONJ
ajst-32387	54	12	video	video	NOUN
ajst-32387	54	13	data	datum	NOUN
ajst-32387	54	14	can	can	AUX
ajst-32387	54	15	be	be	AUX
ajst-32387	54	16	analyzed	analyze	VERB
ajst-32387	54	17	automatically	automatically	ADV
ajst-32387	54	18	to	to	PART
ajst-32387	54	19	quantify	quantify	VERB
ajst-32387	54	20	metrics	metric	NOUN
ajst-32387	54	21	such	such	ADJ
ajst-32387	54	22	as	as	ADP
ajst-32387	54	23	movement	movement	NOUN
ajst-32387	54	24	paths	path	NOUN
ajst-32387	54	25	,	,	PUNCT
ajst-32387	54	26	speed	speed	NOUN
ajst-32387	54	27	,	,	PUNCT
ajst-32387	54	28	and	and	CCONJ
ajst-32387	54	29	tremor	tremor	NOUN
ajst-32387	54	30	frequency	frequency	NOUN
ajst-32387	54	31	,	,	PUNCT
ajst-32387	54	32	supporting	support	VERB
ajst-32387	54	33	novice	novice	NOUN
ajst-32387	54	34	surgeons	surgeon	NOUN
ajst-32387	54	35	in	in	ADP
ajst-32387	54	36	correcting	correct	VERB
ajst-32387	54	37	improper	improper	ADJ
ajst-32387	54	38	actions	action	NOUN
ajst-32387	54	39	or	or	CCONJ
ajst-32387	54	40	planning	plan	VERB
ajst-32387	54	41	subsequent	subsequent	ADJ
ajst-32387	54	42	steps	step	NOUN
ajst-32387	54	43	[	[	X
ajst-32387	54	44	25	25	NUM
ajst-32387	54	45	]	]	PUNCT
ajst-32387	54	46	.	.	PUNCT
ajst-32387	55	1	table	table	NOUN
ajst-32387	55	2	1	1	NUM
ajst-32387	55	3	.	.	PUNCT
ajst-32387	56	1	performance	performance	NOUN
ajst-32387	56	2	requirements	requirement	NOUN
ajst-32387	56	3	for	for	ADP
ajst-32387	56	4	surgical	surgical	ADJ
ajst-32387	56	5	instrument	instrument	NOUN
ajst-32387	56	6	detection	detection	NOUN
ajst-32387	56	7	and	and	CCONJ
ajst-32387	56	8	tracking	track	VERB
ajst-32387	56	9	across	across	ADP
ajst-32387	56	10	clinical	clinical	ADJ
ajst-32387	56	11	scenarios	scenario	NOUN
ajst-32387	56	12	clinical	clinical	ADJ
ajst-32387	56	13	scenario	scenario	NOUN
ajst-32387	56	14	speed	speed	NOUN
ajst-32387	56	15	/	/	SYM
ajst-32387	56	16	throughput	throughput	NOUN
ajst-32387	56	17	accuracy	accuracy	NOUN
ajst-32387	56	18	(	(	PUNCT
ajst-32387	56	19	localization	localization	NOUN
ajst-32387	56	20	/	/	SYM
ajst-32387	56	21	overlay	overlay	NOUN
ajst-32387	56	22	)	)	PUNCT
ajst-32387	56	23	end	end	NOUN
ajst-32387	56	24	-	-	PUNCT
ajst-32387	56	25	to	to	ADP
ajst-32387	56	26	-	-	PUNCT
ajst-32387	56	27	end	end	NOUN
ajst-32387	56	28	latency	latency	NOUN
ajst-32387	56	29	(	(	PUNCT
ajst-32387	56	30	e2e	e2e	NOUN
ajst-32387	56	31	)	)	PUNCT
ajst-32387	56	32	notes	note	VERB
ajst-32387	56	33	neurosurgery	neurosurgery	NOUN
ajst-32387	56	34	/	/	SYM
ajst-32387	56	35	spinal	spinal	NOUN
ajst-32387	56	36	navigation	navigation	NOUN
ajst-32387	56	37	30–60	30–60	PROPN
ajst-32387	56	38	fps	fps	NOUN
ajst-32387	56	39	≈1–2	≈1–2	VERB
ajst-32387	56	40	mm	mm	PROPN
ajst-32387	56	41	<	<	PROPN
ajst-32387	56	42	100	100	NUM
ajst-32387	56	43	ms	ms	ADJ
ajst-32387	56	44	high	high	ADJ
ajst-32387	56	45	-	-	PUNCT
ajst-32387	56	46	risk	risk	NOUN
ajst-32387	56	47	;	;	PUNCT
ajst-32387	56	48	millimeter	millimeter	NOUN
ajst-32387	56	49	accuracy	accuracy	NOUN
ajst-32387	56	50	and	and	CCONJ
ajst-32387	56	51	low	low	ADJ
ajst-32387	56	52	latency	latency	NOUN
ajst-32387	56	53	critical	critical	ADJ
ajst-32387	56	54	;	;	PUNCT
ajst-32387	56	55	ar	ar	NOUN
ajst-32387	56	56	overlays	overlay	NOUN
ajst-32387	56	57	must	must	AUX
ajst-32387	56	58	be	be	AUX
ajst-32387	56	59	stable	stable	ADJ
ajst-32387	56	60	.	.	PUNCT
ajst-32387	57	1	laparoscopy	laparoscopy	NOUN
ajst-32387	57	2	(	(	PUNCT
ajst-32387	57	3	human	human	ADJ
ajst-32387	57	4	–	–	PUNCT
ajst-32387	57	5	robot	robot	NOUN
ajst-32387	57	6	/	/	SYM
ajst-32387	57	7	semiautomation	semiautomation	NOUN
ajst-32387	57	8	)	)	PUNCT
ajst-32387	57	9	30–60	30–60	PROPN
ajst-32387	57	10	fps	fps	NOUN
ajst-32387	57	11	;	;	PUNCT
ajst-32387	57	12	4k	4k	NUM
ajst-32387	57	13	2–5	2–5	NOUN
ajst-32387	57	14	mm	mm	INTJ
ajst-32387	57	15	<	<	X
ajst-32387	57	16	100–200	100–200	NUM
ajst-32387	57	17	ms	ms	DET
ajst-32387	57	18	real	real	ADJ
ajst-32387	57	19	-	-	PUNCT
ajst-32387	57	20	time	time	NOUN
ajst-32387	57	21	instrument	instrument	NOUN
ajst-32387	57	22	feedback	feedback	NOUN
ajst-32387	57	23	required	require	VERB
ajst-32387	57	24	;	;	PUNCT
ajst-32387	57	25	4k	4k	PRON
ajst-32387	57	26	increases	increase	VERB
ajst-32387	57	27	compute	compute	NOUN
ajst-32387	57	28	load	load	NOUN
ajst-32387	57	29	;	;	PUNCT
ajst-32387	57	30	<	<	X
ajst-32387	57	31	100	100	NUM
ajst-32387	57	32	ms	ms	NOUN
ajst-32387	57	33	latency	latency	NOUN
ajst-32387	57	34	improves	improve	VERB
ajst-32387	57	35	human	human	ADJ
ajst-32387	57	36	–	–	PUNCT
ajst-32387	57	37	robot	robot	NOUN
ajst-32387	57	38	interaction	interaction	NOUN
ajst-32387	57	39	.	.	PUNCT
ajst-32387	58	1	teleoperation	teleoperation	NOUN
ajst-32387	58	2	/	/	SYM
ajst-32387	58	3	remote	remote	ADJ
ajst-32387	58	4	surgery	surgery	NOUN
ajst-32387	58	5	≥30	≥30	PROPN
ajst-32387	58	6	fps	fps	PROPN
ajst-32387	58	7	(	(	PUNCT
ajst-32387	58	8	itu>50	itu>50	PROPN
ajst-32387	58	9	fps	fps	PROPN
ajst-32387	58	10	)	)	PUNCT
ajst-32387	58	11	task	task	NOUN
ajst-32387	58	12	-	-	PUNCT
ajst-32387	58	13	safe	safe	ADJ
ajst-32387	58	14	<	<	NOUN
ajst-32387	58	15	100	100	NUM
ajst-32387	58	16	ms	ms	NOUN
ajst-32387	58	17	ideal	ideal	NOUN
ajst-32387	58	18	;	;	PUNCT
ajst-32387	58	19	<	<	X
ajst-32387	58	20	200	200	NUM
ajst-32387	58	21	ms	ms	NOUN
ajst-32387	58	22	acceptable	acceptable	ADJ
ajst-32387	58	23	;	;	PUNCT
ajst-32387	58	24	≤320	≤320	NOUN
ajst-32387	58	25	ms	ms	PROPN
ajst-32387	58	26	feasible	feasible	ADJ
ajst-32387	58	27	latency	latency	NOUN
ajst-32387	58	28	>	>	ADP
ajst-32387	58	29	200	200	NUM
ajst-32387	58	30	ms	ms	PROPN
ajst-32387	58	31	affects	affect	VERB
ajst-32387	58	32	control	control	NOUN
ajst-32387	58	33	and	and	CCONJ
ajst-32387	58	34	workload	workload	NOUN
ajst-32387	58	35	;	;	PUNCT
ajst-32387	58	36	optimize	optimize	VERB
ajst-32387	58	37	communication	communication	NOUN
ajst-32387	58	38	.	.	PUNCT
ajst-32387	59	1	microsurgery	microsurgery	NOUN
ajst-32387	59	2	/	/	SYM
ajst-32387	59	3	ophthalmology	ophthalmology	NOUN
ajst-32387	59	4	training	training	NOUN
ajst-32387	59	5	&	&	CCONJ
ajst-32387	59	6	assessment	assessment	NOUN
ajst-32387	59	7	25–30	25–30	PROPN
ajst-32387	59	8	fps	fps	NOUN
ajst-32387	59	9	(	(	PUNCT
ajst-32387	59	10	higher	high	ADJ
ajst-32387	59	11	offline	offline	NOUN
ajst-32387	59	12	)	)	PUNCT
ajst-32387	59	13	≈1–2	≈1–2	NOUN
ajst-32387	59	14	mm	mm	NOUN
ajst-32387	59	15	or	or	CCONJ
ajst-32387	59	16	stricter	strict	ADJ
ajst-32387	59	17	<	<	NOUN
ajst-32387	59	18	200	200	NUM
ajst-32387	59	19	ms	ms	ADJ
ajst-32387	59	20	intraoperative	intraoperative	ADJ
ajst-32387	59	21	feedback	feedback	NOUN
ajst-32387	59	22	;	;	PUNCT
ajst-32387	59	23	offline	offline	ADJ
ajst-32387	59	24	unrestricted	unrestricted	ADJ
ajst-32387	59	25	focus	focus	NOUN
ajst-32387	59	26	on	on	ADP
ajst-32387	59	27	tip	tip	NOUN
ajst-32387	59	28	trajectory	trajectory	NOUN
ajst-32387	59	29	reconstruction	reconstruction	NOUN
ajst-32387	59	30	and	and	CCONJ
ajst-32387	59	31	fine	fine	ADV
ajst-32387	59	32	-	-	PUNCT
ajst-32387	59	33	grained	grain	VERB
ajst-32387	59	34	skill	skill	NOUN
ajst-32387	59	35	assessment	assessment	NOUN
ajst-32387	59	36	;	;	PUNCT
ajst-32387	59	37	offline	offline	ADJ
ajst-32387	59	38	analysis	analysis	NOUN
ajst-32387	59	39	can	can	AUX
ajst-32387	59	40	use	use	VERB
ajst-32387	59	41	high	high	ADJ
ajst-32387	59	42	-	-	PUNCT
ajst-32387	59	43	precision	precision	NOUN
ajst-32387	59	44	computation	computation	NOUN
ajst-32387	59	45	.	.	PUNCT
ajst-32387	60	1	table	table	NOUN
ajst-32387	60	2	1	1	NUM
ajst-32387	60	3	shows	show	VERB
ajst-32387	60	4	that	that	SCONJ
ajst-32387	60	5	different	different	ADJ
ajst-32387	60	6	clinical	clinical	ADJ
ajst-32387	60	7	scenarios	scenario	NOUN
ajst-32387	60	8	impose	impose	VERB
ajst-32387	60	9	markedly	markedly	ADV
ajst-32387	60	10	distinct	distinct	ADJ
ajst-32387	60	11	requirements	requirement	NOUN
ajst-32387	60	12	on	on	ADP
ajst-32387	60	13	speed	speed	NOUN
ajst-32387	60	14	,	,	PUNCT
ajst-32387	60	15	accuracy	accuracy	NOUN
ajst-32387	60	16	,	,	PUNCT
ajst-32387	60	17	and	and	CCONJ
ajst-32387	60	18	end	end	NOUN
ajst-32387	60	19	-	-	PUNCT
ajst-32387	60	20	to	to	ADP
ajst-32387	60	21	-	-	PUNCT
ajst-32387	60	22	end	end	NOUN
ajst-32387	60	23	(	(	PUNCT
ajst-32387	60	24	e2e	e2e	NOUN
ajst-32387	60	25	)	)	PUNCT
ajst-32387	60	26	latency	latency	NOUN
ajst-32387	60	27	:	:	PUNCT
ajst-32387	60	28	high	high	ADJ
ajst-32387	60	29	-	-	PUNCT
ajst-32387	60	30	precision	precision	NOUN
ajst-32387	60	31	navigation	navigation	NOUN
ajst-32387	60	32	demands	demand	VERB
ajst-32387	60	33	millimeter	millimeter	NOUN
ajst-32387	60	34	-	-	PUNCT
ajst-32387	60	35	level	level	NOUN
ajst-32387	60	36	localization	localization	NOUN
ajst-32387	60	37	with	with	ADP
ajst-32387	60	38	extremely	extremely	ADV
ajst-32387	60	39	low	low	ADJ
ajst-32387	60	40	latency	latency	NOUN
ajst-32387	60	41	(	(	PUNCT
ajst-32387	60	42	<	<	X
ajst-32387	60	43	100ms	100ms	ADJ
ajst-32387	60	44	)	)	PUNCT
ajst-32387	60	45	,	,	PUNCT
ajst-32387	60	46	whereas	whereas	SCONJ
ajst-32387	60	47	remote	remote	ADJ
ajst-32387	60	48	and	and	CCONJ
ajst-32387	60	49	semi	semi	ADJ
ajst-32387	60	50	-	-	ADJ
ajst-32387	60	51	automated	automated	ADJ
ajst-32387	60	52	surgeries	surgery	NOUN
ajst-32387	60	53	emphasize	emphasize	VERB
ajst-32387	60	54	stable	stable	ADJ
ajst-32387	60	55	real	real	ADJ
ajst-32387	60	56	-	-	PUNCT
ajst-32387	60	57	time	time	NOUN
ajst-32387	60	58	performance	performance	NOUN
ajst-32387	60	59	and	and	CCONJ
ajst-32387	60	60	high	high	ADJ
ajst-32387	60	61	frame	frame	NOUN
ajst-32387	60	62	rates	rate	NOUN
ajst-32387	60	63	.	.	PUNCT
ajst-32387	61	1	microsurgical	microsurgical	ADJ
ajst-32387	61	2	training	training	NOUN
ajst-32387	61	3	and	and	CCONJ
ajst-32387	61	4	postoperative	postoperative	ADJ
ajst-32387	61	5	assessment	assessment	NOUN
ajst-32387	61	6	prioritize	prioritize	VERB
ajst-32387	61	7	high	high	ADJ
ajst-32387	61	8	-	-	PUNCT
ajst-32387	61	9	precision	precision	NOUN
ajst-32387	61	10	analysis	analysis	NOUN
ajst-32387	61	11	,	,	PUNCT
ajst-32387	61	12	often	often	ADV
ajst-32387	61	13	allowing	allow	VERB
ajst-32387	61	14	offline	offline	ADJ
ajst-32387	61	15	processing	processing	NOUN
ajst-32387	61	16	.	.	PUNCT
ajst-32387	62	1	this	this	DET
ajst-32387	62	2	diversity	diversity	NOUN
ajst-32387	62	3	of	of	ADP
ajst-32387	62	4	requirements	requirement	NOUN
ajst-32387	62	5	highlights	highlight	VERB
ajst-32387	62	6	the	the	DET
ajst-32387	62	7	critical	critical	ADJ
ajst-32387	62	8	importance	importance	NOUN
ajst-32387	62	9	of	of	ADP
ajst-32387	62	10	lightweight	lightweight	ADJ
ajst-32387	62	11	models	model	NOUN
ajst-32387	62	12	and	and	CCONJ
ajst-32387	62	13	efficient	efficient	ADJ
ajst-32387	62	14	145	145	NUM
ajst-32387	62	15	inference	inference	NOUN
ajst-32387	62	16	frameworks	framework	NOUN
ajst-32387	62	17	to	to	PART
ajst-32387	62	18	balance	balance	VERB
ajst-32387	62	19	real	real	ADJ
ajst-32387	62	20	-	-	PUNCT
ajst-32387	62	21	time	time	NOUN
ajst-32387	62	22	responsiveness	responsiveness	NOUN
ajst-32387	62	23	,	,	PUNCT
ajst-32387	62	24	accuracy	accuracy	NOUN
ajst-32387	62	25	,	,	PUNCT
ajst-32387	62	26	and	and	CCONJ
ajst-32387	62	27	computational	computational	ADJ
ajst-32387	62	28	resource	resource	NOUN
ajst-32387	62	29	constraints	constraint	NOUN
ajst-32387	62	30	.	.	PUNCT
ajst-32387	63	1	3	3	X
ajst-32387	63	2	.	.	X
ajst-32387	63	3	datasets	dataset	NOUN
ajst-32387	63	4	and	and	CCONJ
ajst-32387	63	5	benchmarking	benchmarke	VERB
ajst-32387	63	6	3.1	3.1	NUM
ajst-32387	63	7	cholectrack20	cholectrack20	NOUN
ajst-32387	63	8	dataset	dataset	VERB
ajst-32387	63	9	overview	overview	NOUN
ajst-32387	63	10	figure	figure	NOUN
ajst-32387	63	11	1	1	NUM
ajst-32387	63	12	illustrates	illustrate	VERB
ajst-32387	63	13	the	the	DET
ajst-32387	63	14	multi	multi	ADJ
ajst-32387	63	15	-	-	ADJ
ajst-32387	63	16	view	view	ADJ
ajst-32387	63	17	surgical	surgical	ADJ
ajst-32387	63	18	instrument	instrument	NOUN
ajst-32387	63	19	tracking	tracking	NOUN
ajst-32387	63	20	and	and	CCONJ
ajst-32387	63	21	multidimensional	multidimensional	ADJ
ajst-32387	63	22	annotations	annotation	NOUN
ajst-32387	63	23	from	from	ADP
ajst-32387	63	24	the	the	DET
ajst-32387	63	25	cholectrack20	cholectrack20	NOUN
ajst-32387	63	26	dataset	dataset	VERB
ajst-32387	63	27	.	.	PUNCT
ajst-32387	64	1	this	this	DET
ajst-32387	64	2	dataset	dataset	VERB
ajst-32387	64	3	targets	target	NOUN
ajst-32387	64	4	multi	multi	ADJ
ajst-32387	64	5	-	-	ADJ
ajst-32387	64	6	class	class	ADJ
ajst-32387	64	7	,	,	PUNCT
ajst-32387	64	8	multi	multi	ADJ
ajst-32387	64	9	-	-	ADJ
ajst-32387	64	10	instrument	instrument	ADJ
ajst-32387	64	11	tracking	tracking	NOUN
ajst-32387	64	12	(	(	PUNCT
ajst-32387	64	13	mcmot	mcmot	NOUN
ajst-32387	64	14	)	)	PUNCT
ajst-32387	64	15	in	in	ADP
ajst-32387	64	16	laparoscopic	laparoscopic	NOUN
ajst-32387	64	17	cholecystectomy	cholecystectomy	NOUN
ajst-32387	64	18	and	and	CCONJ
ajst-32387	64	19	provides	provide	VERB
ajst-32387	64	20	three	three	NUM
ajst-32387	64	21	trajectory	trajectory	NOUN
ajst-32387	64	22	perspectives	perspective	NOUN
ajst-32387	64	23	:	:	PUNCT
ajst-32387	64	24	visible	visible	ADJ
ajst-32387	64	25	(	(	PUNCT
ajst-32387	64	26	inscreen	inscreen	NOUN
ajst-32387	64	27	fov	fov	PROPN
ajst-32387	64	28	)	)	PUNCT
ajst-32387	64	29	,	,	PUNCT
ajst-32387	64	30	intracorporeal	intracorporeal	NOUN
ajst-32387	64	31	,	,	PUNCT
ajst-32387	64	32	and	and	CCONJ
ajst-32387	64	33	intraoperative	intraoperative	ADJ
ajst-32387	64	34	(	(	PUNCT
ajst-32387	64	35	spanning	span	VERB
ajst-32387	64	36	the	the	DET
ajst-32387	64	37	entire	entire	ADJ
ajst-32387	64	38	procedure	procedure	NOUN
ajst-32387	64	39	)	)	PUNCT
ajst-32387	64	40	.	.	PUNCT
ajst-32387	65	1	annotations	annotation	NOUN
ajst-32387	65	2	include	include	VERB
ajst-32387	65	3	spatial	spatial	ADJ
ajst-32387	65	4	and	and	CCONJ
ajst-32387	65	5	identity	identity	NOUN
ajst-32387	65	6	information	information	NOUN
ajst-32387	65	7	:	:	PUNCT
ajst-32387	65	8	instrument	instrument	NOUN
ajst-32387	65	9	bounding	bounding	NOUN
ajst-32387	65	10	boxes	box	NOUN
ajst-32387	65	11	(	(	PUNCT
ajst-32387	65	12	bbox	bbox	NOUN
ajst-32387	65	13	)	)	PUNCT
ajst-32387	65	14	,	,	PUNCT
ajst-32387	65	15	instrument	instrument	NOUN
ajst-32387	65	16	categories	category	NOUN
ajst-32387	65	17	(	(	PUNCT
ajst-32387	65	18	7	7	NUM
ajst-32387	65	19	classes	class	NOUN
ajst-32387	65	20	:	:	PUNCT
ajst-32387	65	21	grasper	grasper	NOUN
ajst-32387	65	22	,	,	PUNCT
ajst-32387	65	23	bipolar	bipolar	ADJ
ajst-32387	65	24	,	,	PUNCT
ajst-32387	65	25	hook	hook	NOUN
ajst-32387	65	26	,	,	PUNCT
ajst-32387	65	27	scissors	scissor	NOUN
ajst-32387	65	28	,	,	PUNCT
ajst-32387	65	29	clipper	clipper	NOUN
ajst-32387	65	30	,	,	PUNCT
ajst-32387	65	31	irrigator	irrigator	NOUN
ajst-32387	65	32	,	,	PUNCT
ajst-32387	65	33	bag	bag	NOUN
ajst-32387	65	34	)	)	PUNCT
ajst-32387	65	35	,	,	PUNCT
ajst-32387	65	36	trajectory	trajectory	NOUN
ajst-32387	65	37	ids	id	NOUN
ajst-32387	65	38	(	(	PUNCT
ajst-32387	65	39	provided	provide	VERB
ajst-32387	65	40	for	for	ADP
ajst-32387	65	41	each	each	DET
ajst-32387	65	42	perspective	perspective	NOUN
ajst-32387	65	43	)	)	PUNCT
ajst-32387	65	44	,	,	PUNCT
ajst-32387	65	45	and	and	CCONJ
ajst-32387	65	46	operator	operator	NOUN
ajst-32387	65	47	identity	identity	NOUN
ajst-32387	65	48	(	(	PUNCT
ajst-32387	65	49	operator	operator	NOUN
ajst-32387	65	50	i	i	PROPN
ajst-32387	65	51	d	d	PROPN
ajst-32387	65	52	)	)	PUNCT
ajst-32387	65	53	.	.	PUNCT
ajst-32387	66	1	contextual	contextual	ADJ
ajst-32387	66	2	labels	label	NOUN
ajst-32387	66	3	cover	cover	VERB
ajst-32387	66	4	surgical	surgical	ADJ
ajst-32387	66	5	phase	phase	NOUN
ajst-32387	66	6	,	,	PUNCT
ajst-32387	66	7	out	out	ADV
ajst-32387	66	8	-	-	PUNCT
ajst-32387	66	9	of	of	ADP
ajst-32387	66	10	-	-	PUNCT
ajst-32387	66	11	screen	screen	NOUN
ajst-32387	66	12	/	/	SYM
ajst-32387	66	13	in	in	ADP
ajst-32387	66	14	-	-	PUNCT
ajst-32387	66	15	screen	screen	NOUN
ajst-32387	66	16	(	(	PUNCT
ajst-32387	66	17	oocv	oocv	ADJ
ajst-32387	66	18	)	)	PUNCT
ajst-32387	66	19	,	,	PUNCT
ajst-32387	66	20	out	out	ADP
ajst-32387	66	21	-	-	PUNCT
ajst-32387	66	22	of	of	ADP
ajst-32387	66	23	-	-	PUNCT
ajst-32387	66	24	body	body	NOUN
ajst-32387	66	25	/	/	SYM
ajst-32387	66	26	in	in	ADP
ajst-32387	66	27	-	-	PUNCT
ajst-32387	66	28	body	body	NOUN
ajst-32387	66	29	(	(	PUNCT
ajst-32387	66	30	oob	oob	NOUN
ajst-32387	66	31	)	)	PUNCT
ajst-32387	66	32	,	,	PUNCT
ajst-32387	66	33	and	and	CCONJ
ajst-32387	66	34	various	various	ADJ
ajst-32387	66	35	visual	visual	ADJ
ajst-32387	66	36	challenge	challenge	NOUN
ajst-32387	66	37	tags	tag	NOUN
ajst-32387	66	38	such	such	ADJ
ajst-32387	66	39	as	as	ADP
ajst-32387	66	40	occlusion	occlusion	NOUN
ajst-32387	66	41	,	,	PUNCT
ajst-32387	66	42	crowding	crowd	VERB
ajst-32387	66	43	,	,	PUNCT
ajst-32387	66	44	bleeding	bleeding	NOUN
ajst-32387	66	45	,	,	PUNCT
ajst-32387	66	46	smoke	smoke	NOUN
ajst-32387	66	47	,	,	PUNCT
ajst-32387	66	48	lens	lens	NOUN
ajst-32387	66	49	contamination	contamination	NOUN
ajst-32387	66	50	,	,	PUNCT
ajst-32387	66	51	reflections	reflection	NOUN
ajst-32387	66	52	,	,	PUNCT
ajst-32387	66	53	blur	blur	NOUN
ajst-32387	66	54	,	,	PUNCT
ajst-32387	66	55	and	and	CCONJ
ajst-32387	66	56	trocar	trocar	NOUN
ajst-32387	66	57	-	-	PUNCT
ajst-32387	66	58	view	view	NOUN
ajst-32387	66	59	limitations	limitation	NOUN
ajst-32387	66	60	.	.	PUNCT
ajst-32387	67	1	the	the	DET
ajst-32387	67	2	dataset	dataset	NOUN
ajst-32387	67	3	consists	consist	VERB
ajst-32387	67	4	of	of	ADP
ajst-32387	67	5	20	20	NUM
ajst-32387	67	6	real	real	ADJ
ajst-32387	67	7	surgical	surgical	ADJ
ajst-32387	67	8	videos	video	NOUN
ajst-32387	67	9	(	(	PUNCT
ajst-32387	67	10	~15	~15	X
ajst-32387	67	11	hours	hour	NOUN
ajst-32387	67	12	)	)	PUNCT
ajst-32387	67	13	,	,	PUNCT
ajst-32387	67	14	with	with	ADP
ajst-32387	67	15	~35k	~35k	PUNCT
ajst-32387	67	16	annotated	annotate	VERB
ajst-32387	67	17	frames	frame	NOUN
ajst-32387	67	18	(	(	PUNCT
ajst-32387	67	19	sampled	sample	VERB
ajst-32387	67	20	at	at	ADP
ajst-32387	67	21	1	1	NUM
ajst-32387	67	22	fps	fps	PROPN
ajst-32387	67	23	)	)	PUNCT
ajst-32387	67	24	and	and	CCONJ
ajst-32387	67	25	~65k	~65k	NUM
ajst-32387	67	26	instrument	instrument	NOUN
ajst-32387	67	27	instances	instance	NOUN
ajst-32387	67	28	[	[	X
ajst-32387	67	29	26	26	NUM
ajst-32387	67	30	]	]	PUNCT
ajst-32387	67	31	.	.	PUNCT
ajst-32387	68	1	figure	figure	NOUN
ajst-32387	68	2	1	1	NUM
ajst-32387	68	3	.	.	PUNCT
ajst-32387	68	4	schematic	schematic	ADJ
ajst-32387	68	5	diagram	diagram	NOUN
ajst-32387	68	6	of	of	ADP
ajst-32387	68	7	cholectrack20	cholectrack20	NOUN
ajst-32387	68	8	multi	multi	ADJ
ajst-32387	68	9	-	-	ADJ
ajst-32387	68	10	angle	angle	ADJ
ajst-32387	68	11	surgical	surgical	ADJ
ajst-32387	68	12	tool	tool	NOUN
ajst-32387	68	13	tracking	tracking	NOUN
ajst-32387	68	14	and	and	CCONJ
ajst-32387	68	15	multidimensional	multidimensional	ADJ
ajst-32387	68	16	annotation	annotation	NOUN
ajst-32387	68	17	[	[	X
ajst-32387	68	18	26	26	NUM
ajst-32387	68	19	]	]	SYM
ajst-32387	68	20	146	146	NUM
ajst-32387	68	21	the	the	DET
ajst-32387	68	22	high	high	ADJ
ajst-32387	68	23	-	-	PUNCT
ajst-32387	68	24	quality	quality	NOUN
ajst-32387	68	25	,	,	PUNCT
ajst-32387	68	26	diverse	diverse	ADJ
ajst-32387	68	27	annotations	annotation	NOUN
ajst-32387	68	28	facilitate	facilitate	VERB
ajst-32387	68	29	surgical	surgical	ADJ
ajst-32387	68	30	instrument	instrument	NOUN
ajst-32387	68	31	detection	detection	NOUN
ajst-32387	68	32	,	,	PUNCT
ajst-32387	68	33	tracking	tracking	NOUN
ajst-32387	68	34	,	,	PUNCT
ajst-32387	68	35	and	and	CCONJ
ajst-32387	68	36	deployment	deployment	NOUN
ajst-32387	68	37	of	of	ADP
ajst-32387	68	38	lightweight	lightweight	ADJ
ajst-32387	68	39	models	model	NOUN
ajst-32387	68	40	.	.	PUNCT
ajst-32387	69	1	surgical	surgical	ADJ
ajst-32387	69	2	phase	phase	NOUN
ajst-32387	69	3	and	and	CCONJ
ajst-32387	69	4	visual	visual	ADJ
ajst-32387	69	5	challenge	challenge	NOUN
ajst-32387	69	6	labels	label	NOUN
ajst-32387	69	7	enable	enable	VERB
ajst-32387	69	8	models	model	NOUN
ajst-32387	69	9	to	to	PART
ajst-32387	69	10	learn	learn	VERB
ajst-32387	69	11	robust	robust	ADJ
ajst-32387	69	12	features	feature	NOUN
ajst-32387	69	13	under	under	ADP
ajst-32387	69	14	complex	complex	ADJ
ajst-32387	69	15	conditions	condition	NOUN
ajst-32387	69	16	.	.	PUNCT
ajst-32387	70	1	models	model	NOUN
ajst-32387	70	2	can	can	AUX
ajst-32387	70	3	be	be	AUX
ajst-32387	70	4	trained	train	VERB
ajst-32387	70	5	jointly	jointly	ADV
ajst-32387	70	6	on	on	ADP
ajst-32387	70	7	single	single	ADJ
ajst-32387	70	8	-	-	PUNCT
ajst-32387	70	9	frame	frame	NOUN
ajst-32387	70	10	detection	detection	NOUN
ajst-32387	70	11	and	and	CCONJ
ajst-32387	70	12	multi	multi	ADJ
ajst-32387	70	13	-	-	ADJ
ajst-32387	70	14	frame	frame	ADJ
ajst-32387	70	15	tracking	tracking	NOUN
ajst-32387	70	16	tasks	task	NOUN
ajst-32387	70	17	,	,	PUNCT
ajst-32387	70	18	reducing	reduce	VERB
ajst-32387	70	19	train	train	NOUN
ajst-32387	70	20	/	/	SYM
ajst-32387	70	21	test	test	NOUN
ajst-32387	70	22	distribution	distribution	NOUN
ajst-32387	70	23	bias	bias	NOUN
ajst-32387	70	24	and	and	CCONJ
ajst-32387	70	25	promoting	promote	VERB
ajst-32387	70	26	generalization	generalization	NOUN
ajst-32387	70	27	for	for	ADP
ajst-32387	70	28	end	end	NOUN
ajst-32387	70	29	-	-	PUNCT
ajst-32387	70	30	to	to	ADP
ajst-32387	70	31	-	-	PUNCT
ajst-32387	70	32	end	end	NOUN
ajst-32387	70	33	lightweight	lightweight	ADJ
ajst-32387	70	34	architectures	architecture	NOUN
ajst-32387	70	35	.	.	PUNCT
ajst-32387	71	1	the	the	DET
ajst-32387	71	2	three	three	NUM
ajst-32387	71	3	perspectives	perspective	NOUN
ajst-32387	71	4	and	and	CCONJ
ajst-32387	71	5	multi	multi	ADJ
ajst-32387	71	6	-	-	ADJ
ajst-32387	71	7	scene	scene	ADJ
ajst-32387	71	8	coverage	coverage	NOUN
ajst-32387	71	9	allow	allow	VERB
ajst-32387	71	10	lightweight	lightweight	ADJ
ajst-32387	71	11	models	model	NOUN
ajst-32387	71	12	to	to	PART
ajst-32387	71	13	learn	learn	VERB
ajst-32387	71	14	multi	multi	ADJ
ajst-32387	71	15	-	-	ADJ
ajst-32387	71	16	scale	scale	ADJ
ajst-32387	71	17	features	feature	NOUN
ajst-32387	71	18	efficiently	efficiently	ADV
ajst-32387	71	19	while	while	SCONJ
ajst-32387	71	20	maintaining	maintain	VERB
ajst-32387	71	21	detection	detection	NOUN
ajst-32387	71	22	accuracy	accuracy	NOUN
ajst-32387	71	23	across	across	ADP
ajst-32387	71	24	different	different	ADJ
ajst-32387	71	25	viewpoints	viewpoint	NOUN
ajst-32387	71	26	,	,	PUNCT
ajst-32387	71	27	making	make	VERB
ajst-32387	71	28	the	the	DET
ajst-32387	71	29	dataset	dataset	NOUN
ajst-32387	71	30	suitable	suitable	ADJ
ajst-32387	71	31	for	for	ADP
ajst-32387	71	32	embedded	embed	VERB
ajst-32387	71	33	systems	system	NOUN
ajst-32387	71	34	or	or	CCONJ
ajst-32387	71	35	surgical	surgical	ADJ
ajst-32387	71	36	robots	robot	NOUN
ajst-32387	71	37	.	.	PUNCT
ajst-32387	72	1	the	the	DET
ajst-32387	72	2	moderate	moderate	ADJ
ajst-32387	72	3	video	video	NOUN
ajst-32387	72	4	frame	frame	NOUN
ajst-32387	72	5	rate	rate	NOUN
ajst-32387	72	6	and	and	CCONJ
ajst-32387	72	7	annotation	annotation	NOUN
ajst-32387	72	8	density	density	NOUN
ajst-32387	72	9	balance	balance	NOUN
ajst-32387	72	10	sufficient	sufficient	ADJ
ajst-32387	72	11	training	training	NOUN
ajst-32387	72	12	samples	sample	NOUN
ajst-32387	72	13	with	with	ADP
ajst-32387	72	14	manageable	manageable	ADJ
ajst-32387	72	15	inference	inference	NOUN
ajst-32387	72	16	speed	speed	NOUN
ajst-32387	72	17	and	and	CCONJ
ajst-32387	72	18	memory	memory	NOUN
ajst-32387	72	19	usage	usage	NOUN
ajst-32387	72	20	for	for	ADP
ajst-32387	72	21	lightweight	lightweight	ADJ
ajst-32387	72	22	models	model	NOUN
ajst-32387	72	23	,	,	PUNCT
ajst-32387	72	24	supporting	support	VERB
ajst-32387	72	25	deployment	deployment	NOUN
ajst-32387	72	26	on	on	ADP
ajst-32387	72	27	resource	resource	NOUN
ajst-32387	72	28	-	-	PUNCT
ajst-32387	72	29	constrained	constrain	VERB
ajst-32387	72	30	platforms	platform	NOUN
ajst-32387	72	31	.	.	PUNCT
ajst-32387	73	1	3.2	3.2	NUM
ajst-32387	73	2	benchmark	benchmark	NOUN
ajst-32387	73	3	results	result	NOUN
ajst-32387	73	4	and	and	CCONJ
ajst-32387	73	5	analysis	analysis	NOUN
ajst-32387	73	6	table	table	NOUN
ajst-32387	73	7	2	2	NUM
ajst-32387	73	8	presents	present	VERB
ajst-32387	73	9	a	a	DET
ajst-32387	73	10	comparison	comparison	NOUN
ajst-32387	73	11	of	of	ADP
ajst-32387	73	12	six	six	NUM
ajst-32387	73	13	lightweight	lightweight	ADJ
ajst-32387	73	14	models	model	NOUN
ajst-32387	73	15	for	for	ADP
ajst-32387	73	16	real	real	ADJ
ajst-32387	73	17	-	-	PUNCT
ajst-32387	73	18	time	time	NOUN
ajst-32387	73	19	surgical	surgical	ADJ
ajst-32387	73	20	tool	tool	NOUN
ajst-32387	73	21	detection	detection	NOUN
ajst-32387	73	22	in	in	ADP
ajst-32387	73	23	terms	term	NOUN
ajst-32387	73	24	of	of	ADP
ajst-32387	73	25	architecture	architecture	NOUN
ajst-32387	73	26	,	,	PUNCT
ajst-32387	73	27	efficiency	efficiency	NOUN
ajst-32387	73	28	,	,	PUNCT
ajst-32387	73	29	and	and	CCONJ
ajst-32387	73	30	deployment	deployment	NOUN
ajst-32387	73	31	.	.	PUNCT
ajst-32387	74	1	the	the	DET
ajst-32387	74	2	evaluation	evaluation	NOUN
ajst-32387	74	3	metrics	metric	NOUN
ajst-32387	74	4	include	include	VERB
ajst-32387	74	5	:	:	PUNCT
ajst-32387	74	6	params	param	NOUN
ajst-32387	74	7	(	(	PUNCT
ajst-32387	74	8	model	model	NOUN
ajst-32387	74	9	parameters	parameter	NOUN
ajst-32387	74	10	in	in	ADP
ajst-32387	74	11	millions	million	NOUN
ajst-32387	74	12	)	)	PUNCT
ajst-32387	74	13	,	,	PUNCT
ajst-32387	74	14	flops	flop	NOUN
ajst-32387	74	15	(	(	PUNCT
ajst-32387	74	16	forward	forward	ADJ
ajst-32387	74	17	inference	inference	NOUN
ajst-32387	74	18	computation	computation	NOUN
ajst-32387	74	19	in	in	ADP
ajst-32387	74	20	giga	giga	PROPN
ajst-32387	74	21	flops	flop	NOUN
ajst-32387	74	22	)	)	PUNCT
ajst-32387	74	23	,	,	PUNCT
ajst-32387	74	24	input	input	NOUN
ajst-32387	74	25	(	(	PUNCT
ajst-32387	74	26	input	input	NOUN
ajst-32387	74	27	image	image	NOUN
ajst-32387	74	28	resolution	resolution	NOUN
ajst-32387	74	29	)	)	PUNCT
ajst-32387	74	30	,	,	PUNCT
ajst-32387	74	31	speed	speed	NOUN
ajst-32387	74	32	(	(	PUNCT
ajst-32387	74	33	inference	inference	NOUN
ajst-32387	74	34	frame	frame	NOUN
ajst-32387	74	35	rate	rate	NOUN
ajst-32387	74	36	,	,	PUNCT
ajst-32387	74	37	gpu	gpu	NOUN
ajst-32387	74	38	/	/	SYM
ajst-32387	74	39	edge	edge	NOUN
ajst-32387	74	40	device	device	NOUN
ajst-32387	74	41	reference	reference	NOUN
ajst-32387	74	42	)	)	PUNCT
ajst-32387	74	43	,	,	PUNCT
ajst-32387	74	44	deployment	deployment	NOUN
ajst-32387	74	45	(	(	PUNCT
ajst-32387	74	46	suitability	suitability	NOUN
ajst-32387	74	47	for	for	ADP
ajst-32387	74	48	embedded	embed	VERB
ajst-32387	74	49	or	or	CCONJ
ajst-32387	74	50	lightweight	lightweight	ADJ
ajst-32387	74	51	platforms	platform	NOUN
ajst-32387	74	52	)	)	PUNCT
ajst-32387	74	53	,	,	PUNCT
ajst-32387	74	54	and	and	CCONJ
ajst-32387	74	55	notes	note	NOUN
ajst-32387	74	56	(	(	PUNCT
ajst-32387	74	57	key	key	ADJ
ajst-32387	74	58	advantages	advantage	NOUN
ajst-32387	74	59	or	or	CCONJ
ajst-32387	74	60	application	application	NOUN
ajst-32387	74	61	scenarios	scenario	NOUN
ajst-32387	74	62	)	)	PUNCT
ajst-32387	74	63	.	.	PUNCT
ajst-32387	75	1	table	table	NOUN
ajst-32387	75	2	2	2	NUM
ajst-32387	75	3	.	.	PUNCT
ajst-32387	75	4	lightweight	lightweight	ADJ
ajst-32387	75	5	model	model	PROPN
ajst-32387	75	6	comparison	comparison	NOUN
ajst-32387	75	7	:	:	PUNCT
ajst-32387	75	8	architecture	architecture	NOUN
ajst-32387	75	9	,	,	PUNCT
ajst-32387	75	10	efficiency	efficiency	NOUN
ajst-32387	75	11	,	,	PUNCT
ajst-32387	75	12	and	and	CCONJ
ajst-32387	75	13	deployment	deployment	NOUN
ajst-32387	75	14	for	for	ADP
ajst-32387	75	15	real	real	ADJ
ajst-32387	75	16	-	-	PUNCT
ajst-32387	75	17	time	time	NOUN
ajst-32387	75	18	surgical	surgical	ADJ
ajst-32387	75	19	tool	tool	NOUN
ajst-32387	75	20	detection	detection	NOUN
ajst-32387	75	21	model	model	NOUN
ajst-32387	75	22	architecture	architecture	NOUN
ajst-32387	75	23	/	/	SYM
ajst-32387	75	24	type	type	NOUN
ajst-32387	75	25	params	param	NOUN
ajst-32387	75	26	(	(	PUNCT
ajst-32387	75	27	m	m	NOUN
ajst-32387	75	28	)	)	PUNCT
ajst-32387	75	29	flops	flop	NOUN
ajst-32387	75	30	(	(	PUNCT
ajst-32387	75	31	g	g	NOUN
ajst-32387	75	32	)	)	PUNCT
ajst-32387	75	33	input	input	NOUN
ajst-32387	75	34	(	(	PUNCT
ajst-32387	75	35	px	px	NOUN
ajst-32387	75	36	)	)	PUNCT
ajst-32387	75	37	speed	speed	NOUN
ajst-32387	75	38	(	(	PUNCT
ajst-32387	75	39	fps	fps	PROPN
ajst-32387	75	40	)	)	PUNCT
ajst-32387	75	41	deployment	deployment	NOUN
ajst-32387	75	42	notes	note	NOUN
ajst-32387	75	43	mobilenetv2	mobilenetv2	PROPN
ajst-32387	75	44	depthwise	depthwise	NOUN
ajst-32387	75	45	-	-	PUNCT
ajst-32387	75	46	separable	separable	NOUN
ajst-32387	75	47	cnn	cnn	PROPN
ajst-32387	75	48	3.4	3.4	NUM
ajst-32387	75	49	0.3	0.3	NUM
ajst-32387	75	50	224×224	224×224	NUM
ajst-32387	75	51	50–100	50–100	PROPN
ajst-32387	75	52	tflite	tflite	NOUN
ajst-32387	75	53	,	,	PUNCT
ajst-32387	75	54	edge	edge	VERB
ajst-32387	75	55	lightweight	lightweight	ADJ
ajst-32387	75	56	,	,	PUNCT
ajst-32387	75	57	easy	easy	ADJ
ajst-32387	75	58	deployment	deployment	NOUN
ajst-32387	75	59	efficientnetb0	efficientnetb0	NOUN
ajst-32387	75	60	compound	compound	VERB
ajst-32387	75	61	scaling	scale	VERB
ajst-32387	75	62	cnn	cnn	PROPN
ajst-32387	75	63	5.3	5.3	NUM
ajst-32387	75	64	0.39	0.39	NUM
ajst-32387	75	65	224×224	224×224	NUM
ajst-32387	75	66	30–60	30–60	NUM
ajst-32387	75	67	tflite	tflite	NOUN
ajst-32387	75	68	,	,	PUNCT
ajst-32387	75	69	onnx	onnx	PROPN
ajst-32387	75	70	good	good	ADJ
ajst-32387	75	71	accuracy	accuracy	NOUN
ajst-32387	75	72	-	-	PUNCT
ajst-32387	75	73	efficiency	efficiency	NOUN
ajst-32387	75	74	tradeoff	tradeoff	NOUN
ajst-32387	75	75	yolov5s	yolov5s	PROPN
ajst-32387	75	76	csp	csp	PROPN
ajst-32387	75	77	-	-	PUNCT
ajst-32387	75	78	darknet	darknet	PROPN
ajst-32387	75	79	+	+	CCONJ
ajst-32387	75	80	panet	panet	PROPN
ajst-32387	75	81	7	7	NUM
ajst-32387	75	82	17	17	NUM
ajst-32387	75	83	640×640	640×640	NUM
ajst-32387	75	84	140	140	NUM
ajst-32387	75	85	pytorch	pytorch	NOUN
ajst-32387	75	86	,	,	PUNCT
ajst-32387	75	87	tensorrt	tensorrt	NOUN
ajst-32387	75	88	end	end	NOUN
ajst-32387	75	89	-	-	PUNCT
ajst-32387	75	90	to	to	ADP
ajst-32387	75	91	-	-	PUNCT
ajst-32387	75	92	end	end	NOUN
ajst-32387	75	93	detection	detection	NOUN
ajst-32387	75	94	,	,	PUNCT
ajst-32387	75	95	real	real	ADJ
ajst-32387	75	96	-	-	PUNCT
ajst-32387	75	97	time	time	NOUN
ajst-32387	75	98	capable	capable	ADJ
ajst-32387	75	99	yolov8n	yolov8n	NOUN
ajst-32387	75	100	nano	nano	NOUN
ajst-32387	75	101	variant	variant	NOUN
ajst-32387	75	102	,	,	PUNCT
ajst-32387	75	103	cnn	cnn	PROPN
ajst-32387	75	104	+	+	CCONJ
ajst-32387	75	105	panet	panet	PROPN
ajst-32387	75	106	4.5	4.5	NUM
ajst-32387	75	107	7.5	7.5	NUM
ajst-32387	75	108	640×640	640×640	NUM
ajst-32387	75	109	160	160	NUM
ajst-32387	75	110	pytorch	pytorch	NOUN
ajst-32387	75	111	,	,	PUNCT
ajst-32387	75	112	tensorrt	tensorrt	NOUN
ajst-32387	75	113	fastest	fast	ADJ
ajst-32387	75	114	yolo	yolo	ADJ
ajst-32387	75	115	variant	variant	NOUN
ajst-32387	75	116	,	,	PUNCT
ajst-32387	75	117	suitable	suitable	ADJ
ajst-32387	75	118	for	for	ADP
ajst-32387	75	119	embedded	embed	VERB
ajst-32387	75	120	tiny	tiny	ADJ
ajst-32387	75	121	-	-	PUNCT
ajst-32387	75	122	yolov4	yolov4	NOUN
ajst-32387	75	123	cspdarknet53	cspdarknet53	NOUN
ajst-32387	75	124	-	-	PUNCT
ajst-32387	75	125	tiny	tiny	ADJ
ajst-32387	75	126	6	6	NUM
ajst-32387	75	127	6.9	6.9	NUM
ajst-32387	75	128	416×416	416×416	NUM
ajst-32387	75	129	220	220	NUM
ajst-32387	75	130	tensorrt	tensorrt	NOUN
ajst-32387	75	131	,	,	PUNCT
ajst-32387	75	132	jetson	jetson	PROPN
ajst-32387	75	133	nano	nano	PROPN
ajst-32387	75	134	/	/	SYM
ajst-32387	75	135	orin	orin	PROPN
ajst-32387	75	136	ultra	ultra	ADJ
ajst-32387	75	137	-	-	ADJ
ajst-32387	75	138	lightweight	lightweight	ADJ
ajst-32387	75	139	,	,	PUNCT
ajst-32387	75	140	high	high	ADJ
ajst-32387	75	141	fps	fps	PROPN
ajst-32387	75	142	shufflenetv2	shufflenetv2	PROPN
ajst-32387	75	143	channel	channel	NOUN
ajst-32387	75	144	split	split	VERB
ajst-32387	75	145	+	+	CCONJ
ajst-32387	75	146	pointwise	pointwise	VERB
ajst-32387	75	147	1.0	1.0	NUM
ajst-32387	75	148	0.14	0.14	NUM
ajst-32387	75	149	224×224	224×224	NUM
ajst-32387	75	150	120	120	NUM
ajst-32387	75	151	mobile	mobile	ADJ
ajst-32387	75	152	/	/	SYM
ajst-32387	75	153	edge	edge	NOUN
ajst-32387	75	154	extremely	extremely	ADV
ajst-32387	75	155	lightweight	lightweight	ADJ
ajst-32387	75	156	,	,	PUNCT
ajst-32387	75	157	lowpower	lowpower	NOUN
ajst-32387	75	158	deployment	deployment	NOUN
ajst-32387	75	159	from	from	ADP
ajst-32387	75	160	the	the	DET
ajst-32387	75	161	perspective	perspective	NOUN
ajst-32387	75	162	of	of	ADP
ajst-32387	75	163	network	network	NOUN
ajst-32387	75	164	complexity	complexity	NOUN
ajst-32387	75	165	and	and	CCONJ
ajst-32387	75	166	computational	computational	ADJ
ajst-32387	75	167	efficiency	efficiency	NOUN
ajst-32387	75	168	,	,	PUNCT
ajst-32387	75	169	ultra	ultra	ADJ
ajst-32387	75	170	-	-	ADJ
ajst-32387	75	171	lightweight	lightweight	ADJ
ajst-32387	75	172	models	model	NOUN
ajst-32387	75	173	such	such	ADJ
ajst-32387	75	174	as	as	ADP
ajst-32387	75	175	shufflenetv2	shufflenetv2	NOUN
ajst-32387	75	176	and	and	CCONJ
ajst-32387	75	177	mobilenetv2	mobilenetv2	PROPN
ajst-32387	75	178	feature	feature	VERB
ajst-32387	75	179	extremely	extremely	ADV
ajst-32387	75	180	low	low	ADJ
ajst-32387	75	181	parameter	parameter	NOUN
ajst-32387	75	182	counts	count	NOUN
ajst-32387	75	183	(	(	PUNCT
ajst-32387	75	184	<	<	X
ajst-32387	75	185	4	4	NUM
ajst-32387	75	186	m	m	NOUN
ajst-32387	75	187	)	)	PUNCT
ajst-32387	75	188	and	and	CCONJ
ajst-32387	75	189	flops	flop	NOUN
ajst-32387	75	190	(	(	PUNCT
ajst-32387	75	191	<	<	X
ajst-32387	75	192	0.5	0.5	NUM
ajst-32387	75	193	g	g	NOUN
ajst-32387	75	194	)	)	PUNCT
ajst-32387	75	195	,	,	PUNCT
ajst-32387	75	196	making	make	VERB
ajst-32387	75	197	them	they	PRON
ajst-32387	75	198	suitable	suitable	ADJ
ajst-32387	75	199	for	for	ADP
ajst-32387	75	200	resource	resource	NOUN
ajst-32387	75	201	-	-	PUNCT
ajst-32387	75	202	constrained	constrain	VERB
ajst-32387	75	203	platforms	platform	NOUN
ajst-32387	75	204	such	such	ADJ
ajst-32387	75	205	as	as	ADP
ajst-32387	75	206	handheld	handheld	ADJ
ajst-32387	75	207	devices	device	NOUN
ajst-32387	75	208	or	or	CCONJ
ajst-32387	75	209	embedded	embed	VERB
ajst-32387	75	210	arm	arm	NOUN
ajst-32387	75	211	boards	board	NOUN
ajst-32387	75	212	.	.	PUNCT
ajst-32387	76	1	these	these	DET
ajst-32387	76	2	models	model	NOUN
ajst-32387	76	3	are	be	AUX
ajst-32387	76	4	ideal	ideal	ADJ
ajst-32387	76	5	for	for	ADP
ajst-32387	76	6	real	real	ADJ
ajst-32387	76	7	-	-	PUNCT
ajst-32387	76	8	time	time	NOUN
ajst-32387	76	9	scenarios	scenario	NOUN
ajst-32387	76	10	or	or	CCONJ
ajst-32387	76	11	low	low	ADJ
ajst-32387	76	12	-	-	PUNCT
ajst-32387	76	13	power	power	NOUN
ajst-32387	76	14	edge	edge	NOUN
ajst-32387	76	15	devices	device	NOUN
ajst-32387	76	16	but	but	CCONJ
ajst-32387	76	17	may	may	AUX
ajst-32387	76	18	lack	lack	VERB
ajst-32387	76	19	precision	precision	NOUN
ajst-32387	76	20	in	in	ADP
ajst-32387	76	21	complex	complex	ADJ
ajst-32387	76	22	backgrounds	background	NOUN
ajst-32387	76	23	or	or	CCONJ
ajst-32387	76	24	small	small	ADJ
ajst-32387	76	25	-	-	PUNCT
ajst-32387	76	26	target	target	NOUN
ajst-32387	76	27	detection	detection	NOUN
ajst-32387	76	28	.	.	PUNCT
ajst-32387	77	1	medium	medium	ADJ
ajst-32387	77	2	-	-	PUNCT
ajst-32387	77	3	lightweight	lightweight	NOUN
ajst-32387	77	4	models	model	NOUN
ajst-32387	77	5	(	(	PUNCT
ajst-32387	77	6	efficientnet	efficientnet	NOUN
ajst-32387	77	7	-	-	PUNCT
ajst-32387	77	8	b0	b0	NOUN
ajst-32387	77	9	)	)	PUNCT
ajst-32387	77	10	achieve	achieve	VERB
ajst-32387	77	11	a	a	DET
ajst-32387	77	12	favorable	favorable	ADJ
ajst-32387	77	13	balance	balance	NOUN
ajst-32387	77	14	between	between	ADP
ajst-32387	77	15	parameters	parameter	NOUN
ajst-32387	77	16	and	and	CCONJ
ajst-32387	77	17	performance	performance	NOUN
ajst-32387	77	18	,	,	PUNCT
ajst-32387	77	19	though	though	SCONJ
ajst-32387	77	20	their	their	PRON
ajst-32387	77	21	inference	inference	NOUN
ajst-32387	77	22	speed	speed	NOUN
ajst-32387	77	23	is	be	AUX
ajst-32387	77	24	slightly	slightly	ADV
ajst-32387	77	25	lower	low	ADJ
ajst-32387	77	26	than	than	ADP
ajst-32387	77	27	yolo	yolo	ADJ
ajst-32387	77	28	series	series	NOUN
ajst-32387	77	29	models	model	NOUN
ajst-32387	77	30	.	.	PUNCT
ajst-32387	78	1	yolov8n	yolov8n	NOUN
ajst-32387	78	2	has	have	VERB
ajst-32387	78	3	higher	high	ADJ
ajst-32387	78	4	computational	computational	ADJ
ajst-32387	78	5	demands	demand	NOUN
ajst-32387	78	6	(	(	PUNCT
ajst-32387	78	7	~7.5	~7.5	ADP
ajst-32387	78	8	g	g	NOUN
ajst-32387	78	9	flops	flop	NOUN
ajst-32387	78	10	)	)	PUNCT
ajst-32387	79	1	but	but	CCONJ
ajst-32387	79	2	,	,	PUNCT
ajst-32387	79	3	when	when	SCONJ
ajst-32387	79	4	combined	combine	VERB
ajst-32387	79	5	with	with	ADP
ajst-32387	79	6	optimized	optimize	VERB
ajst-32387	79	7	inference	inference	NOUN
ajst-32387	79	8	frameworks	framework	NOUN
ajst-32387	79	9	such	such	ADJ
ajst-32387	79	10	as	as	ADP
ajst-32387	79	11	tensorrt	tensorrt	NOUN
ajst-32387	79	12	,	,	PUNCT
ajst-32387	79	13	can	can	AUX
ajst-32387	79	14	achieve	achieve	VERB
ajst-32387	79	15	up	up	ADP
ajst-32387	79	16	to	to	PART
ajst-32387	79	17	160	160	NUM
ajst-32387	79	18	fps	fps	PROPN
ajst-32387	79	19	,	,	PUNCT
ajst-32387	79	20	providing	provide	VERB
ajst-32387	79	21	an	an	DET
ajst-32387	79	22	effective	effective	ADJ
ajst-32387	79	23	trade	trade	NOUN
ajst-32387	79	24	-	-	PUNCT
ajst-32387	79	25	off	off	NOUN
ajst-32387	79	26	between	between	ADP
ajst-32387	79	27	speed	speed	NOUN
ajst-32387	79	28	and	and	CCONJ
ajst-32387	79	29	accuracy	accuracy	NOUN
ajst-32387	79	30	.	.	PUNCT
ajst-32387	80	1	lightweight	lightweight	ADJ
ajst-32387	80	2	high	high	ADJ
ajst-32387	80	3	-	-	PUNCT
ajst-32387	80	4	performance	performance	NOUN
ajst-32387	80	5	models	model	NOUN
ajst-32387	80	6	such	such	ADJ
ajst-32387	80	7	as	as	ADP
ajst-32387	80	8	yolov5s	yolov5s	PROPN
ajst-32387	80	9	and	and	CCONJ
ajst-32387	80	10	tiny	tiny	ADJ
ajst-32387	80	11	-	-	PUNCT
ajst-32387	80	12	yolov4	yolov4	NOUN
ajst-32387	80	13	demonstrate	demonstrate	NOUN
ajst-32387	80	14	robust	robust	ADJ
ajst-32387	80	15	real	real	ADJ
ajst-32387	80	16	-	-	PUNCT
ajst-32387	80	17	time	time	NOUN
ajst-32387	80	18	performance	performance	NOUN
ajst-32387	80	19	;	;	PUNCT
ajst-32387	80	20	tiny	tiny	ADJ
ajst-32387	80	21	-	-	PUNCT
ajst-32387	80	22	yolov4	yolov4	NOUN
ajst-32387	80	23	can	can	AUX
ajst-32387	80	24	reach	reach	VERB
ajst-32387	80	25	220	220	NUM
ajst-32387	80	26	fps	fps	NOUN
ajst-32387	80	27	at	at	ADP
ajst-32387	80	28	low	low	ADJ
ajst-32387	80	29	resolution	resolution	NOUN
ajst-32387	80	30	(	(	PUNCT
ajst-32387	80	31	416×416	416×416	NUM
ajst-32387	80	32	)	)	PUNCT
ajst-32387	80	33	,	,	PUNCT
ajst-32387	80	34	though	though	SCONJ
ajst-32387	80	35	its	its	PRON
ajst-32387	80	36	accuracy	accuracy	NOUN
ajst-32387	80	37	is	be	AUX
ajst-32387	80	38	slightly	slightly	ADV
ajst-32387	80	39	below	below	ADP
ajst-32387	80	40	yolov8n	yolov8n	NOUN
ajst-32387	80	41	.	.	PUNCT
ajst-32387	81	1	regarding	regard	VERB
ajst-32387	81	2	deployment	deployment	NOUN
ajst-32387	81	3	suitability	suitability	NOUN
ajst-32387	81	4	,	,	PUNCT
ajst-32387	81	5	mobilenetv2	mobilenetv2	PROPN
ajst-32387	81	6	and	and	CCONJ
ajst-32387	81	7	shufflenetv2	shufflenetv2	PROPN
ajst-32387	81	8	support	support	NOUN
ajst-32387	81	9	tflite	tflite	PROPN
ajst-32387	81	10	/	/	SYM
ajst-32387	81	11	edge	edge	NOUN
ajst-32387	81	12	deployment	deployment	NOUN
ajst-32387	81	13	and	and	CCONJ
ajst-32387	81	14	are	be	AUX
ajst-32387	81	15	thus	thus	ADV
ajst-32387	81	16	ideal	ideal	ADJ
ajst-32387	81	17	for	for	ADP
ajst-32387	81	18	low	low	ADJ
ajst-32387	81	19	-	-	PUNCT
ajst-32387	81	20	compute	compute	NOUN
ajst-32387	81	21	devices	device	NOUN
ajst-32387	81	22	.	.	PUNCT
ajst-32387	82	1	tiny	tiny	ADJ
ajst-32387	82	2	-	-	PUNCT
ajst-32387	82	3	yolov4	yolov4	NOUN
ajst-32387	82	4	and	and	CCONJ
ajst-32387	82	5	yolov8n	yolov8n	PROPN
ajst-32387	82	6	are	be	AUX
ajst-32387	82	7	optimized	optimize	VERB
ajst-32387	82	8	for	for	ADP
ajst-32387	82	9	nvidia	nvidia	PROPN
ajst-32387	82	10	jetson	jetson	PROPN
ajst-32387	82	11	nano	nano	PROPN
ajst-32387	82	12	/	/	SYM
ajst-32387	82	13	orin	orin	PROPN
ajst-32387	82	14	or	or	CCONJ
ajst-32387	82	15	tensorrt	tensorrt	NOUN
ajst-32387	82	16	platforms	platform	NOUN
ajst-32387	82	17	,	,	PUNCT
ajst-32387	82	18	offering	offer	VERB
ajst-32387	82	19	flexible	flexible	ADJ
ajst-32387	82	20	deployment	deployment	NOUN
ajst-32387	82	21	.	.	PUNCT
ajst-32387	83	1	yolov5s	yolov5s	PROPN
ajst-32387	83	2	and	and	CCONJ
ajst-32387	83	3	yolov8n	yolov8n	PROPN
ajst-32387	83	4	run	run	VERB
ajst-32387	83	5	smoothly	smoothly	ADV
ajst-32387	83	6	at	at	ADP
ajst-32387	83	7	high	high	ADJ
ajst-32387	83	8	-	-	PUNCT
ajst-32387	83	9	resolution	resolution	NOUN
ajst-32387	83	10	inputs	input	NOUN
ajst-32387	83	11	(	(	PUNCT
ajst-32387	83	12	640×640	640×640	NUM
ajst-32387	83	13	)	)	PUNCT
ajst-32387	83	14	,	,	PUNCT
ajst-32387	83	15	making	make	VERB
ajst-32387	83	16	them	they	PRON
ajst-32387	83	17	suitable	suitable	ADJ
ajst-32387	83	18	for	for	ADP
ajst-32387	83	19	highprecision	highprecision	NOUN
ajst-32387	83	20	cloud	cloud	NOUN
ajst-32387	83	21	inference	inference	NOUN
ajst-32387	83	22	or	or	CCONJ
ajst-32387	83	23	gpu	gpu	NOUN
ajst-32387	83	24	server	server	NOUN
ajst-32387	83	25	deployment	deployment	NOUN
ajst-32387	83	26	.	.	PUNCT
ajst-32387	84	1	from	from	ADP
ajst-32387	84	2	the	the	DET
ajst-32387	84	3	perspective	perspective	NOUN
ajst-32387	84	4	of	of	ADP
ajst-32387	84	5	cholectrack20	cholectrack20	NOUN
ajst-32387	84	6	,	,	PUNCT
ajst-32387	84	7	mobilenetv2	mobilenetv2	PROPN
ajst-32387	84	8	is	be	AUX
ajst-32387	84	9	particularly	particularly	ADV
ajst-32387	84	10	well	well	ADV
ajst-32387	84	11	-	-	PUNCT
ajst-32387	84	12	suited	suited	ADJ
ajst-32387	84	13	:	:	PUNCT
ajst-32387	84	14	it	it	PRON
ajst-32387	84	15	has	have	VERB
ajst-32387	84	16	a	a	DET
ajst-32387	84	17	small	small	ADJ
ajst-32387	84	18	parameter	parameter	NOUN
ajst-32387	84	19	count	count	NOUN
ajst-32387	84	20	(	(	PUNCT
ajst-32387	84	21	3.4	3.4	NUM
ajst-32387	84	22	m	m	NOUN
ajst-32387	84	23	)	)	PUNCT
ajst-32387	84	24	,	,	PUNCT
ajst-32387	84	25	high	high	ADJ
ajst-32387	84	26	inference	inference	NOUN
ajst-32387	84	27	speed	speed	NOUN
ajst-32387	84	28	(	(	PUNCT
ajst-32387	84	29	50–100	50–100	NUM
ajst-32387	84	30	fps	fps	PROPN
ajst-32387	84	31	)	)	PUNCT
ajst-32387	84	32	,	,	PUNCT
ajst-32387	84	33	and	and	CCONJ
ajst-32387	84	34	is	be	AUX
ajst-32387	84	35	ideal	ideal	ADJ
ajst-32387	84	36	for	for	ADP
ajst-32387	84	37	embedded	embed	VERB
ajst-32387	84	38	or	or	CCONJ
ajst-32387	84	39	resourceconstrained	resourceconstraine	VERB
ajst-32387	84	40	deployment	deployment	NOUN
ajst-32387	84	41	.	.	PUNCT
ajst-32387	85	1	given	give	VERB
ajst-32387	85	2	the	the	DET
ajst-32387	85	3	1	1	NUM
ajst-32387	85	4	fps	fps	NOUN
ajst-32387	85	5	annotation	annotation	NOUN
ajst-32387	85	6	of	of	ADP
ajst-32387	85	7	cholectrack20	cholectrack20	NOUN
ajst-32387	85	8	frames	frame	NOUN
ajst-32387	85	9	,	,	PUNCT
ajst-32387	85	10	mobilenetv2	mobilenetv2	PROPN
ajst-32387	85	11	can	can	AUX
ajst-32387	85	12	147	147	NUM
ajst-32387	85	13	support	support	VERB
ajst-32387	85	14	end	end	VERB
ajst-32387	85	15	-	-	PUNCT
ajst-32387	85	16	to	to	ADP
ajst-32387	85	17	-	-	PUNCT
ajst-32387	85	18	end	end	NOUN
ajst-32387	85	19	lightweight	lightweight	ADJ
ajst-32387	85	20	deployment	deployment	NOUN
ajst-32387	85	21	.	.	PUNCT
ajst-32387	86	1	potential	potential	ADJ
ajst-32387	86	2	improvements	improvement	NOUN
ajst-32387	86	3	include	include	VERB
ajst-32387	86	4	integrating	integrate	VERB
ajst-32387	86	5	a	a	DET
ajst-32387	86	6	nas	nas	NOUN
ajst-32387	86	7	-	-	PUNCT
ajst-32387	86	8	fpn	fpn	VERB
ajst-32387	86	9	(	(	PUNCT
ajst-32387	86	10	neural	neural	ADJ
ajst-32387	86	11	architecture	architecture	NOUN
ajst-32387	86	12	search	search	NOUN
ajst-32387	86	13	–	–	PUNCT
ajst-32387	86	14	feature	feature	NOUN
ajst-32387	86	15	pyramid	pyramid	NOUN
ajst-32387	86	16	network	network	NOUN
ajst-32387	86	17	)	)	PUNCT
ajst-32387	86	18	as	as	SCONJ
ajst-32387	86	19	proposed	propose	VERB
ajst-32387	86	20	in	in	ADP
ajst-32387	86	21	,	,	PUNCT
ajst-32387	86	22	which	which	PRON
ajst-32387	86	23	can	can	AUX
ajst-32387	86	24	enhance	enhance	VERB
ajst-32387	86	25	multiscale	multiscale	ADJ
ajst-32387	86	26	feature	feature	NOUN
ajst-32387	86	27	fusion	fusion	NOUN
ajst-32387	86	28	while	while	SCONJ
ajst-32387	86	29	maintaining	maintain	VERB
ajst-32387	86	30	a	a	DET
ajst-32387	86	31	lightweight	lightweight	ADJ
ajst-32387	86	32	design	design	NOUN
ajst-32387	86	33	,	,	PUNCT
ajst-32387	86	34	thereby	thereby	ADV
ajst-32387	86	35	improving	improve	VERB
ajst-32387	86	36	detection	detection	NOUN
ajst-32387	86	37	of	of	ADP
ajst-32387	86	38	small	small	ADJ
ajst-32387	86	39	instruments	instrument	NOUN
ajst-32387	86	40	and	and	CCONJ
ajst-32387	86	41	occluded	occlude	VERB
ajst-32387	86	42	scenarios	scenario	NOUN
ajst-32387	86	43	[	[	X
ajst-32387	86	44	27	27	NUM
ajst-32387	86	45	]	]	PUNCT
ajst-32387	86	46	.	.	PUNCT
ajst-32387	87	1	yolov8n	yolov8n	NOUN
ajst-32387	87	2	supports	support	VERB
ajst-32387	87	3	end	end	NOUN
ajst-32387	87	4	-	-	PUNCT
ajst-32387	87	5	to	to	ADP
ajst-32387	87	6	-	-	PUNCT
ajst-32387	87	7	end	end	NOUN
ajst-32387	87	8	object	object	NOUN
ajst-32387	87	9	detection	detection	NOUN
ajst-32387	87	10	with	with	ADP
ajst-32387	87	11	high	high	ADJ
ajst-32387	87	12	inference	inference	NOUN
ajst-32387	87	13	speed	speed	NOUN
ajst-32387	87	14	and	and	CCONJ
ajst-32387	87	15	pytorch	pytorch	NOUN
ajst-32387	87	16	/	/	SYM
ajst-32387	87	17	tensorrt	tensorrt	NOUN
ajst-32387	87	18	deployment	deployment	NOUN
ajst-32387	87	19	,	,	PUNCT
ajst-32387	87	20	making	make	VERB
ajst-32387	87	21	it	it	PRON
ajst-32387	87	22	suitable	suitable	ADJ
ajst-32387	87	23	for	for	ADP
ajst-32387	87	24	real	real	ADJ
ajst-32387	87	25	-	-	PUNCT
ajst-32387	87	26	time	time	NOUN
ajst-32387	87	27	tracking	tracking	NOUN
ajst-32387	87	28	on	on	ADP
ajst-32387	87	29	high	high	ADJ
ajst-32387	87	30	-	-	PUNCT
ajst-32387	87	31	resolution	resolution	NOUN
ajst-32387	87	32	cholectrack20	cholectrack20	NOUN
ajst-32387	87	33	videos	video	NOUN
ajst-32387	87	34	(	(	PUNCT
ajst-32387	87	35	640×640	640×640	NUM
ajst-32387	87	36	)	)	PUNCT
ajst-32387	87	37	.	.	PUNCT
ajst-32387	88	1	potential	potential	ADJ
ajst-32387	88	2	enhancements	enhancement	NOUN
ajst-32387	88	3	include	include	VERB
ajst-32387	88	4	incorporating	incorporate	VERB
ajst-32387	88	5	selsa	selsa	NOUN
ajst-32387	88	6	(	(	PUNCT
ajst-32387	88	7	sequence	sequence	NOUN
ajst-32387	88	8	-	-	PUNCT
ajst-32387	88	9	level	level	NOUN
ajst-32387	88	10	semantics	semantic	NOUN
ajst-32387	88	11	aggregation	aggregation	NOUN
ajst-32387	88	12	)	)	PUNCT
ajst-32387	88	13	to	to	PART
ajst-32387	88	14	aggregate	aggregate	VERB
ajst-32387	88	15	key	key	ADJ
ajst-32387	88	16	-	-	PUNCT
ajst-32387	88	17	frame	frame	NOUN
ajst-32387	88	18	features	feature	NOUN
ajst-32387	88	19	across	across	ADP
ajst-32387	88	20	sequences	sequence	NOUN
ajst-32387	88	21	,	,	PUNCT
ajst-32387	88	22	improving	improve	VERB
ajst-32387	88	23	robustness	robustness	NOUN
ajst-32387	88	24	under	under	ADP
ajst-32387	88	25	occlusion	occlusion	NOUN
ajst-32387	88	26	and	and	CCONJ
ajst-32387	88	27	deformation	deformation	NOUN
ajst-32387	88	28	while	while	SCONJ
ajst-32387	88	29	maintaining	maintain	VERB
ajst-32387	88	30	tool	tool	NOUN
ajst-32387	88	31	i	i	NOUN
ajst-32387	88	32	d	d	PROPN
ajst-32387	88	33	consistency	consistency	NOUN
ajst-32387	88	34	[	[	X
ajst-32387	88	35	28	28	NUM
ajst-32387	88	36	]	]	PUNCT
ajst-32387	88	37	.	.	PUNCT
ajst-32387	89	1	additionally	additionally	ADV
ajst-32387	89	2	,	,	PUNCT
ajst-32387	89	3	lightweight	lightweight	ADJ
ajst-32387	89	4	data	datum	NOUN
ajst-32387	89	5	augmentation	augmentation	NOUN
ajst-32387	89	6	techniques	technique	NOUN
ajst-32387	89	7	such	such	ADJ
ajst-32387	89	8	as	as	ADP
ajst-32387	89	9	mixup	mixup	NOUN
ajst-32387	89	10	allow	allow	VERB
ajst-32387	89	11	linear	linear	ADJ
ajst-32387	89	12	mixing	mixing	NOUN
ajst-32387	89	13	of	of	ADP
ajst-32387	89	14	samples	sample	NOUN
ajst-32387	89	15	with	with	ADP
ajst-32387	89	16	negligible	negligible	ADJ
ajst-32387	89	17	computational	computational	ADJ
ajst-32387	89	18	overhead	overhead	NOUN
ajst-32387	89	19	,	,	PUNCT
ajst-32387	89	20	enhancing	enhance	VERB
ajst-32387	89	21	generalization	generalization	NOUN
ajst-32387	89	22	and	and	CCONJ
ajst-32387	89	23	robustness	robustness	NOUN
ajst-32387	89	24	to	to	ADP
ajst-32387	89	25	visual	visual	ADJ
ajst-32387	89	26	challenges	challenge	NOUN
ajst-32387	89	27	such	such	ADJ
ajst-32387	89	28	as	as	ADP
ajst-32387	89	29	occlusion	occlusion	NOUN
ajst-32387	89	30	,	,	PUNCT
ajst-32387	89	31	smoke	smoke	NOUN
ajst-32387	89	32	,	,	PUNCT
ajst-32387	89	33	and	and	CCONJ
ajst-32387	89	34	reflections	reflection	NOUN
ajst-32387	89	35	[	[	X
ajst-32387	89	36	29	29	NUM
ajst-32387	89	37	]	]	PUNCT
ajst-32387	89	38	.	.	PUNCT
ajst-32387	90	1	existing	exist	VERB
ajst-32387	90	2	real	real	ADJ
ajst-32387	90	3	-	-	PUNCT
ajst-32387	90	4	time	time	NOUN
ajst-32387	90	5	surgical	surgical	ADJ
ajst-32387	90	6	instrument	instrument	NOUN
ajst-32387	90	7	detection	detection	NOUN
ajst-32387	90	8	work	work	NOUN
ajst-32387	90	9	demonstrates	demonstrate	VERB
ajst-32387	90	10	that	that	SCONJ
ajst-32387	90	11	lightweight	lightweight	ADJ
ajst-32387	90	12	models	model	NOUN
ajst-32387	90	13	combined	combine	VERB
ajst-32387	90	14	with	with	ADP
ajst-32387	90	15	multi	multi	ADJ
ajst-32387	90	16	-	-	ADJ
ajst-32387	90	17	scale	scale	ADJ
ajst-32387	90	18	and	and	CCONJ
ajst-32387	90	19	position	position	NOUN
ajst-32387	90	20	-	-	PUNCT
ajst-32387	90	21	sensitive	sensitive	ADJ
ajst-32387	90	22	modules	module	NOUN
ajst-32387	90	23	can	can	AUX
ajst-32387	90	24	achieve	achieve	VERB
ajst-32387	90	25	practical	practical	ADJ
ajst-32387	90	26	accuracy	accuracy	NOUN
ajst-32387	90	27	while	while	SCONJ
ajst-32387	90	28	maintaining	maintain	VERB
ajst-32387	90	29	real	real	ADJ
ajst-32387	90	30	-	-	PUNCT
ajst-32387	90	31	time	time	NOUN
ajst-32387	90	32	performance	performance	NOUN
ajst-32387	90	33	.	.	PUNCT
ajst-32387	91	1	for	for	ADP
ajst-32387	91	2	example	example	NOUN
ajst-32387	91	3	,	,	PUNCT
ajst-32387	91	4	proposed	propose	VERB
ajst-32387	91	5	an	an	DET
ajst-32387	91	6	anchor	anchor	NOUN
ajst-32387	91	7	-	-	PUNCT
ajst-32387	91	8	free	free	ADJ
ajst-32387	91	9	transformer	transformer	NOUN
ajst-32387	91	10	-	-	PUNCT
ajst-32387	91	11	based	base	VERB
ajst-32387	91	12	architecture	architecture	NOUN
ajst-32387	91	13	for	for	ADP
ajst-32387	91	14	laparoscopic	laparoscopic	NOUN
ajst-32387	91	15	instrument	instrument	NOUN
ajst-32387	91	16	detection	detection	NOUN
ajst-32387	91	17	,	,	PUNCT
ajst-32387	91	18	leveraging	leverage	VERB
ajst-32387	91	19	transformer	transformer	NOUN
ajst-32387	91	20	layers	layer	NOUN
ajst-32387	91	21	,	,	PUNCT
ajst-32387	91	22	multi	multi	ADJ
ajst-32387	91	23	-	-	ADJ
ajst-32387	91	24	scale	scale	ADJ
ajst-32387	91	25	positional	positional	ADJ
ajst-32387	91	26	encoding	encoding	NOUN
ajst-32387	91	27	,	,	PUNCT
ajst-32387	91	28	and	and	CCONJ
ajst-32387	91	29	contrastive	contrastive	ADJ
ajst-32387	91	30	learning	learning	NOUN
ajst-32387	91	31	[	[	X
ajst-32387	91	32	30	30	NUM
ajst-32387	91	33	]	]	PUNCT
ajst-32387	91	34	.	.	PUNCT
ajst-32387	92	1	this	this	DET
ajst-32387	92	2	approach	approach	NOUN
ajst-32387	92	3	achieved	achieve	VERB
ajst-32387	92	4	significant	significant	ADJ
ajst-32387	92	5	improvements	improvement	NOUN
ajst-32387	92	6	:	:	PUNCT
ajst-32387	92	7	map	map	NOUN
ajst-32387	92	8	increased	increase	VERB
ajst-32387	92	9	by	by	ADP
ajst-32387	92	10	~4	~4	ADJ
ajst-32387	92	11	%	%	NOUN
ajst-32387	92	12	with	with	ADP
ajst-32387	92	13	an	an	DET
ajst-32387	92	14	inference	inference	NOUN
ajst-32387	92	15	speed	speed	NOUN
ajst-32387	92	16	gain	gain	NOUN
ajst-32387	92	17	of	of	ADP
ajst-32387	92	18	~113	~113	PROPN
ajst-32387	92	19	%	%	NOUN
ajst-32387	92	20	,	,	PUNCT
ajst-32387	92	21	and	and	CCONJ
ajst-32387	92	22	an	an	DET
ajst-32387	92	23	approximate	approximate	ADJ
ajst-32387	92	24	7	7	NUM
ajst-32387	92	25	%	%	NOUN
ajst-32387	92	26	improvement	improvement	NOUN
ajst-32387	92	27	over	over	ADP
ajst-32387	92	28	baseline	baseline	NOUN
ajst-32387	92	29	models	model	NOUN
ajst-32387	92	30	.	.	PUNCT
ajst-32387	93	1	here	here	ADV
ajst-32387	93	2	,	,	PUNCT
ajst-32387	93	3	map	map	VERB
ajst-32387	93	4	(	(	PUNCT
ajst-32387	93	5	mean	mean	VERB
ajst-32387	93	6	average	average	ADJ
ajst-32387	93	7	precision	precision	NOUN
ajst-32387	93	8	)	)	PUNCT
ajst-32387	93	9	serves	serve	VERB
ajst-32387	93	10	as	as	ADP
ajst-32387	93	11	a	a	DET
ajst-32387	93	12	standard	standard	ADJ
ajst-32387	93	13	metric	metric	NOUN
ajst-32387	93	14	to	to	PART
ajst-32387	93	15	evaluate	evaluate	VERB
ajst-32387	93	16	detection	detection	NOUN
ajst-32387	93	17	accuracy	accuracy	NOUN
ajst-32387	93	18	across	across	ADP
ajst-32387	93	19	multiple	multiple	ADJ
ajst-32387	93	20	categories	category	NOUN
ajst-32387	93	21	,	,	PUNCT
ajst-32387	93	22	with	with	ADP
ajst-32387	93	23	higher	high	ADJ
ajst-32387	93	24	map	map	NOUN
ajst-32387	93	25	values	value	NOUN
ajst-32387	93	26	indicating	indicate	VERB
ajst-32387	93	27	better	well	ADJ
ajst-32387	93	28	overall	overall	ADJ
ajst-32387	93	29	precision	precision	NOUN
ajst-32387	93	30	.	.	PUNCT
ajst-32387	94	1	4	4	X
ajst-32387	94	2	.	.	X
ajst-32387	94	3	discussion	discussion	NOUN
ajst-32387	94	4	and	and	CCONJ
ajst-32387	94	5	future	future	ADJ
ajst-32387	94	6	directions	direction	NOUN
ajst-32387	94	7	4.1	4.1	NUM
ajst-32387	94	8	current	current	ADJ
ajst-32387	94	9	limitations	limitation	NOUN
ajst-32387	94	10	on	on	ADP
ajst-32387	94	11	surgical	surgical	ADJ
ajst-32387	94	12	instrument	instrument	NOUN
ajst-32387	94	13	detection	detection	NOUN
ajst-32387	94	14	and	and	CCONJ
ajst-32387	94	15	tracking	tracking	NOUN
ajst-32387	94	16	datasets	dataset	NOUN
ajst-32387	94	17	such	such	ADJ
ajst-32387	94	18	as	as	ADP
ajst-32387	94	19	cholectrack20	cholectrack20	NOUN
ajst-32387	94	20	,	,	PUNCT
ajst-32387	94	21	which	which	PRON
ajst-32387	94	22	feature	feature	VERB
ajst-32387	94	23	small	small	ADJ
ajst-32387	94	24	-	-	PUNCT
ajst-32387	94	25	scale	scale	NOUN
ajst-32387	94	26	instruments	instrument	NOUN
ajst-32387	94	27	and	and	CCONJ
ajst-32387	94	28	real	real	ADJ
ajst-32387	94	29	intraoperative	intraoperative	ADJ
ajst-32387	94	30	challenges	challenge	NOUN
ajst-32387	94	31	including	include	VERB
ajst-32387	94	32	occlusions	occlusion	NOUN
ajst-32387	94	33	,	,	PUNCT
ajst-32387	94	34	tool	tool	NOUN
ajst-32387	94	35	in	in	ADP
ajst-32387	94	36	/	/	SYM
ajst-32387	94	37	out	out	ADP
ajst-32387	94	38	of	of	ADP
ajst-32387	94	39	frame	frame	NOUN
ajst-32387	94	40	,	,	PUNCT
ajst-32387	94	41	smoke	smoke	NOUN
ajst-32387	94	42	,	,	PUNCT
ajst-32387	94	43	bleeding	bleeding	NOUN
ajst-32387	94	44	,	,	PUNCT
ajst-32387	94	45	and	and	CCONJ
ajst-32387	94	46	high	high	ADJ
ajst-32387	94	47	specular	specular	ADJ
ajst-32387	94	48	reflections	reflection	NOUN
ajst-32387	94	49	,	,	PUNCT
ajst-32387	94	50	lightweight	lightweight	ADJ
ajst-32387	94	51	backbones	backbone	NOUN
ajst-32387	94	52	(	(	PUNCT
ajst-32387	94	53	mobilenetv2	mobilenetv2	PROPN
ajst-32387	94	54	)	)	PUNCT
ajst-32387	94	55	and	and	CCONJ
ajst-32387	94	56	lightweight	lightweight	ADJ
ajst-32387	94	57	detectors	detector	NOUN
ajst-32387	94	58	(	(	PUNCT
ajst-32387	94	59	yolov8n	yolov8n	NOUN
ajst-32387	94	60	)	)	PUNCT
ajst-32387	94	61	are	be	AUX
ajst-32387	94	62	deployment	deployment	NOUN
ajst-32387	94	63	-	-	PUNCT
ajst-32387	94	64	friendly	friendly	ADJ
ajst-32387	94	65	for	for	ADP
ajst-32387	94	66	embedded	embed	VERB
ajst-32387	94	67	systems	system	NOUN
ajst-32387	94	68	but	but	CCONJ
ajst-32387	94	69	face	face	NOUN
ajst-32387	94	70	performance	performance	NOUN
ajst-32387	94	71	bottlenecks	bottleneck	NOUN
ajst-32387	94	72	due	due	ADJ
ajst-32387	94	73	to	to	ADP
ajst-32387	94	74	limited	limited	ADJ
ajst-32387	94	75	model	model	NOUN
ajst-32387	94	76	generalization	generalization	NOUN
ajst-32387	94	77	and	and	CCONJ
ajst-32387	94	78	dataset	dataset	NOUN
ajst-32387	94	79	scale	scale	NOUN
ajst-32387	94	80	,	,	PUNCT
ajst-32387	94	81	particularly	particularly	ADV
ajst-32387	94	82	in	in	ADP
ajst-32387	94	83	smallobject	smallobject	NOUN
ajst-32387	94	84	recall	recall	NOUN
ajst-32387	94	85	,	,	PUNCT
ajst-32387	94	86	i	i	PROPN
ajst-32387	94	87	d	d	PROPN
ajst-32387	94	88	consistency	consistency	NOUN
ajst-32387	94	89	,	,	PUNCT
ajst-32387	94	90	and	and	CCONJ
ajst-32387	94	91	robustness	robustness	NOUN
ajst-32387	94	92	under	under	ADP
ajst-32387	94	93	challenging	challenge	VERB
ajst-32387	94	94	visual	visual	ADJ
ajst-32387	94	95	conditions	condition	NOUN
ajst-32387	94	96	.	.	PUNCT
ajst-32387	95	1	g.	g.	PROPN
ajst-32387	95	2	loza	loza	PROPN
ajst-32387	95	3	reports	report	VERB
ajst-32387	95	4	that	that	SCONJ
ajst-32387	95	5	mobilenetv2	mobilenetv2	PROPN
ajst-32387	95	6	-	-	PUNCT
ajst-32387	95	7	based	base	VERB
ajst-32387	95	8	lightweight	lightweight	ADJ
ajst-32387	95	9	detectors	detector	NOUN
ajst-32387	95	10	(	(	PUNCT
ajst-32387	95	11	mobilenetv2+ssdlite	mobilenetv2+ssdlite	NOUN
ajst-32387	95	12	)	)	PUNCT
ajst-32387	95	13	exhibit	exhibit	VERB
ajst-32387	95	14	insufficient	insufficient	ADJ
ajst-32387	95	15	recall	recall	NOUN
ajst-32387	95	16	and	and	CCONJ
ajst-32387	95	17	localization	localization	NOUN
ajst-32387	95	18	accuracy	accuracy	NOUN
ajst-32387	95	19	for	for	ADP
ajst-32387	95	20	small	small	ADJ
ajst-32387	95	21	objects	object	NOUN
ajst-32387	95	22	[	[	X
ajst-32387	95	23	31	31	NUM
ajst-32387	95	24	]	]	PUNCT
ajst-32387	95	25	.	.	PUNCT
ajst-32387	96	1	mobilenetv2	mobilenetv2	PROPN
ajst-32387	96	2	employs	employ	VERB
ajst-32387	96	3	depthwise	depthwise	NOUN
ajst-32387	96	4	separable	separable	ADJ
ajst-32387	96	5	convolutions	convolution	NOUN
ajst-32387	96	6	and	and	CCONJ
ajst-32387	96	7	inverted	invert	VERB
ajst-32387	96	8	residual	residual	ADJ
ajst-32387	96	9	bottlenecks	bottleneck	NOUN
ajst-32387	96	10	to	to	PART
ajst-32387	96	11	significantly	significantly	ADV
ajst-32387	96	12	reduce	reduce	VERB
ajst-32387	96	13	parameter	parameter	NOUN
ajst-32387	96	14	count	count	NOUN
ajst-32387	96	15	and	and	CCONJ
ajst-32387	96	16	computational	computational	ADJ
ajst-32387	96	17	cost	cost	NOUN
ajst-32387	96	18	,	,	PUNCT
ajst-32387	96	19	but	but	CCONJ
ajst-32387	96	20	this	this	PRON
ajst-32387	96	21	comes	come	VERB
ajst-32387	96	22	at	at	ADP
ajst-32387	96	23	the	the	DET
ajst-32387	96	24	expense	expense	NOUN
ajst-32387	96	25	of	of	ADP
ajst-32387	96	26	feature	feature	NOUN
ajst-32387	96	27	representation	representation	NOUN
ajst-32387	96	28	capacity	capacity	NOUN
ajst-32387	96	29	,	,	PUNCT
ajst-32387	96	30	especially	especially	ADV
ajst-32387	96	31	in	in	ADP
ajst-32387	96	32	abstracting	abstract	VERB
ajst-32387	96	33	high	high	ADJ
ajst-32387	96	34	-	-	PUNCT
ajst-32387	96	35	level	level	NOUN
ajst-32387	96	36	semantic	semantic	ADJ
ajst-32387	96	37	information	information	NOUN
ajst-32387	96	38	.	.	PUNCT
ajst-32387	97	1	under	under	ADP
ajst-32387	97	2	the	the	DET
ajst-32387	97	3	strong	strong	ADJ
ajst-32387	97	4	visual	visual	ADJ
ajst-32387	97	5	noise	noise	NOUN
ajst-32387	97	6	and	and	CCONJ
ajst-32387	97	7	challenging	challenging	ADJ
ajst-32387	97	8	conditions	condition	NOUN
ajst-32387	97	9	annotated	annotate	VERB
ajst-32387	97	10	in	in	ADP
ajst-32387	97	11	the	the	DET
ajst-32387	97	12	cholectrack20	cholectrack20	NOUN
ajst-32387	97	13	dataset	dataset	VERB
ajst-32387	97	14	,	,	PUNCT
ajst-32387	97	15	mobilenetv2	mobilenetv2	PROPN
ajst-32387	97	16	struggles	struggle	VERB
ajst-32387	97	17	to	to	PART
ajst-32387	97	18	maintain	maintain	VERB
ajst-32387	97	19	effective	effective	ADJ
ajst-32387	97	20	feature	feature	NOUN
ajst-32387	97	21	extraction	extraction	NOUN
ajst-32387	97	22	.	.	PUNCT
ajst-32387	98	1	although	although	SCONJ
ajst-32387	98	2	the	the	DET
ajst-32387	98	3	yolo	yolo	ADJ
ajst-32387	98	4	series	series	NOUN
ajst-32387	98	5	(	(	PUNCT
ajst-32387	98	6	including	include	VERB
ajst-32387	98	7	the	the	DET
ajst-32387	98	8	latest	late	ADJ
ajst-32387	98	9	yolov8	yolov8	NOUN
ajst-32387	98	10	)	)	PUNCT
ajst-32387	98	11	demonstrates	demonstrate	VERB
ajst-32387	98	12	strong	strong	ADJ
ajst-32387	98	13	performance	performance	NOUN
ajst-32387	98	14	in	in	ADP
ajst-32387	98	15	many	many	ADJ
ajst-32387	98	16	medical	medical	ADJ
ajst-32387	98	17	imaging	imaging	NOUN
ajst-32387	98	18	and	and	CCONJ
ajst-32387	98	19	endoscopic	endoscopic	ADJ
ajst-32387	98	20	applications	application	NOUN
ajst-32387	98	21	,	,	PUNCT
ajst-32387	98	22	notes	note	VERB
ajst-32387	98	23	that	that	SCONJ
ajst-32387	98	24	narrow	narrow	ADJ
ajst-32387	98	25	training	training	NOUN
ajst-32387	98	26	data	datum	NOUN
ajst-32387	98	27	distribution	distribution	NOUN
ajst-32387	98	28	and	and	CCONJ
ajst-32387	98	29	single	single	ADJ
ajst-32387	98	30	-	-	PUNCT
ajst-32387	98	31	device	device	NOUN
ajst-32387	98	32	acquisition	acquisition	NOUN
ajst-32387	98	33	can	can	AUX
ajst-32387	98	34	substantially	substantially	ADV
ajst-32387	98	35	limit	limit	VERB
ajst-32387	98	36	generalization	generalization	NOUN
ajst-32387	98	37	to	to	ADP
ajst-32387	98	38	other	other	ADJ
ajst-32387	98	39	clinical	clinical	ADJ
ajst-32387	98	40	environments	environment	NOUN
ajst-32387	98	41	—	—	PUNCT
ajst-32387	98	42	a	a	DET
ajst-32387	98	43	limitation	limitation	NOUN
ajst-32387	98	44	frequently	frequently	ADV
ajst-32387	98	45	reported	report	VERB
ajst-32387	98	46	in	in	ADP
ajst-32387	98	47	validation	validation	NOUN
ajst-32387	98	48	studies	study	NOUN
ajst-32387	98	49	[	[	X
ajst-32387	98	50	32	32	NUM
ajst-32387	98	51	]	]	PUNCT
ajst-32387	98	52	.	.	PUNCT
ajst-32387	99	1	while	while	SCONJ
ajst-32387	99	2	yolov8n	yolov8n	NOUN
ajst-32387	99	3	benefits	benefit	VERB
ajst-32387	99	4	from	from	ADP
ajst-32387	99	5	transfer	transfer	NOUN
ajst-32387	99	6	learning	learning	NOUN
ajst-32387	99	7	and	and	CCONJ
ajst-32387	99	8	pretraining	pretraine	VERB
ajst-32387	99	9	,	,	PUNCT
ajst-32387	99	10	its	its	PRON
ajst-32387	99	11	performance	performance	NOUN
ajst-32387	99	12	is	be	AUX
ajst-32387	99	13	constrained	constrain	VERB
ajst-32387	99	14	in	in	ADP
ajst-32387	99	15	real	real	ADJ
ajst-32387	99	16	surgical	surgical	ADJ
ajst-32387	99	17	videos	video	NOUN
ajst-32387	99	18	,	,	PUNCT
ajst-32387	99	19	which	which	PRON
ajst-32387	99	20	are	be	AUX
ajst-32387	99	21	highly	highly	ADV
ajst-32387	99	22	heterogeneous	heterogeneous	ADJ
ajst-32387	99	23	and	and	CCONJ
ajst-32387	99	24	lack	lack	VERB
ajst-32387	99	25	large	large	ADJ
ajst-32387	99	26	-	-	PUNCT
ajst-32387	99	27	scale	scale	NOUN
ajst-32387	99	28	annotated	annotate	VERB
ajst-32387	99	29	datasets	dataset	NOUN
ajst-32387	99	30	,	,	PUNCT
ajst-32387	99	31	further	further	ADJ
ajst-32387	99	32	highlights	highlight	NOUN
ajst-32387	99	33	that	that	PRON
ajst-32387	99	34	data	data	VERB
ajst-32387	99	35	collection	collection	NOUN
ajst-32387	99	36	and	and	CCONJ
ajst-32387	99	37	annotation	annotation	NOUN
ajst-32387	99	38	for	for	ADP
ajst-32387	99	39	real	real	ADJ
ajst-32387	99	40	surgical	surgical	ADJ
ajst-32387	99	41	instrument	instrument	NOUN
ajst-32387	99	42	images	image	NOUN
ajst-32387	99	43	are	be	AUX
ajst-32387	99	44	costly	costly	ADJ
ajst-32387	99	45	,	,	PUNCT
ajst-32387	99	46	and	and	CCONJ
ajst-32387	99	47	privacy	privacy	NOUN
ajst-32387	99	48	considerations	consideration	NOUN
ajst-32387	99	49	as	as	ADV
ajst-32387	99	50	well	well	ADV
ajst-32387	99	51	as	as	ADP
ajst-32387	99	52	complex	complex	ADJ
ajst-32387	99	53	intraoperative	intraoperative	ADJ
ajst-32387	99	54	scenes	scene	NOUN
ajst-32387	99	55	restrict	restrict	VERB
ajst-32387	99	56	dataset	dataset	NOUN
ajst-32387	99	57	scale	scale	NOUN
ajst-32387	99	58	and	and	CCONJ
ajst-32387	99	59	diversity	diversity	NOUN
ajst-32387	99	60	,	,	PUNCT
ajst-32387	99	61	thereby	thereby	ADV
ajst-32387	99	62	limiting	limit	VERB
ajst-32387	99	63	model	model	NOUN
ajst-32387	99	64	generalization	generalization	NOUN
ajst-32387	99	65	[	[	X
ajst-32387	99	66	33	33	NUM
ajst-32387	99	67	]	]	PUNCT
ajst-32387	99	68	.	.	PUNCT
ajst-32387	100	1	4.2	4.2	NUM
ajst-32387	100	2	future	future	ADJ
ajst-32387	100	3	research	research	NOUN
ajst-32387	100	4	directions	direction	NOUN
ajst-32387	100	5	lightweight	lightweight	ADJ
ajst-32387	100	6	backbones	backbone	NOUN
ajst-32387	100	7	,	,	PUNCT
ajst-32387	100	8	such	such	ADJ
ajst-32387	100	9	as	as	ADP
ajst-32387	100	10	mobilenetv2	mobilenetv2	PROPN
ajst-32387	100	11	,	,	PUNCT
ajst-32387	100	12	offer	offer	VERB
ajst-32387	100	13	inherent	inherent	ADJ
ajst-32387	100	14	advantages	advantage	NOUN
ajst-32387	100	15	for	for	ADP
ajst-32387	100	16	edge	edge	NOUN
ajst-32387	100	17	deployment	deployment	NOUN
ajst-32387	100	18	but	but	CCONJ
ajst-32387	100	19	lag	lag	VERB
ajst-32387	100	20	behind	behind	ADP
ajst-32387	100	21	large	large	ADJ
ajst-32387	100	22	transformeror	transformeror	PROPN
ajst-32387	100	23	cnn	cnn	PROPN
ajst-32387	100	24	-	-	PUNCT
ajst-32387	100	25	based	base	VERB
ajst-32387	100	26	architectures	architecture	NOUN
ajst-32387	100	27	in	in	ADP
ajst-32387	100	28	feature	feature	NOUN
ajst-32387	100	29	representation	representation	NOUN
ajst-32387	100	30	and	and	CCONJ
ajst-32387	100	31	small	small	ADJ
ajst-32387	100	32	-	-	PUNCT
ajst-32387	100	33	object	object	NOUN
ajst-32387	100	34	detection	detection	NOUN
ajst-32387	100	35	.	.	PUNCT
ajst-32387	101	1	two	two	NUM
ajst-32387	101	2	complementary	complementary	ADJ
ajst-32387	101	3	strategies	strategy	NOUN
ajst-32387	101	4	can	can	AUX
ajst-32387	101	5	be	be	AUX
ajst-32387	101	6	pursued	pursue	VERB
ajst-32387	101	7	to	to	PART
ajst-32387	101	8	address	address	VERB
ajst-32387	101	9	this	this	DET
ajst-32387	101	10	gap	gap	NOUN
ajst-32387	101	11	:	:	PUNCT
ajst-32387	101	12	first	first	ADV
ajst-32387	101	13	,	,	PUNCT
ajst-32387	101	14	designing	design	VERB
ajst-32387	101	15	148	148	NUM
ajst-32387	101	16	“	"	PUNCT
ajst-32387	101	17	lightweight	lightweight	ADJ
ajst-32387	101	18	vit	vit	NOUN
ajst-32387	101	19	/	/	SYM
ajst-32387	101	20	hybrid	hybrid	ADJ
ajst-32387	101	21	cnn	cnn	PROPN
ajst-32387	101	22	–	–	PUNCT
ajst-32387	101	23	vit	vit	NOUN
ajst-32387	101	24	”	"	PUNCT
ajst-32387	101	25	architectures	architecture	NOUN
ajst-32387	101	26	as	as	SCONJ
ajst-32387	101	27	suggested	suggest	VERB
ajst-32387	101	28	in	in	ADP
ajst-32387	101	29	to	to	PART
ajst-32387	101	30	enhance	enhance	VERB
ajst-32387	101	31	global	global	ADJ
ajst-32387	101	32	context	context	NOUN
ajst-32387	101	33	modeling	modeling	NOUN
ajst-32387	101	34	[	[	X
ajst-32387	101	35	34	34	NUM
ajst-32387	101	36	]	]	PUNCT
ajst-32387	101	37	.	.	PUNCT
ajst-32387	102	1	the	the	DET
ajst-32387	102	2	second	second	NOUN
ajst-32387	102	3	focuses	focus	VERB
ajst-32387	102	4	on	on	ADP
ajst-32387	102	5	applying	apply	VERB
ajst-32387	102	6	knowledge	knowledge	NOUN
ajst-32387	102	7	distillation	distillation	NOUN
ajst-32387	102	8	(	(	PUNCT
ajst-32387	102	9	kd	kd	PROPN
ajst-32387	102	10	)	)	PUNCT
ajst-32387	102	11	as	as	SCONJ
ajst-32387	102	12	described	describe	VERB
ajst-32387	102	13	in	in	ADP
ajst-32387	102	14	to	to	PART
ajst-32387	102	15	transfer	transfer	VERB
ajst-32387	102	16	knowledge	knowledge	NOUN
ajst-32387	102	17	from	from	ADP
ajst-32387	102	18	a	a	DET
ajst-32387	102	19	large	large	ADJ
ajst-32387	102	20	,	,	PUNCT
ajst-32387	102	21	high	high	ADJ
ajst-32387	102	22	-	-	PUNCT
ajst-32387	102	23	capacity	capacity	NOUN
ajst-32387	102	24	teacher	teacher	NOUN
ajst-32387	102	25	model	model	NOUN
ajst-32387	102	26	(	(	PUNCT
ajst-32387	102	27	a	a	DET
ajst-32387	102	28	large	large	ADJ
ajst-32387	102	29	vit	vit	NOUN
ajst-32387	102	30	or	or	CCONJ
ajst-32387	102	31	strong	strong	ADJ
ajst-32387	102	32	detector	detector	NOUN
ajst-32387	102	33	)	)	PUNCT
ajst-32387	102	34	to	to	ADP
ajst-32387	102	35	a	a	DET
ajst-32387	102	36	smaller	small	ADJ
ajst-32387	102	37	student	student	NOUN
ajst-32387	102	38	model	model	NOUN
ajst-32387	102	39	,	,	PUNCT
ajst-32387	102	40	thereby	thereby	ADV
ajst-32387	102	41	significantly	significantly	ADV
ajst-32387	102	42	improving	improve	VERB
ajst-32387	102	43	performance	performance	NOUN
ajst-32387	102	44	while	while	SCONJ
ajst-32387	102	45	maintaining	maintain	VERB
ajst-32387	102	46	low	low	ADJ
ajst-32387	102	47	computational	computational	ADJ
ajst-32387	102	48	cost	cost	NOUN
ajst-32387	102	49	[	[	X
ajst-32387	102	50	35	35	NUM
ajst-32387	102	51	]	]	PUNCT
ajst-32387	102	52	.	.	PUNCT
ajst-32387	103	1	real	real	ADJ
ajst-32387	103	2	surgical	surgical	ADJ
ajst-32387	103	3	environments	environment	NOUN
ajst-32387	103	4	often	often	ADV
ajst-32387	103	5	include	include	VERB
ajst-32387	103	6	occlusions	occlusion	NOUN
ajst-32387	103	7	,	,	PUNCT
ajst-32387	103	8	smoke	smoke	NOUN
ajst-32387	103	9	,	,	PUNCT
ajst-32387	103	10	and	and	CCONJ
ajst-32387	103	11	fluid	fluid	ADJ
ajst-32387	103	12	disturbances	disturbance	NOUN
ajst-32387	103	13	,	,	PUNCT
ajst-32387	103	14	which	which	PRON
ajst-32387	103	15	can	can	AUX
ajst-32387	103	16	degrade	degrade	VERB
ajst-32387	103	17	the	the	DET
ajst-32387	103	18	reliability	reliability	NOUN
ajst-32387	103	19	of	of	ADP
ajst-32387	103	20	purely	purely	ADV
ajst-32387	103	21	vision	vision	NOUN
ajst-32387	103	22	-	-	PUNCT
ajst-32387	103	23	based	base	VERB
ajst-32387	103	24	methods	method	NOUN
ajst-32387	103	25	.	.	PUNCT
ajst-32387	104	1	in	in	ADP
ajst-32387	104	2	robotic	robotic	ADJ
ajst-32387	104	3	-	-	PUNCT
ajst-32387	104	4	assisted	assist	VERB
ajst-32387	104	5	surgery	surgery	NOUN
ajst-32387	104	6	,	,	PUNCT
ajst-32387	104	7	multi	multi	ADJ
ajst-32387	104	8	-	-	ADJ
ajst-32387	104	9	modal	modal	ADJ
ajst-32387	104	10	tactile	tactile	ADJ
ajst-32387	104	11	feedback	feedback	NOUN
ajst-32387	104	12	systems	system	NOUN
ajst-32387	104	13	can	can	AUX
ajst-32387	104	14	provide	provide	VERB
ajst-32387	104	15	effective	effective	ADJ
ajst-32387	104	16	solutions	solution	NOUN
ajst-32387	104	17	[	[	X
ajst-32387	104	18	36	36	NUM
ajst-32387	104	19	]	]	PUNCT
ajst-32387	104	20	.	.	PUNCT
ajst-32387	105	1	for	for	ADP
ajst-32387	105	2	example	example	NOUN
ajst-32387	105	3	,	,	PUNCT
ajst-32387	105	4	integrating	integrate	VERB
ajst-32387	105	5	tactile	tactile	ADJ
ajst-32387	105	6	sensors	sensor	NOUN
ajst-32387	105	7	into	into	ADP
ajst-32387	105	8	robotic	robotic	ADJ
ajst-32387	105	9	manipulators	manipulator	NOUN
ajst-32387	105	10	and	and	CCONJ
ajst-32387	105	11	fusing	fuse	VERB
ajst-32387	105	12	visual	visual	ADJ
ajst-32387	105	13	,	,	PUNCT
ajst-32387	105	14	tactile	tactile	ADJ
ajst-32387	105	15	,	,	PUNCT
ajst-32387	105	16	and	and	CCONJ
ajst-32387	105	17	force	force	NOUN
ajst-32387	105	18	information	information	NOUN
ajst-32387	105	19	can	can	AUX
ajst-32387	105	20	provide	provide	VERB
ajst-32387	105	21	complementary	complementary	ADJ
ajst-32387	105	22	cues	cue	NOUN
ajst-32387	105	23	for	for	ADP
ajst-32387	105	24	instrument	instrument	NOUN
ajst-32387	105	25	recognition	recognition	NOUN
ajst-32387	105	26	,	,	PUNCT
ajst-32387	105	27	contact	contact	NOUN
ajst-32387	105	28	detection	detection	NOUN
ajst-32387	105	29	,	,	PUNCT
ajst-32387	105	30	and	and	CCONJ
ajst-32387	105	31	fine	fine	ADJ
ajst-32387	105	32	-	-	PUNCT
ajst-32387	105	33	motion	motion	NOUN
ajst-32387	105	34	estimation	estimation	NOUN
ajst-32387	105	35	(	(	PUNCT
ajst-32387	105	36	sudden	sudden	ADJ
ajst-32387	105	37	force	force	NOUN
ajst-32387	105	38	changes	change	NOUN
ajst-32387	105	39	signaling	signal	VERB
ajst-32387	105	40	grasp	grasp	NOUN
ajst-32387	105	41	/	/	SYM
ajst-32387	105	42	release	release	NOUN
ajst-32387	105	43	events	event	NOUN
ajst-32387	105	44	)	)	PUNCT
ajst-32387	105	45	,	,	PUNCT
ajst-32387	105	46	improving	improve	VERB
ajst-32387	105	47	detection	detection	NOUN
ajst-32387	105	48	and	and	CCONJ
ajst-32387	105	49	tracking	track	VERB
ajst-32387	105	50	stability	stability	NOUN
ajst-32387	105	51	under	under	ADP
ajst-32387	105	52	occlusion	occlusion	NOUN
ajst-32387	105	53	or	or	CCONJ
ajst-32387	105	54	degraded	degraded	ADJ
ajst-32387	105	55	visual	visual	ADJ
ajst-32387	105	56	conditions	condition	NOUN
ajst-32387	105	57	.	.	PUNCT
ajst-32387	106	1	clinical	clinical	ADJ
ajst-32387	106	2	deployment	deployment	NOUN
ajst-32387	106	3	requires	require	VERB
ajst-32387	106	4	ai	ai	VERB
ajst-32387	106	5	systems	system	NOUN
ajst-32387	106	6	to	to	PART
ajst-32387	106	7	be	be	AUX
ajst-32387	106	8	not	not	PART
ajst-32387	106	9	only	only	ADV
ajst-32387	106	10	accurate	accurate	ADJ
ajst-32387	106	11	but	but	CCONJ
ajst-32387	106	12	also	also	ADV
ajst-32387	106	13	interpretable	interpretable	ADJ
ajst-32387	106	14	,	,	PUNCT
ajst-32387	106	15	verifiable	verifiable	ADJ
ajst-32387	106	16	,	,	PUNCT
ajst-32387	106	17	and	and	CCONJ
ajst-32387	106	18	compliant	compliant	ADJ
ajst-32387	106	19	with	with	ADP
ajst-32387	106	20	regulatory	regulatory	ADJ
ajst-32387	106	21	and	and	CCONJ
ajst-32387	106	22	safety	safety	NOUN
ajst-32387	106	23	standards	standard	NOUN
ajst-32387	106	24	,	,	PUNCT
ajst-32387	106	25	as	as	SCONJ
ajst-32387	106	26	noted	note	VERB
ajst-32387	106	27	in	in	ADP
ajst-32387	106	28	[	[	X
ajst-32387	106	29	37	37	NUM
ajst-32387	106	30	]	]	PUNCT
ajst-32387	106	31	.	.	PUNCT
ajst-32387	107	1	future	future	ADJ
ajst-32387	107	2	research	research	NOUN
ajst-32387	107	3	should	should	AUX
ajst-32387	107	4	integrate	integrate	VERB
ajst-32387	107	5	explainable	explainable	ADJ
ajst-32387	107	6	ai	ai	NOUN
ajst-32387	107	7	(	(	PUNCT
ajst-32387	107	8	xai	xai	PROPN
ajst-32387	107	9	)	)	PUNCT
ajst-32387	107	10	techniques	technique	NOUN
ajst-32387	107	11	,	,	PUNCT
ajst-32387	107	12	such	such	ADJ
ajst-32387	107	13	as	as	ADP
ajst-32387	107	14	saliency	saliency	NOUN
ajst-32387	107	15	visualization	visualization	NOUN
ajst-32387	107	16	,	,	PUNCT
ajst-32387	107	17	feature	feature	NOUN
ajst-32387	107	18	attribution	attribution	NOUN
ajst-32387	107	19	,	,	PUNCT
ajst-32387	107	20	and	and	CCONJ
ajst-32387	107	21	model	model	NOUN
ajst-32387	107	22	confidence	confidence	NOUN
ajst-32387	107	23	/	/	SYM
ajst-32387	107	24	uncertainty	uncertainty	NOUN
ajst-32387	107	25	quantification	quantification	NOUN
ajst-32387	107	26	,	,	PUNCT
ajst-32387	107	27	with	with	ADP
ajst-32387	107	28	system	system	NOUN
ajst-32387	107	29	-	-	PUNCT
ajst-32387	107	30	level	level	NOUN
ajst-32387	107	31	safety	safety	NOUN
ajst-32387	107	32	mechanisms	mechanism	NOUN
ajst-32387	107	33	,	,	PUNCT
ajst-32387	107	34	including	include	VERB
ajst-32387	107	35	anomaly	anomaly	NOUN
ajst-32387	107	36	detection	detection	NOUN
ajst-32387	107	37	,	,	PUNCT
ajst-32387	107	38	failure	failure	NOUN
ajst-32387	107	39	recovery	recovery	NOUN
ajst-32387	107	40	strategies	strategy	NOUN
ajst-32387	107	41	,	,	PUNCT
ajst-32387	107	42	and	and	CCONJ
ajst-32387	107	43	deterministic	deterministic	ADJ
ajst-32387	107	44	latency	latency	NOUN
ajst-32387	107	45	guarantees	guarantee	VERB
ajst-32387	107	46	[	[	X
ajst-32387	107	47	38	38	NUM
ajst-32387	107	48	]	]	PUNCT
ajst-32387	107	49	.	.	PUNCT
ajst-32387	108	1	research	research	NOUN
ajst-32387	108	2	directions	direction	NOUN
ajst-32387	108	3	include	include	VERB
ajst-32387	108	4	local	local	ADJ
ajst-32387	108	5	interpretability	interpretability	NOUN
ajst-32387	108	6	(	(	PUNCT
ajst-32387	108	7	frame	frame	NOUN
ajst-32387	108	8	-	-	PUNCT
ajst-32387	108	9	level	level	NOUN
ajst-32387	108	10	heatmaps	heatmap	NOUN
ajst-32387	108	11	,	,	PUNCT
ajst-32387	108	12	keypoint	keypoint	NOUN
ajst-32387	108	13	contribution	contribution	NOUN
ajst-32387	108	14	)	)	PUNCT
ajst-32387	108	15	,	,	PUNCT
ajst-32387	108	16	temporal	temporal	ADJ
ajst-32387	108	17	consistency	consistency	NOUN
ajst-32387	108	18	explanation	explanation	NOUN
ajst-32387	108	19	(	(	PUNCT
ajst-32387	108	20	why	why	SCONJ
ajst-32387	108	21	an	an	DET
ajst-32387	108	22	instrument	instrument	NOUN
ajst-32387	108	23	i	i	PROPN
ajst-32387	108	24	d	d	PROPN
ajst-32387	108	25	is	be	AUX
ajst-32387	108	26	lost	lose	VERB
ajst-32387	108	27	at	at	ADP
ajst-32387	108	28	a	a	DET
ajst-32387	108	29	specific	specific	ADJ
ajst-32387	108	30	time	time	NOUN
ajst-32387	108	31	)	)	PUNCT
ajst-32387	108	32	,	,	PUNCT
ajst-32387	108	33	and	and	CCONJ
ajst-32387	108	34	regulatory	regulatory	ADJ
ajst-32387	108	35	-	-	PUNCT
ajst-32387	108	36	oriented	orient	VERB
ajst-32387	108	37	approaches	approach	NOUN
ajst-32387	108	38	(	(	PUNCT
ajst-32387	108	39	clinical	clinical	ADJ
ajst-32387	108	40	validation	validation	NOUN
ajst-32387	108	41	,	,	PUNCT
ajst-32387	108	42	risk	risk	NOUN
ajst-32387	108	43	assessment	assessment	NOUN
ajst-32387	108	44	,	,	PUNCT
ajst-32387	108	45	user	user	NOUN
ajst-32387	108	46	-	-	PUNCT
ajst-32387	108	47	readable	readable	ADJ
ajst-32387	108	48	reports	report	NOUN
ajst-32387	108	49	)	)	PUNCT
ajst-32387	108	50	.	.	PUNCT
ajst-32387	109	1	methodologically	methodologically	ADV
ajst-32387	109	2	,	,	PUNCT
ajst-32387	109	3	combining	combine	VERB
ajst-32387	109	4	uncertainty	uncertainty	NOUN
ajst-32387	109	5	estimation	estimation	NOUN
ajst-32387	109	6	(	(	PUNCT
ajst-32387	109	7	temperature	temperature	NOUN
ajst-32387	109	8	scaling	scaling	NOUN
ajst-32387	109	9	,	,	PUNCT
ajst-32387	109	10	bayesian	bayesian	NOUN
ajst-32387	109	11	approximation	approximation	NOUN
ajst-32387	109	12	)	)	PUNCT
ajst-32387	109	13	with	with	ADP
ajst-32387	109	14	xai	xai	PROPN
ajst-32387	109	15	can	can	AUX
ajst-32387	109	16	enhance	enhance	VERB
ajst-32387	109	17	clinical	clinical	ADJ
ajst-32387	109	18	acceptability	acceptability	NOUN
ajst-32387	109	19	and	and	CCONJ
ajst-32387	109	20	facilitate	facilitate	VERB
ajst-32387	109	21	regulatory	regulatory	ADJ
ajst-32387	109	22	review	review	NOUN
ajst-32387	109	23	.	.	PUNCT
ajst-32387	110	1	5	5	X
ajst-32387	110	2	.	.	X
ajst-32387	110	3	conclusion	conclusion	NOUN
ajst-32387	110	4	with	with	ADP
ajst-32387	110	5	the	the	DET
ajst-32387	110	6	rapid	rapid	ADJ
ajst-32387	110	7	evolution	evolution	NOUN
ajst-32387	110	8	of	of	ADP
ajst-32387	110	9	minimally	minimally	ADV
ajst-32387	110	10	invasive	invasive	ADJ
ajst-32387	110	11	and	and	CCONJ
ajst-32387	110	12	robot	robot	NOUN
ajst-32387	110	13	-	-	PUNCT
ajst-32387	110	14	assisted	assist	VERB
ajst-32387	110	15	surgery	surgery	NOUN
ajst-32387	110	16	,	,	PUNCT
ajst-32387	110	17	the	the	DET
ajst-32387	110	18	demand	demand	NOUN
ajst-32387	110	19	for	for	ADP
ajst-32387	110	20	realtime	realtime	NOUN
ajst-32387	110	21	,	,	PUNCT
ajst-32387	110	22	accurate	accurate	ADJ
ajst-32387	110	23	,	,	PUNCT
ajst-32387	110	24	and	and	CCONJ
ajst-32387	110	25	robust	robust	ADJ
ajst-32387	110	26	surgical	surgical	ADJ
ajst-32387	110	27	tool	tool	NOUN
ajst-32387	110	28	detection	detection	NOUN
ajst-32387	110	29	and	and	CCONJ
ajst-32387	110	30	tracking	tracking	NOUN
ajst-32387	110	31	has	have	AUX
ajst-32387	110	32	grown	grow	VERB
ajst-32387	110	33	substantially	substantially	ADV
ajst-32387	110	34	.	.	PUNCT
ajst-32387	111	1	these	these	DET
ajst-32387	111	2	capabilities	capability	NOUN
ajst-32387	111	3	are	be	AUX
ajst-32387	111	4	essential	essential	ADJ
ajst-32387	111	5	for	for	ADP
ajst-32387	111	6	improving	improve	VERB
ajst-32387	111	7	surgical	surgical	ADJ
ajst-32387	111	8	precision	precision	NOUN
ajst-32387	111	9	,	,	PUNCT
ajst-32387	111	10	enhancing	enhance	VERB
ajst-32387	111	11	intraoperative	intraoperative	ADJ
ajst-32387	111	12	navigation	navigation	NOUN
ajst-32387	111	13	,	,	PUNCT
ajst-32387	111	14	and	and	CCONJ
ajst-32387	111	15	supporting	support	VERB
ajst-32387	111	16	advanced	advanced	ADJ
ajst-32387	111	17	functionalities	functionality	NOUN
ajst-32387	111	18	such	such	ADJ
ajst-32387	111	19	as	as	ADP
ajst-32387	111	20	semi	semi	ADJ
ajst-32387	111	21	-	-	ADJ
ajst-32387	111	22	autonomous	autonomous	ADJ
ajst-32387	111	23	assistance	assistance	NOUN
ajst-32387	111	24	and	and	CCONJ
ajst-32387	111	25	decision	decision	NOUN
ajst-32387	111	26	support	support	NOUN
ajst-32387	111	27	in	in	ADP
ajst-32387	111	28	the	the	DET
ajst-32387	111	29	operating	operating	NOUN
ajst-32387	111	30	room	room	NOUN
ajst-32387	111	31	.	.	PUNCT
ajst-32387	112	1	lightweight	lightweight	ADJ
ajst-32387	112	2	deep	deep	ADJ
ajst-32387	112	3	learning	learning	NOUN
ajst-32387	112	4	models	model	NOUN
ajst-32387	112	5	,	,	PUNCT
ajst-32387	112	6	including	include	VERB
ajst-32387	112	7	mobilenetv2	mobilenetv2	PROPN
ajst-32387	112	8	and	and	CCONJ
ajst-32387	112	9	yolov8n	yolov8n	PROPN
ajst-32387	112	10	,	,	PUNCT
ajst-32387	112	11	have	have	AUX
ajst-32387	112	12	demonstrated	demonstrate	VERB
ajst-32387	112	13	considerable	considerable	ADJ
ajst-32387	112	14	promise	promise	NOUN
ajst-32387	112	15	for	for	ADP
ajst-32387	112	16	deployment	deployment	NOUN
ajst-32387	112	17	on	on	ADP
ajst-32387	112	18	resource	resource	NOUN
ajst-32387	112	19	-	-	PUNCT
ajst-32387	112	20	constrained	constrain	VERB
ajst-32387	112	21	or	or	CCONJ
ajst-32387	112	22	embedded	embed	VERB
ajst-32387	112	23	platforms	platform	NOUN
ajst-32387	112	24	.	.	PUNCT
ajst-32387	113	1	when	when	SCONJ
ajst-32387	113	2	evaluated	evaluate	VERB
ajst-32387	113	3	on	on	ADP
ajst-32387	113	4	the	the	DET
ajst-32387	113	5	cholectrack20	cholectrack20	NOUN
ajst-32387	113	6	dataset	dataset	VERB
ajst-32387	113	7	,	,	PUNCT
ajst-32387	113	8	these	these	DET
ajst-32387	113	9	models	model	NOUN
ajst-32387	113	10	achieved	achieve	VERB
ajst-32387	113	11	competitive	competitive	ADJ
ajst-32387	113	12	performance	performance	NOUN
ajst-32387	113	13	delivering	deliver	VERB
ajst-32387	113	14	reliable	reliable	ADJ
ajst-32387	113	15	real	real	ADJ
ajst-32387	113	16	-	-	PUNCT
ajst-32387	113	17	time	time	NOUN
ajst-32387	113	18	detection	detection	NOUN
ajst-32387	113	19	and	and	CCONJ
ajst-32387	113	20	tracking	tracking	NOUN
ajst-32387	113	21	while	while	SCONJ
ajst-32387	113	22	maintaining	maintain	VERB
ajst-32387	113	23	high	high	ADJ
ajst-32387	113	24	inference	inference	NOUN
ajst-32387	113	25	speed	speed	NOUN
ajst-32387	113	26	and	and	CCONJ
ajst-32387	113	27	low	low	ADJ
ajst-32387	113	28	computational	computational	ADJ
ajst-32387	113	29	overhead	overhead	NOUN
ajst-32387	113	30	,	,	PUNCT
ajst-32387	113	31	making	make	VERB
ajst-32387	113	32	them	they	PRON
ajst-32387	113	33	particularly	particularly	ADV
ajst-32387	113	34	well	well	ADV
ajst-32387	113	35	-	-	PUNCT
ajst-32387	113	36	suited	suit	VERB
ajst-32387	113	37	for	for	ADP
ajst-32387	113	38	edge	edge	NOUN
ajst-32387	113	39	computing	computing	NOUN
ajst-32387	113	40	devices	device	NOUN
ajst-32387	113	41	and	and	CCONJ
ajst-32387	113	42	surgical	surgical	ADJ
ajst-32387	113	43	robotic	robotic	ADJ
ajst-32387	113	44	systems	system	NOUN
ajst-32387	113	45	.	.	PUNCT
ajst-32387	114	1	nevertheless	nevertheless	ADV
ajst-32387	114	2	,	,	PUNCT
ajst-32387	114	3	lightweight	lightweight	ADJ
ajst-32387	114	4	models	model	NOUN
ajst-32387	114	5	face	face	VERB
ajst-32387	114	6	inherent	inherent	ADJ
ajst-32387	114	7	challenges	challenge	NOUN
ajst-32387	114	8	in	in	ADP
ajst-32387	114	9	terms	term	NOUN
ajst-32387	114	10	of	of	ADP
ajst-32387	114	11	generalisation	generalisation	NOUN
ajst-32387	114	12	,	,	PUNCT
ajst-32387	114	13	small	small	ADJ
ajst-32387	114	14	-	-	PUNCT
ajst-32387	114	15	object	object	NOUN
ajst-32387	114	16	detection	detection	NOUN
ajst-32387	114	17	,	,	PUNCT
ajst-32387	114	18	and	and	CCONJ
ajst-32387	114	19	robustness	robustness	NOUN
ajst-32387	114	20	under	under	ADP
ajst-32387	114	21	highly	highly	ADV
ajst-32387	114	22	complex	complex	ADJ
ajst-32387	114	23	surgical	surgical	ADJ
ajst-32387	114	24	conditions	condition	NOUN
ajst-32387	114	25	.	.	PUNCT
ajst-32387	115	1	scenarios	scenario	NOUN
ajst-32387	115	2	characterised	characterise	VERB
ajst-32387	115	3	by	by	ADP
ajst-32387	115	4	occlusions	occlusion	NOUN
ajst-32387	115	5	,	,	PUNCT
ajst-32387	115	6	smoke	smoke	NOUN
ajst-32387	115	7	,	,	PUNCT
ajst-32387	115	8	blood	blood	NOUN
ajst-32387	115	9	contamination	contamination	NOUN
ajst-32387	115	10	,	,	PUNCT
ajst-32387	115	11	and	and	CCONJ
ajst-32387	115	12	specular	specular	ADJ
ajst-32387	115	13	reflections	reflection	NOUN
ajst-32387	115	14	can	can	AUX
ajst-32387	115	15	severely	severely	ADV
ajst-32387	115	16	degrade	degrade	VERB
ajst-32387	115	17	visual	visual	ADJ
ajst-32387	115	18	clarity	clarity	NOUN
ajst-32387	115	19	and	and	CCONJ
ajst-32387	115	20	reduce	reduce	VERB
ajst-32387	115	21	detection	detection	NOUN
ajst-32387	115	22	accuracy	accuracy	NOUN
ajst-32387	115	23	.	.	PUNCT
ajst-32387	116	1	to	to	PART
ajst-32387	116	2	mitigate	mitigate	VERB
ajst-32387	116	3	these	these	DET
ajst-32387	116	4	issues	issue	NOUN
ajst-32387	116	5	,	,	PUNCT
ajst-32387	116	6	techniques	technique	NOUN
ajst-32387	116	7	such	such	ADJ
ajst-32387	116	8	as	as	ADP
ajst-32387	116	9	multi	multi	ADJ
ajst-32387	116	10	-	-	NOUN
ajst-32387	116	11	frame	frame	ADJ
ajst-32387	116	12	or	or	CCONJ
ajst-32387	116	13	temporal	temporal	ADJ
ajst-32387	116	14	feature	feature	NOUN
ajst-32387	116	15	aggregation	aggregation	NOUN
ajst-32387	116	16	,	,	PUNCT
ajst-32387	116	17	lightweight	lightweight	ADJ
ajst-32387	116	18	attention	attention	NOUN
ajst-32387	116	19	modules	module	NOUN
ajst-32387	116	20	,	,	PUNCT
ajst-32387	116	21	and	and	CCONJ
ajst-32387	116	22	feature	feature	NOUN
ajst-32387	116	23	pyramid	pyramid	NOUN
ajst-32387	116	24	networks	network	NOUN
ajst-32387	116	25	have	have	AUX
ajst-32387	116	26	shown	show	VERB
ajst-32387	116	27	promise	promise	NOUN
ajst-32387	116	28	in	in	ADP
ajst-32387	116	29	enhancing	enhance	VERB
ajst-32387	116	30	semantic	semantic	ADJ
ajst-32387	116	31	representation	representation	NOUN
ajst-32387	116	32	,	,	PUNCT
ajst-32387	116	33	improving	improve	VERB
ajst-32387	116	34	small	small	ADJ
ajst-32387	116	35	-	-	PUNCT
ajst-32387	116	36	object	object	NOUN
ajst-32387	116	37	detection	detection	NOUN
ajst-32387	116	38	,	,	PUNCT
ajst-32387	116	39	and	and	CCONJ
ajst-32387	116	40	stabilising	stabilise	VERB
ajst-32387	116	41	i	i	PROPN
ajst-32387	116	42	d	d	PROPN
ajst-32387	116	43	consistency	consistency	NOUN
ajst-32387	116	44	across	across	ADP
ajst-32387	116	45	dynamic	dynamic	ADJ
ajst-32387	116	46	and	and	CCONJ
ajst-32387	116	47	visually	visually	ADV
ajst-32387	116	48	challenging	challenge	VERB
ajst-32387	116	49	surgical	surgical	ADJ
ajst-32387	116	50	scenes	scene	NOUN
ajst-32387	116	51	.	.	PUNCT
ajst-32387	117	1	future	future	ADJ
ajst-32387	117	2	research	research	NOUN
ajst-32387	117	3	should	should	AUX
ajst-32387	117	4	also	also	ADV
ajst-32387	117	5	prioritise	prioritise	VERB
ajst-32387	117	6	multimodal	multimodal	ADJ
ajst-32387	117	7	sensing	sensing	NOUN
ajst-32387	117	8	and	and	CCONJ
ajst-32387	117	9	fusion	fusion	NOUN
ajst-32387	117	10	strategies	strategy	NOUN
ajst-32387	117	11	,	,	PUNCT
ajst-32387	117	12	combining	combine	VERB
ajst-32387	117	13	visual	visual	ADJ
ajst-32387	117	14	,	,	PUNCT
ajst-32387	117	15	haptic	haptic	ADJ
ajst-32387	117	16	,	,	PUNCT
ajst-32387	117	17	and	and	CCONJ
ajst-32387	117	18	force	force	VERB
ajst-32387	117	19	feedback	feedback	NOUN
ajst-32387	117	20	data	datum	NOUN
ajst-32387	117	21	to	to	PART
ajst-32387	117	22	provide	provide	VERB
ajst-32387	117	23	richer	rich	ADJ
ajst-32387	117	24	contextual	contextual	ADJ
ajst-32387	117	25	information	information	NOUN
ajst-32387	117	26	and	and	CCONJ
ajst-32387	117	27	enable	enable	VERB
ajst-32387	117	28	fine	fine	ADV
ajst-32387	117	29	-	-	PUNCT
ajst-32387	117	30	grained	grain	VERB
ajst-32387	117	31	motion	motion	NOUN
ajst-32387	117	32	estimation	estimation	NOUN
ajst-32387	117	33	of	of	ADP
ajst-32387	117	34	surgical	surgical	ADJ
ajst-32387	117	35	instruments	instrument	NOUN
ajst-32387	117	36	.	.	PUNCT
ajst-32387	118	1	in	in	ADP
ajst-32387	118	2	addition	addition	NOUN
ajst-32387	118	3	,	,	PUNCT
ajst-32387	118	4	incorporating	incorporate	VERB
ajst-32387	118	5	explainable	explainable	ADJ
ajst-32387	118	6	ai	ai	NOUN
ajst-32387	118	7	techniques	technique	NOUN
ajst-32387	118	8	and	and	CCONJ
ajst-32387	118	9	uncertainty	uncertainty	NOUN
ajst-32387	118	10	quantification	quantification	NOUN
ajst-32387	118	11	is	be	AUX
ajst-32387	118	12	crucial	crucial	ADJ
ajst-32387	118	13	for	for	ADP
ajst-32387	118	14	improving	improve	VERB
ajst-32387	118	15	clinical	clinical	ADJ
ajst-32387	118	16	interpretability	interpretability	NOUN
ajst-32387	118	17	,	,	PUNCT
ajst-32387	118	18	fostering	foster	VERB
ajst-32387	118	19	trust	trust	NOUN
ajst-32387	118	20	among	among	ADP
ajst-32387	118	21	practitioners	practitioner	NOUN
ajst-32387	118	22	,	,	PUNCT
ajst-32387	118	23	and	and	CCONJ
ajst-32387	118	24	ensuring	ensure	VERB
ajst-32387	118	25	compliance	compliance	NOUN
ajst-32387	118	26	with	with	ADP
ajst-32387	118	27	regulatory	regulatory	ADJ
ajst-32387	118	28	and	and	CCONJ
ajst-32387	118	29	safety	safety	NOUN
ajst-32387	118	30	standards	standard	NOUN
ajst-32387	118	31	.	.	PUNCT
ajst-32387	119	1	emerging	emerge	VERB
ajst-32387	119	2	approaches	approach	NOUN
ajst-32387	119	3	such	such	ADJ
ajst-32387	119	4	as	as	ADP
ajst-32387	119	5	knowledge	knowledge	NOUN
ajst-32387	119	6	distillation	distillation	NOUN
ajst-32387	119	7	and	and	CCONJ
ajst-32387	119	8	cnn	cnn	PROPN
ajst-32387	119	9	–	–	PUNCT
ajst-32387	119	10	transformer	transformer	ADJ
ajst-32387	119	11	hybrid	hybrid	ADJ
ajst-32387	119	12	architectures	architecture	NOUN
ajst-32387	119	13	further	far	ADV
ajst-32387	119	14	offer	offer	VERB
ajst-32387	119	15	opportunities	opportunity	NOUN
ajst-32387	119	16	to	to	PART
ajst-32387	119	17	strengthen	strengthen	VERB
ajst-32387	119	18	feature	feature	NOUN
ajst-32387	119	19	expressiveness	expressiveness	NOUN
ajst-32387	119	20	while	while	SCONJ
ajst-32387	119	21	maintaining	maintain	VERB
ajst-32387	119	22	the	the	DET
ajst-32387	119	23	efficiency	efficiency	NOUN
ajst-32387	119	24	and	and	CCONJ
ajst-32387	119	25	deployability	deployability	NOUN
ajst-32387	119	26	of	of	ADP
ajst-32387	119	27	lightweight	lightweight	ADJ
ajst-32387	119	28	frameworks	framework	NOUN
ajst-32387	119	29	.	.	PUNCT
ajst-32387	120	1	in	in	ADP
ajst-32387	120	2	summary	summary	NOUN
ajst-32387	120	3	,	,	PUNCT
ajst-32387	120	4	lightweight	lightweight	ADJ
ajst-32387	120	5	deep	deep	ADJ
ajst-32387	120	6	learning	learning	NOUN
ajst-32387	120	7	models	model	NOUN
ajst-32387	120	8	should	should	AUX
ajst-32387	120	9	not	not	PART
ajst-32387	120	10	be	be	AUX
ajst-32387	120	11	viewed	view	VERB
ajst-32387	120	12	reduced	reduce	VERB
ajst-32387	120	13	alternatives	alternative	NOUN
ajst-32387	120	14	to	to	ADP
ajst-32387	120	15	heavier	heavy	ADJ
ajst-32387	120	16	networks	network	NOUN
ajst-32387	120	17	,	,	PUNCT
ajst-32387	120	18	but	but	CCONJ
ajst-32387	120	19	rather	rather	ADV
ajst-32387	120	20	as	as	ADP
ajst-32387	120	21	a	a	DET
ajst-32387	120	22	strategic	strategic	ADJ
ajst-32387	120	23	cornerstone	cornerstone	NOUN
ajst-32387	120	24	for	for	ADP
ajst-32387	120	25	clinically	clinically	ADV
ajst-32387	120	26	deployable	deployable	ADJ
ajst-32387	120	27	surgical	surgical	ADJ
ajst-32387	120	28	ai	ai	NOUN
ajst-32387	120	29	.	.	PUNCT
ajst-32387	121	1	on	on	ADP
ajst-32387	121	2	149	149	NUM
ajst-32387	121	3	cholectrack20	cholectrack20	NOUN
ajst-32387	121	4	,	,	PUNCT
ajst-32387	121	5	they	they	PRON
ajst-32387	121	6	show	show	VERB
ajst-32387	121	7	how	how	SCONJ
ajst-32387	121	8	compact	compact	ADJ
ajst-32387	121	9	architectures	architecture	NOUN
ajst-32387	121	10	can	can	AUX
ajst-32387	121	11	trade	trade	VERB
ajst-32387	121	12	off	off	ADP
ajst-32387	121	13	speed	speed	NOUN
ajst-32387	121	14	and	and	CCONJ
ajst-32387	121	15	accuracy	accuracy	NOUN
ajst-32387	121	16	,	,	PUNCT
ajst-32387	121	17	providing	provide	VERB
ajst-32387	121	18	viable	viable	ADJ
ajst-32387	121	19	solutions	solution	NOUN
ajst-32387	121	20	for	for	ADP
ajst-32387	121	21	real	real	ADJ
ajst-32387	121	22	-	-	PUNCT
ajst-32387	121	23	time	time	NOUN
ajst-32387	121	24	deployment	deployment	NOUN
ajst-32387	121	25	on	on	ADP
ajst-32387	121	26	embedded	embed	VERB
ajst-32387	121	27	and	and	CCONJ
ajst-32387	121	28	robotic	robotic	ADJ
ajst-32387	121	29	systems	system	NOUN
ajst-32387	121	30	.	.	PUNCT
ajst-32387	122	1	their	their	PRON
ajst-32387	122	2	actual	actual	ADJ
ajst-32387	122	3	value	value	NOUN
ajst-32387	122	4	is	be	AUX
ajst-32387	122	5	in	in	ADP
ajst-32387	122	6	facilitating	facilitate	VERB
ajst-32387	122	7	scalable	scalable	ADJ
ajst-32387	122	8	,	,	PUNCT
ajst-32387	122	9	cost	cost	NOUN
ajst-32387	122	10	-	-	PUNCT
ajst-32387	122	11	effective	effective	ADJ
ajst-32387	122	12	,	,	PUNCT
ajst-32387	122	13	and	and	CCONJ
ajst-32387	122	14	safety	safety	NOUN
ajst-32387	122	15	-	-	PUNCT
ajst-32387	122	16	driven	drive	VERB
ajst-32387	122	17	ai	ai	NOUN
ajst-32387	122	18	systems	system	NOUN
ajst-32387	122	19	with	with	ADP
ajst-32387	122	20	the	the	DET
ajst-32387	122	21	ability	ability	NOUN
ajst-32387	122	22	to	to	PART
ajst-32387	122	23	support	support	VERB
ajst-32387	122	24	a	a	DET
ajst-32387	122	25	variety	variety	NOUN
ajst-32387	122	26	of	of	ADP
ajst-32387	122	27	surgical	surgical	ADJ
ajst-32387	122	28	tasks	task	NOUN
ajst-32387	122	29	in	in	ADP
ajst-32387	122	30	navigation	navigation	NOUN
ajst-32387	122	31	,	,	PUNCT
ajst-32387	122	32	automation	automation	NOUN
ajst-32387	122	33	,	,	PUNCT
ajst-32387	122	34	and	and	CCONJ
ajst-32387	122	35	training	training	NOUN
ajst-32387	122	36	.	.	PUNCT
ajst-32387	123	1	the	the	DET
ajst-32387	123	2	essential	essential	ADJ
ajst-32387	123	3	challenge	challenge	NOUN
ajst-32387	123	4	ahead	ahead	ADV
ajst-32387	123	5	is	be	AUX
ajst-32387	123	6	developing	develop	VERB
ajst-32387	123	7	lightweight	lightweight	ADJ
ajst-32387	123	8	frameworks	framework	NOUN
ajst-32387	123	9	into	into	ADP
ajst-32387	123	10	multimodal	multimodal	NOUN
ajst-32387	123	11	,	,	PUNCT
ajst-32387	123	12	intelligent	intelligent	ADJ
ajst-32387	123	13	perception	perception	NOUN
ajst-32387	123	14	systems	system	NOUN
ajst-32387	123	15	that	that	PRON
ajst-32387	123	16	combine	combine	VERB
ajst-32387	123	17	accuracy	accuracy	NOUN
ajst-32387	123	18	,	,	PUNCT
ajst-32387	123	19	computational	computational	ADJ
ajst-32387	123	20	efficiency	efficiency	NOUN
ajst-32387	123	21	,	,	PUNCT
ajst-32387	123	22	robustness	robustness	NOUN
ajst-32387	123	23	,	,	PUNCT
ajst-32387	123	24	and	and	CCONJ
ajst-32387	123	25	interpretability	interpretability	NOUN
ajst-32387	123	26	.	.	PUNCT
ajst-32387	124	1	striking	strike	VERB
ajst-32387	124	2	this	this	DET
ajst-32387	124	3	balance	balance	NOUN
ajst-32387	124	4	will	will	AUX
ajst-32387	124	5	be	be	AUX
ajst-32387	124	6	imperative	imperative	ADJ
ajst-32387	124	7	for	for	ADP
ajst-32387	124	8	delivering	deliver	VERB
ajst-32387	124	9	autonomous	autonomous	ADJ
ajst-32387	124	10	,	,	PUNCT
ajst-32387	124	11	reliable	reliable	ADJ
ajst-32387	124	12	,	,	PUNCT
ajst-32387	124	13	and	and	CCONJ
ajst-32387	124	14	clinically	clinically	ADV
ajst-32387	124	15	validated	validate	VERB
ajst-32387	124	16	surgical	surgical	ADJ
ajst-32387	124	17	assistance	assistance	NOUN
ajst-32387	124	18	technologies	technology	NOUN
ajst-32387	124	19	in	in	ADP
ajst-32387	124	20	realworld	realworld	PROPN
ajst-32387	124	21	operating	operating	NOUN
ajst-32387	124	22	rooms	room	NOUN
ajst-32387	124	23	.	.	PUNCT
ajst-32387	125	1	6	6	X
ajst-32387	125	2	.	.	NUM
ajst-32387	125	3	references	reference	NOUN
ajst-32387	125	4	[	[	X
ajst-32387	125	5	1	1	NUM
ajst-32387	125	6	]	]	PUNCT
ajst-32387	125	7	abdalla	abdalla	PROPN
ajst-32387	125	8	osman	osman	PROPN
ajst-32387	125	9	,	,	PUNCT
ajst-32387	125	10	e.	e.	PROPN
ajst-32387	125	11	i.	i.	PROPN
ajst-32387	125	12	,	,	PUNCT
ajst-32387	125	13	mubarak	mubarak	PROPN
ajst-32387	125	14	ismail	ismail	PROPN
ajst-32387	125	15	,	,	PUNCT
ajst-32387	125	16	m.	m.	NOUN
ajst-32387	125	17	m.	m.	PROPN
ajst-32387	125	18	e.	e.	PROPN
ajst-32387	125	19	,	,	PUNCT
ajst-32387	125	20	hassan	hassan	PROPN
ajst-32387	125	21	mukhtar	mukhtar	PROPN
ajst-32387	125	22	,	,	PUNCT
ajst-32387	125	23	m.	m.	NOUN
ajst-32387	125	24	a.	a.	PROPN
ajst-32387	125	25	,	,	PUNCT
ajst-32387	125	26	babiker	babiker	PROPN
ajst-32387	125	27	ahmed	ahmed	PROPN
ajst-32387	125	28	,	,	PUNCT
ajst-32387	125	29	a.	a.	PROPN
ajst-32387	125	30	u.	u.	PROPN
ajst-32387	125	31	,	,	PUNCT
ajst-32387	125	32	abd	abd	PROPN
ajst-32387	125	33	elfrag	elfrag	PROPN
ajst-32387	125	34	mohamed	mohamed	PROPN
ajst-32387	125	35	,	,	PUNCT
ajst-32387	125	36	n.	n.	PROPN
ajst-32387	125	37	a.	a.	PROPN
ajst-32387	125	38	,	,	PUNCT
ajst-32387	125	39	&	&	CCONJ
ajst-32387	125	40	alamin	alamin	PROPN
ajst-32387	125	41	ibrahim	ibrahim	PROPN
ajst-32387	125	42	,	,	PUNCT
ajst-32387	125	43	a.	a.	NOUN
ajst-32387	125	44	a.	a.	NOUN
ajst-32387	125	45	cureus	cureus	PROPN
ajst-32387	125	46	,	,	PUNCT
ajst-32387	125	47	17	17	NUM
ajst-32387	125	48	(	(	PUNCT
ajst-32387	125	49	3	3	NUM
ajst-32387	125	50	)	)	PUNCT
ajst-32387	125	51	,	,	PUNCT
ajst-32387	125	52	e81339	e81339	PROPN
ajst-32387	125	53	(	(	PUNCT
ajst-32387	125	54	2025	2025	NUM
ajst-32387	125	55	)	)	PUNCT
ajst-32387	125	56	.	.	PUNCT
ajst-32387	126	1	[	[	X
ajst-32387	126	2	2	2	X
ajst-32387	126	3	]	]	PUNCT
ajst-32387	126	4	s.	s.	PROPN
ajst-32387	126	5	w.	w.	PROPN
ajst-32387	126	6	wong	wong	PROPN
ajst-32387	126	7	and	and	CCONJ
ajst-32387	126	8	p.	p.	PROPN
ajst-32387	126	9	crowe	crowe	PROPN
ajst-32387	126	10	,	,	PUNCT
ajst-32387	126	11	journal	journal	NOUN
ajst-32387	126	12	of	of	ADP
ajst-32387	126	13	robotic	robotic	ADJ
ajst-32387	126	14	surgery	surgery	NOUN
ajst-32387	126	15	17	17	NUM
ajst-32387	126	16	,	,	PUNCT
ajst-32387	126	17	1873	1873	NUM
ajst-32387	126	18	(	(	PUNCT
ajst-32387	126	19	2023	2023	NUM
ajst-32387	126	20	)	)	PUNCT
ajst-32387	126	21	.	.	PUNCT
ajst-32387	127	1	[	[	X
ajst-32387	127	2	3	3	X
ajst-32387	127	3	]	]	X
ajst-32387	127	4	b.	b.	PROPN
ajst-32387	127	5	ghanekar	ghanekar	PROPN
ajst-32387	127	6	,	,	PUNCT
ajst-32387	127	7	l.	l.	PROPN
ajst-32387	127	8	r.	r.	PROPN
ajst-32387	127	9	johnson	johnson	PROPN
ajst-32387	127	10	,	,	PUNCT
ajst-32387	127	11	j.	j.	PROPN
ajst-32387	127	12	l.	l.	PROPN
ajst-32387	127	13	laughlin	laughlin	PROPN
ajst-32387	127	14	,	,	PUNCT
ajst-32387	127	15	m.	m.	PROPN
ajst-32387	127	16	k.	k.	PROPN
ajst-32387	127	17	o’malley	o’malley	PROPN
ajst-32387	127	18	,	,	PUNCT
ajst-32387	127	19	and	and	CCONJ
ajst-32387	127	20	a.	a.	NOUN
ajst-32387	127	21	veeraraghavan	veeraraghavan	PROPN
ajst-32387	127	22	,	,	PUNCT
ajst-32387	127	23	international	international	ADJ
ajst-32387	127	24	symposium	symposium	NOUN
ajst-32387	127	25	on	on	ADP
ajst-32387	127	26	biomedical	biomedical	ADJ
ajst-32387	127	27	imaging	imaging	NOUN
ajst-32387	127	28	(	(	PUNCT
ajst-32387	127	29	isbi	isbi	NOUN
ajst-32387	127	30	)	)	PUNCT
ajst-32387	127	31	(	(	PUNCT
ajst-32387	127	32	pp	pp	X
ajst-32387	127	33	.	.	PUNCT
ajst-32387	128	1	1	1	NUM
ajst-32387	128	2	-	-	SYM
ajst-32387	128	3	5	5	NUM
ajst-32387	128	4	)	)	PUNCT
ajst-32387	128	5	.	.	PUNCT
ajst-32387	129	1	ieee	ieee	PROPN
ajst-32387	129	2	.	.	PUNCT
ajst-32387	130	1	22	22	NUM
ajst-32387	130	2	(	(	PUNCT
ajst-32387	130	3	2025	2025	NUM
ajst-32387	130	4	)	)	PUNCT
ajst-32387	130	5	.	.	PUNCT
ajst-32387	131	1	[	[	X
ajst-32387	131	2	4	4	X
ajst-32387	131	3	]	]	PUNCT
ajst-32387	131	4	w.	w.	PROPN
ajst-32387	131	5	guo	guo	PROPN
ajst-32387	131	6	,	,	PUNCT
ajst-32387	131	7	j.	j.	PROPN
ajst-32387	131	8	wu	wu	PROPN
ajst-32387	131	9	,	,	PUNCT
ajst-32387	131	10	z.	z.	PROPN
ajst-32387	131	11	chen	chen	PROPN
ajst-32387	131	12	,	,	PUNCT
ajst-32387	131	13	q.	q.	PROPN
ajst-32387	131	14	zhao	zhao	PROPN
ajst-32387	131	15	,	,	PUNCT
ajst-32387	131	16	m.	m.	NOUN
ajst-32387	131	17	xu	xu	PROPN
ajst-32387	131	18	,	,	PUNCT
ajst-32387	131	19	z.	z.	PROPN
ajst-32387	131	20	lei	lei	PROPN
ajst-32387	131	21	,	,	PUNCT
ajst-32387	131	22	and	and	CCONJ
ajst-32387	131	23	h.	h.	PROPN
ajst-32387	131	24	liu	liu	PROPN
ajst-32387	131	25	,	,	PUNCT
ajst-32387	131	26	in	in	ADP
ajst-32387	131	27	lecture	lecture	NOUN
ajst-32387	131	28	notes	note	NOUN
ajst-32387	131	29	in	in	ADP
ajst-32387	131	30	computer	computer	NOUN
ajst-32387	131	31	science	science	NOUN
ajst-32387	131	32	(	(	PUNCT
ajst-32387	131	33	2025	2025	NUM
ajst-32387	131	34	)	)	PUNCT
ajst-32387	131	35	,	,	PUNCT
ajst-32387	131	36	pp	pp	ADP
ajst-32387	131	37	.	.	PUNCT
ajst-32387	132	1	168–177	168–177	NUM
ajst-32387	132	2	.	.	PUNCT
ajst-32387	133	1	[	[	X
ajst-32387	133	2	5	5	X
ajst-32387	133	3	]	]	PUNCT
ajst-32387	133	4	j.	j.	PROPN
ajst-32387	133	5	c.	c.	PROPN
ajst-32387	133	6	á	á	PROPN
ajst-32387	133	7	.	.	PUNCT
ajst-32387	134	1	cerón	cerón	PROPN
ajst-32387	134	2	,	,	PUNCT
ajst-32387	134	3	g.	g.	PROPN
ajst-32387	134	4	o.	o.	PROPN
ajst-32387	134	5	ruiz	ruiz	PROPN
ajst-32387	134	6	,	,	PUNCT
ajst-32387	134	7	l.	l.	PROPN
ajst-32387	134	8	chang	chang	PROPN
ajst-32387	134	9	,	,	PUNCT
ajst-32387	134	10	and	and	CCONJ
ajst-32387	134	11	s.	s.	PROPN
ajst-32387	134	12	ali	ali	PROPN
ajst-32387	134	13	,	,	PUNCT
ajst-32387	134	14	medical	medical	ADJ
ajst-32387	134	15	image	image	NOUN
ajst-32387	134	16	analysis	analysis	NOUN
ajst-32387	134	17	81	81	NUM
ajst-32387	134	18	,	,	PUNCT
ajst-32387	134	19	102569	102569	NUM
ajst-32387	134	20	(	(	PUNCT
ajst-32387	134	21	2022	2022	NUM
ajst-32387	134	22	)	)	PUNCT
ajst-32387	134	23	.	.	PUNCT
ajst-32387	135	1	[	[	X
ajst-32387	135	2	6	6	NUM
ajst-32387	135	3	]	]	PUNCT
ajst-32387	135	4	n.	n.	NOUN
ajst-32387	135	5	p.	p.	PROPN
ajst-32387	135	6	p.	p.	NOUN
ajst-32387	135	7	gala	gala	NOUN
ajst-32387	135	8	,	,	PUNCT
ajst-32387	135	9	may	may	AUX
ajst-32387	135	10	2025	2025	NUM
ajst-32387	135	11	international	international	ADJ
ajst-32387	135	12	research	research	NOUN
ajst-32387	135	13	journal	journal	NOUN
ajst-32387	135	14	on	on	ADP
ajst-32387	135	15	advanced	advanced	ADJ
ajst-32387	135	16	engineering	engineering	NOUN
ajst-32387	135	17	and	and	CCONJ
ajst-32387	135	18	management	management	NOUN
ajst-32387	135	19	(	(	PUNCT
ajst-32387	135	20	irjaem	irjaem	PROPN
ajst-32387	135	21	)	)	PUNCT
ajst-32387	135	22	3	3	NUM
ajst-32387	135	23	(	(	PUNCT
ajst-32387	135	24	05	05	NUM
ajst-32387	135	25	):	):	PUNCT
ajst-32387	135	26	1657	1657	NUM
ajst-32387	135	27	-	-	SYM
ajst-32387	135	28	1665	1665	NUM
ajst-32387	135	29	(	(	PUNCT
ajst-32387	135	30	2025	2025	NUM
ajst-32387	135	31	)	)	PUNCT
ajst-32387	135	32	.	.	PUNCT
ajst-32387	136	1	[	[	X
ajst-32387	136	2	7	7	X
ajst-32387	136	3	]	]	X
ajst-32387	136	4	c.	c.	PROPN
ajst-32387	136	5	i.	i.	PROPN
ajst-32387	136	6	nwoye	nwoye	PROPN
ajst-32387	136	7	,	,	PUNCT
ajst-32387	136	8	k.	k.	PROPN
ajst-32387	136	9	elgohary	elgohary	PROPN
ajst-32387	136	10	,	,	PUNCT
ajst-32387	136	11	a.	a.	PROPN
ajst-32387	136	12	srinivas	srinivas	PROPN
ajst-32387	136	13	,	,	PUNCT
ajst-32387	136	14	f.	f.	PROPN
ajst-32387	136	15	zaid	zaid	PROPN
ajst-32387	136	16	,	,	PUNCT
ajst-32387	136	17	j.	j.	PROPN
ajst-32387	136	18	l.	l.	PROPN
ajst-32387	136	19	lavanchy	lavanchy	PROPN
ajst-32387	136	20	,	,	PUNCT
ajst-32387	136	21	and	and	CCONJ
ajst-32387	136	22	n.	n.	NOUN
ajst-32387	136	23	padoy	padoy	NOUN
ajst-32387	136	24	,	,	PUNCT
ajst-32387	136	25	2022	2022	NUM
ajst-32387	136	26	ieee	ieee	NOUN
ajst-32387	136	27	/	/	SYM
ajst-32387	136	28	cvf	cvf	NOUN
ajst-32387	136	29	conference	conference	NOUN
ajst-32387	136	30	on	on	ADP
ajst-32387	136	31	computer	computer	NOUN
ajst-32387	136	32	vision	vision	NOUN
ajst-32387	136	33	and	and	CCONJ
ajst-32387	136	34	pattern	pattern	NOUN
ajst-32387	136	35	recognition	recognition	NOUN
ajst-32387	136	36	(	(	PUNCT
ajst-32387	136	37	cvpr	cvpr	NOUN
ajst-32387	136	38	)	)	PUNCT
ajst-32387	136	39	8942	8942	NUM
ajst-32387	136	40	(	(	PUNCT
ajst-32387	136	41	2025	2025	NUM
ajst-32387	136	42	)	)	PUNCT
ajst-32387	136	43	.	.	PUNCT
ajst-32387	137	1	[	[	X
ajst-32387	137	2	8	8	NUM
ajst-32387	137	3	]	]	X
ajst-32387	137	4	r.	r.	PROPN
ajst-32387	137	5	alrasheed	alrasheed	PROPN
ajst-32387	137	6	,	,	PUNCT
ajst-32387	137	7	o.	o.	PROPN
ajst-32387	137	8	a.	a.	PROPN
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ajst-32387	137	10	,	,	PUNCT
ajst-32387	137	11	m.	m.	NOUN
ajst-32387	137	12	a.	a.	NOUN
ajst-32387	137	13	talib	talib	PROPN
ajst-32387	137	14	and	and	CCONJ
ajst-32387	137	15	m.	m.	NOUN
ajst-32387	137	16	a.	a.	NOUN
ajst-32387	137	17	moufti,2024	moufti,2024	PROPN
ajst-32387	137	18	global	global	ADJ
ajst-32387	137	19	digital	digital	PROPN
ajst-32387	137	20	health	health	PROPN
ajst-32387	137	21	knowledge	knowledge	PROPN
ajst-32387	137	22	exchange	exchange	PROPN
ajst-32387	137	23	&	&	CCONJ
ajst-32387	137	24	empowerment	empowerment	PROPN
ajst-32387	137	25	conference	conference	NOUN
ajst-32387	137	26	(	(	PUNCT
ajst-32387	137	27	gdigihealth.kee	gdigihealth.kee	X
ajst-32387	137	28	)	)	PUNCT
ajst-32387	137	29	,	,	PUNCT
ajst-32387	137	30	pp	pp	ADP
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ajst-32387	138	1	1	1	NUM
ajst-32387	138	2	-	-	SYM
ajst-32387	138	3	7	7	NUM
ajst-32387	138	4	(	(	PUNCT
ajst-32387	138	5	2024	2024	NUM
ajst-32387	138	6	)	)	PUNCT
ajst-32387	138	7	.	.	PUNCT
ajst-32387	139	1	[	[	X
ajst-32387	139	2	9	9	NUM
ajst-32387	139	3	]	]	X
ajst-32387	139	4	h.	h.	PROPN
ajst-32387	139	5	aoki	aoki	PROPN
ajst-32387	139	6	,	,	PUNCT
ajst-32387	139	7	&	&	CCONJ
ajst-32387	139	8	n.	n.	PROPN
ajst-32387	139	9	fujita	fujita	PROPN
ajst-32387	139	10	in	in	ADP
ajst-32387	139	11	seventeenth	seventeenth	ADJ
ajst-32387	139	12	international	international	ADJ
ajst-32387	139	13	conference	conference	NOUN
ajst-32387	139	14	on	on	ADP
ajst-32387	139	15	quality	quality	NOUN
ajst-32387	139	16	control	control	NOUN
ajst-32387	139	17	by	by	ADP
ajst-32387	139	18	artificial	artificial	ADJ
ajst-32387	139	19	vision	vision	NOUN
ajst-32387	139	20	vol	vol	NOUN
ajst-32387	139	21	.	.	PROPN
ajst-32387	139	22	13737	13737	NUM
ajst-32387	139	23	,	,	PUNCT
ajst-32387	139	24	pp	pp	ADP
ajst-32387	139	25	.	.	PUNCT
ajst-32387	140	1	227	227	NUM
ajst-32387	140	2	-	-	SYM
ajst-32387	140	3	234	234	NUM
ajst-32387	140	4	(	(	PUNCT
ajst-32387	140	5	2025	2025	NUM
ajst-32387	140	6	)	)	PUNCT
ajst-32387	140	7	.	.	PUNCT
ajst-32387	141	1	[	[	X
ajst-32387	141	2	10	10	NUM
ajst-32387	141	3	]	]	X
ajst-32387	141	4	a.	a.	PROPN
ajst-32387	141	5	martin	martin	PROPN
ajst-32387	141	6	-	-	PUNCT
ajst-32387	141	7	gomez	gomez	PROPN
ajst-32387	141	8	,	,	PUNCT
ajst-32387	141	9	h.	h.	PROPN
ajst-32387	141	10	li	li	PROPN
ajst-32387	141	11	,	,	PUNCT
ajst-32387	141	12	t.	t.	NOUN
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ajst-32387	141	14	,	,	PUNCT
ajst-32387	141	15	s.	s.	PROPN
ajst-32387	141	16	yang	yang	PROPN
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ajst-32387	141	18	g.	g.	PROPN
ajst-32387	141	19	wang	wang	PROPN
ajst-32387	141	20	,	,	PUNCT
ajst-32387	141	21	h.	h.	PROPN
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ajst-32387	141	23	,	,	PUNCT
ajst-32387	141	24	n.	n.	PROPN
ajst-32387	141	25	navab	navab	PROPN
ajst-32387	141	26	,	,	PUNCT
ajst-32387	141	27	z.	z.	PROPN
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ajst-32387	141	31	m.	m.	PROPN
ajst-32387	141	32	armand	armand	PROPN
ajst-32387	141	33	,	,	PUNCT
ajst-32387	141	34	ieee	ieee	NOUN
ajst-32387	141	35	transactions	transaction	NOUN
ajst-32387	141	36	on	on	ADP
ajst-32387	141	37	visualization	visualization	NOUN
ajst-32387	141	38	and	and	CCONJ
ajst-32387	141	39	computer	computer	NOUN
ajst-32387	141	40	graphics	graphic	NOUN
ajst-32387	141	41	30	30	NUM
ajst-32387	141	42	,	,	PUNCT
ajst-32387	141	43	3578	3578	NUM
ajst-32387	141	44	(	(	PUNCT
ajst-32387	141	45	2023	2023	NUM
ajst-32387	141	46	)	)	PUNCT
ajst-32387	141	47	.	.	PUNCT
ajst-32387	142	1	[	[	X
ajst-32387	142	2	11	11	NUM
ajst-32387	142	3	]	]	PUNCT
ajst-32387	142	4	t.	t.	NOUN
ajst-32387	142	5	allyne	allyne	PROPN
ajst-32387	142	6	,	,	PUNCT
ajst-32387	142	7	md	md	PROPN
ajst-32387	142	8	&	&	CCONJ
ajst-32387	142	9	m.	m.	PROPN
ajst-32387	142	10	luca	luca	PROPN
ajst-32387	142	11	,	,	PUNCT
ajst-32387	142	12	md	md	PROPN
ajst-32387	142	13	,	,	PUNCT
ajst-32387	142	14	a	a	DET
ajst-32387	142	15	sages	sage	NOUN
ajst-32387	142	16	technology	technology	NOUN
ajst-32387	142	17	and	and	CCONJ
ajst-32387	142	18	value	value	NOUN
ajst-32387	142	19	assessment	assessment	NOUN
ajst-32387	142	20	.	.	PUNCT
ajst-32387	143	1	(	(	PUNCT
ajst-32387	143	2	2018	2018	NUM
ajst-32387	143	3	)	)	PUNCT
ajst-32387	143	4	.	.	PUNCT
ajst-32387	144	1	[	[	X
ajst-32387	144	2	12	12	NUM
ajst-32387	144	3	]	]	PUNCT
ajst-32387	144	4	t.	t.	PROPN
ajst-32387	144	5	mostafa	mostafa	PROPN
ajst-32387	144	6	,	,	PUNCT
ajst-32387	144	7	d.p	d.p	PROPN
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ajst-32387	144	9	,	,	PUNCT
ajst-32387	144	10	m.masoud	m.masoud	NOUN
ajst-32387	144	11	,	,	PUNCT
ajst-32387	144	12	nvidia	nvidia	PROPN
ajst-32387	144	13	technical	technical	ADJ
ajst-32387	144	14	blog	blog	NOUN
ajst-32387	144	15	(	(	PUNCT
ajst-32387	144	16	2025	2025	NUM
ajst-32387	144	17	)	)	PUNCT
ajst-32387	144	18	.	.	PUNCT
ajst-32387	145	1	[	[	X
ajst-32387	145	2	13	13	NUM
ajst-32387	145	3	]	]	X
ajst-32387	145	4	v.	v.	PROPN
ajst-32387	145	5	schorp	schorp	PROPN
ajst-32387	145	6	,	,	PUNCT
ajst-32387	145	7	f.	f.	PROPN
ajst-32387	145	8	giraud	giraud	PROPN
ajst-32387	145	9	,	,	PUNCT
ajst-32387	145	10	g.	g.	PROPN
ajst-32387	145	11	pargätzi	pargätzi	PROPN
ajst-32387	145	12	,	,	PUNCT
ajst-32387	145	13	m.	m.	NOUN
ajst-32387	145	14	wäspe	wäspe	PROPN
ajst-32387	145	15	,	,	PUNCT
ajst-32387	145	16	l.	l.	PROPN
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ajst-32387	145	22	m.	m.	NOUN
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ajst-32387	145	28	,	,	PUNCT
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ajst-32387	145	34	bünger	bünger	NOUN
ajst-32387	145	35	,	,	PUNCT
ajst-32387	145	36	d.	d.	PROPN
ajst-32387	145	37	cachin	cachin	PROPN
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ajst-32387	145	39	s.	s.	PROPN
ajst-32387	145	40	caprara	caprara	PROPN
ajst-32387	145	41	,	,	PUNCT
ajst-32387	145	42	p.	p.	NOUN
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ajst-32387	145	44	,	,	PUNCT
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ajst-32387	145	46	f.	f.	PROPN
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ajst-32387	145	52	on	on	ADP
ajst-32387	145	53	medical	medical	ADJ
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ajst-32387	145	55	(	(	PUNCT
ajst-32387	145	56	2025	2025	NUM
ajst-32387	145	57	)	)	PUNCT
ajst-32387	145	58	.	.	PUNCT
ajst-32387	146	1	[	[	X
ajst-32387	146	2	14	14	NUM
ajst-32387	146	3	]	]	PUNCT
ajst-32387	146	4	w.-l	w.-l	PROPN
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ajst-32387	147	1	chuang	chuang	PROPN
ajst-32387	147	2	,	,	PUNCT
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ajst-32387	148	1	yeh	yeh	PROPN
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ajst-32387	148	5	.	.	PUNCT
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ajst-32387	149	5	,	,	PUNCT
ajst-32387	149	6	141	141	NUM
ajst-32387	149	7	(	(	PUNCT
ajst-32387	149	8	2021	2021	NUM
ajst-32387	149	9	)	)	PUNCT
ajst-32387	149	10	.	.	PUNCT
ajst-32387	150	1	[	[	X
ajst-32387	150	2	15	15	NUM
ajst-32387	150	3	]	]	PUNCT
ajst-32387	150	4	anon	anon	PROPN
ajst-32387	150	5	,	,	PUNCT
ajst-32387	150	6	zimmer	zimmer	PROPN
ajst-32387	150	7	biomet	biomet	PROPN
ajst-32387	150	8	:	:	PUNCT
ajst-32387	150	9	warsaw	warsaw	PROPN
ajst-32387	150	10	,	,	PUNCT
ajst-32387	150	11	in	in	ADP
ajst-32387	150	12	,	,	PUNCT
ajst-32387	150	13	usa	usa	PROPN
ajst-32387	150	14	,	,	PUNCT
ajst-32387	150	15	(	(	PUNCT
ajst-32387	150	16	2023	2023	NUM
ajst-32387	150	17	)	)	PUNCT
ajst-32387	150	18	.	.	PUNCT
ajst-32387	151	1	[	[	X
ajst-32387	151	2	16	16	NUM
ajst-32387	151	3	]	]	X
ajst-32387	151	4	g	g	PROPN
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ajst-32387	151	6	,	,	PUNCT
ajst-32387	151	7	p.	p.	PROPN
ajst-32387	151	8	valdastri	valdastri	PROPN
ajst-32387	151	9	,	,	PUNCT
ajst-32387	151	10	s	s	PROPN
ajst-32387	151	11	ali	ali	PROPN
ajst-32387	151	12	healthcare	healthcare	PROPN
ajst-32387	151	13	technology	technology	PROPN
ajst-32387	151	14	letters	letter	NOUN
ajst-32387	151	15	,	,	PUNCT
ajst-32387	151	16	11	11	NUM
ajst-32387	151	17	(	(	PUNCT
ajst-32387	151	18	2	2	NUM
ajst-32387	151	19	-	-	SYM
ajst-32387	151	20	3	3	NUM
ajst-32387	151	21	)	)	PUNCT
ajst-32387	151	22	,	,	PUNCT
ajst-32387	151	23	48	48	NUM
ajst-32387	151	24	-	-	SYM
ajst-32387	151	25	58	58	NUM
ajst-32387	151	26	.	.	PUNCT
ajst-32387	152	1	(	(	PUNCT
ajst-32387	152	2	2024	2024	NUM
ajst-32387	152	3	)	)	PUNCT
ajst-32387	153	1	[	[	X
ajst-32387	153	2	17	17	NUM
ajst-32387	153	3	]	]	PUNCT
ajst-32387	153	4	x.	x.	NOUN
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ajst-32387	153	7	t.	t.	NOUN
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ajst-32387	153	9	,	,	PUNCT
ajst-32387	153	10	p.-l	p.-l	PROPN
ajst-32387	153	11	.	.	PUNCT
ajst-32387	154	1	chang	chang	PROPN
ajst-32387	154	2	,	,	PUNCT
ajst-32387	154	3	m.	m.	PROPN
ajst-32387	154	4	allan	allan	PROPN
ajst-32387	154	5	,	,	PUNCT
ajst-32387	154	6	s.	s.	PROPN
ajst-32387	154	7	ourselin	ourselin	PROPN
ajst-32387	154	8	,	,	PUNCT
ajst-32387	154	9	r.	r.	PROPN
ajst-32387	154	10	sznitman	sznitman	PROPN
ajst-32387	154	11	,	,	PUNCT
ajst-32387	154	12	j.	j.	PROPN
ajst-32387	154	13	d.	d.	PROPN
ajst-32387	154	14	kelly	kelly	PROPN
ajst-32387	154	15	,	,	PUNCT
ajst-32387	154	16	and	and	CCONJ
ajst-32387	154	17	d.	d.	PROPN
ajst-32387	154	18	stoyanov	stoyanov	PROPN
ajst-32387	154	19	,	,	PUNCT
ajst-32387	154	20	ieee	ieee	NOUN
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ajst-32387	154	22	on	on	ADP
ajst-32387	154	23	medical	medical	ADJ
ajst-32387	154	24	imaging	imaging	NOUN
ajst-32387	154	25	37	37	NUM
ajst-32387	154	26	,	,	PUNCT
ajst-32387	154	27	1276	1276	NUM
ajst-32387	154	28	(	(	PUNCT
ajst-32387	154	29	2018	2018	NUM
ajst-32387	154	30	)	)	PUNCT
ajst-32387	154	31	.	.	PUNCT
ajst-32387	155	1	[	[	X
ajst-32387	155	2	18	18	NUM
ajst-32387	155	3	]	]	PUNCT
ajst-32387	155	4	a.	a.	NOUN
ajst-32387	155	5	qayyum	qayyum	PROPN
ajst-32387	155	6	,	,	PUNCT
ajst-32387	155	7	h.	h.	PROPN
ajst-32387	155	8	ali	ali	PROPN
ajst-32387	155	9	,	,	PUNCT
ajst-32387	155	10	m.	m.	PROPN
ajst-32387	155	11	caputo	caputo	PROPN
ajst-32387	155	12	,	,	PUNCT
ajst-32387	155	13	h.	h.	PROPN
ajst-32387	155	14	vohra	vohra	PROPN
ajst-32387	155	15	,	,	PUNCT
ajst-32387	155	16	t.	t.	NOUN
ajst-32387	155	17	akinosho	akinosho	PROPN
ajst-32387	155	18	,	,	PUNCT
ajst-32387	155	19	s.	s.	PROPN
ajst-32387	155	20	abioye	abioye	PROPN
ajst-32387	155	21	,	,	PUNCT
ajst-32387	155	22	i.	i.	PROPN
ajst-32387	155	23	berrou	berrou	PROPN
ajst-32387	155	24	,	,	PUNCT
ajst-32387	155	25	p.	p.	PROPN
ajst-32387	155	26	capik	capik	PROPN
ajst-32387	155	27	,	,	PUNCT
ajst-32387	155	28	j.	j.	PROPN
ajst-32387	155	29	qadir	qadir	PROPN
ajst-32387	155	30	,	,	PUNCT
ajst-32387	155	31	and	and	CCONJ
ajst-32387	155	32	m.	m.	NOUN
ajst-32387	155	33	bilal	bilal	PROPN
ajst-32387	155	34	,	,	PUNCT
ajst-32387	155	35	scientific	scientific	ADJ
ajst-32387	155	36	reports	report	NOUN
ajst-32387	155	37	15	15	NUM
ajst-32387	155	38	,	,	PUNCT
ajst-32387	155	39	(	(	PUNCT
ajst-32387	155	40	2025	2025	NUM
ajst-32387	155	41	)	)	PUNCT
ajst-32387	155	42	.	.	PUNCT
ajst-32387	156	1	[	[	X
ajst-32387	156	2	19	19	NUM
ajst-32387	156	3	]	]	PUNCT
ajst-32387	156	4	j.	j.	PROPN
ajst-32387	156	5	liu	liu	PROPN
ajst-32387	156	6	,	,	PUNCT
ajst-32387	156	7	x.	x.	PROPN
ajst-32387	156	8	guo	guo	PROPN
ajst-32387	156	9	,	,	PUNCT
ajst-32387	156	10	and	and	CCONJ
ajst-32387	156	11	y.	y.	PROPN
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ajst-32387	156	13	,	,	PUNCT
ajst-32387	156	14	ieee	ieee	NOUN
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ajst-32387	156	16	on	on	ADP
ajst-32387	156	17	medical	medical	ADJ
ajst-32387	156	18	imaging	imaging	NOUN
ajst-32387	156	19	41	41	NUM
ajst-32387	156	20	,	,	PUNCT
ajst-32387	156	21	715	715	NUM
ajst-32387	156	22	(	(	PUNCT
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ajst-32387	156	25	.	.	PUNCT
ajst-32387	157	1	[	[	X
ajst-32387	157	2	20	20	NUM
ajst-32387	157	3	]	]	PUNCT
ajst-32387	157	4	d.	d.	PROPN
ajst-32387	157	5	bouget	bouget	PROPN
ajst-32387	157	6	,	,	PUNCT
ajst-32387	157	7	m.	m.	PROPN
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ajst-32387	157	9	,	,	PUNCT
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ajst-32387	157	11	stoyanov	stoyanov	PROPN
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ajst-32387	157	15	,	,	PUNCT
ajst-32387	157	16	medical	medical	ADJ
ajst-32387	157	17	image	image	NOUN
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ajst-32387	157	19	,	,	PUNCT
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ajst-32387	157	21	,	,	PUNCT
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ajst-32387	157	25	(	(	PUNCT
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ajst-32387	157	27	)	)	PUNCT
ajst-32387	157	28	.	.	PUNCT
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ajst-32387	158	2	21	21	NUM
ajst-32387	158	3	]	]	X
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ajst-32387	158	5	a.	a.	PROPN
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ajst-32387	158	7	,	,	PUNCT
ajst-32387	158	8	j.	j.	PROPN
ajst-32387	158	9	s.	s.	PROPN
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ajst-32387	158	11	,	,	PUNCT
ajst-32387	158	12	r.	r.	PROPN
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ajst-32387	158	15	2019	2019	NUM
ajst-32387	158	16	international	international	ADJ
ajst-32387	158	17	conference	conference	NOUN
ajst-32387	158	18	of	of	ADP
ajst-32387	158	19	computer	computer	NOUN
ajst-32387	158	20	science	science	NOUN
ajst-32387	158	21	and	and	CCONJ
ajst-32387	158	22	information	information	NOUN
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ajst-32387	158	24	(	(	PUNCT
ajst-32387	158	25	icosnikom	icosnikom	PROPN
ajst-32387	158	26	)	)	PUNCT
ajst-32387	158	27	(	(	PUNCT
ajst-32387	158	28	pp	pp	X
ajst-32387	158	29	.	.	PUNCT
ajst-32387	159	1	1	1	NUM
ajst-32387	159	2	-	-	SYM
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ajst-32387	159	4	)	)	PUNCT
ajst-32387	159	5	.	.	PUNCT
ajst-32387	160	1	ieee	ieee	NOUN
ajst-32387	160	2	(	(	PUNCT
ajst-32387	160	3	2019	2019	NUM
ajst-32387	160	4	)	)	PUNCT
ajst-32387	160	5	.	.	PUNCT
ajst-32387	161	1	[	[	X
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ajst-32387	161	3	]	]	X
ajst-32387	161	4	b.	b.	PROPN
ajst-32387	161	5	namazi	namazi	PROPN
ajst-32387	161	6	,	,	PUNCT
ajst-32387	161	7	g.	g.	PROPN
ajst-32387	161	8	sankaranarayanan	sankaranarayanan	PROPN
ajst-32387	161	9	,	,	PUNCT
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ajst-32387	161	11	v.	v.	ADP
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ajst-32387	161	13	,	,	PUNCT
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ajst-32387	161	15	endoscopy	endoscopy	NOUN
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ajst-32387	161	17	,	,	PUNCT
ajst-32387	161	18	679	679	NUM
ajst-32387	161	19	(	(	PUNCT
ajst-32387	161	20	2021	2021	NUM
ajst-32387	161	21	)	)	PUNCT
ajst-32387	161	22	.	.	PUNCT
ajst-32387	162	1	[	[	X
ajst-32387	162	2	23	23	NUM
ajst-32387	162	3	]	]	X
ajst-32387	162	4	d.	d.	PROPN
ajst-32387	162	5	s.	s.	PROPN
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ajst-32387	162	7	,	,	PUNCT
ajst-32387	162	8	b.	b.	PROPN
ajst-32387	162	9	m.	m.	PROPN
ajst-32387	162	10	ozgur	ozgur	PROPN
ajst-32387	162	11	,	,	PUNCT
ajst-32387	162	12	r.	r.	PROPN
ajst-32387	162	13	g.	g.	PROPN
ajst-32387	162	14	louis	louis	PROPN
ajst-32387	162	15	,	,	PUNCT
ajst-32387	162	16	y.	y.	PROPN
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ajst-32387	162	18	,	,	PUNCT
ajst-32387	162	19	r.	r.	PROPN
ajst-32387	162	20	r.	r.	PROPN
ajst-32387	162	21	iyer	iyer	PROPN
ajst-32387	162	22	,	,	PUNCT
ajst-32387	162	23	v.	v.	PROPN
ajst-32387	162	24	boddapati	boddapati	PROPN
ajst-32387	162	25	,	,	PUNCT
ajst-32387	162	26	a.	a.	NOUN
ajst-32387	162	27	iyer	iyer	PROPN
ajst-32387	162	28	,	,	PUNCT
ajst-32387	162	29	p.	p.	PROPN
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ajst-32387	162	32	,	,	PUNCT
ajst-32387	162	33	r.	r.	PROPN
ajst-32387	162	34	jani	jani	PROPN
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ajst-32387	162	37	cummock	cummock	PROPN
ajst-32387	162	38	,	,	PUNCT
ajst-32387	162	39	a.	a.	PROPN
ajst-32387	162	40	herur	herur	PROPN
ajst-32387	162	41	-	-	PUNCT
ajst-32387	162	42	raman	raman	NOUN
ajst-32387	162	43	,	,	PUNCT
ajst-32387	162	44	p.	p.	PROPN
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ajst-32387	162	46	,	,	PUNCT
ajst-32387	162	47	i.	i.	PROPN
ajst-32387	162	48	m.	m.	PROPN
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ajst-32387	162	50	,	,	PUNCT
ajst-32387	162	51	m.	m.	NOUN
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ajst-32387	162	53	-	-	PUNCT
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ajst-32387	162	55	,	,	PUNCT
ajst-32387	162	56	t.	t.	NOUN
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ajst-32387	162	58	,	,	PUNCT
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ajst-32387	162	60	l.	l.	PROPN
ajst-32387	162	61	g.	g.	PROPN
ajst-32387	162	62	lenke	lenke	PROPN
ajst-32387	162	63	,	,	PUNCT
ajst-32387	162	64	neurosurgical	neurosurgical	ADJ
ajst-32387	162	65	focus	focus	NOUN
ajst-32387	162	66	51	51	NUM
ajst-32387	162	67	,	,	PUNCT
ajst-32387	162	68	e11	e11	X
ajst-32387	162	69	(	(	PUNCT
ajst-32387	162	70	2021	2021	NUM
ajst-32387	162	71	)	)	PUNCT
ajst-32387	162	72	.	.	PUNCT
ajst-32387	163	1	[	[	X
ajst-32387	163	2	24	24	NUM
ajst-32387	163	3	]	]	X
ajst-32387	163	4	l.	l.	PROPN
ajst-32387	163	5	qiu	qiu	PROPN
ajst-32387	163	6	,	,	PUNCT
ajst-32387	163	7	c.	c.	PROPN
ajst-32387	163	8	li	li	PROPN
ajst-32387	163	9	,	,	PUNCT
ajst-32387	163	10	and	and	CCONJ
ajst-32387	163	11	h.	h.	PROPN
ajst-32387	163	12	ren	ren	PROPN
ajst-32387	163	13	,	,	PUNCT
ajst-32387	163	14	healthcare	healthcare	PROPN
ajst-32387	163	15	technology	technology	NOUN
ajst-32387	163	16	letters	letter	NOUN
ajst-32387	163	17	6	6	NUM
ajst-32387	163	18	,	,	PUNCT
ajst-32387	163	19	159	159	NUM
ajst-32387	163	20	(	(	PUNCT
ajst-32387	163	21	2019	2019	NUM
ajst-32387	163	22	)	)	PUNCT
ajst-32387	163	23	.	.	PUNCT
ajst-32387	164	1	150	150	NUM
ajst-32387	165	1	[	[	SYM
ajst-32387	165	2	25	25	NUM
ajst-32387	165	3	]	]	PUNCT
ajst-32387	165	4	a.	a.	NOUN
ajst-32387	165	5	zia	zia	PROPN
ajst-32387	165	6	,	,	PUNCT
ajst-32387	165	7	y.	y.	PROPN
ajst-32387	165	8	sharma	sharma	PROPN
ajst-32387	165	9	,	,	PUNCT
ajst-32387	165	10	v.	v.	PROPN
ajst-32387	165	11	bettadapura	bettadapura	NOUN
ajst-32387	165	12	,	,	PUNCT
ajst-32387	165	13	e.	e.	PROPN
ajst-32387	165	14	l.	l.	PROPN
ajst-32387	165	15	sarin	sarin	PROPN
ajst-32387	165	16	,	,	PUNCT
ajst-32387	165	17	and	and	CCONJ
ajst-32387	165	18	i.	i.	PROPN
ajst-32387	165	19	essa	essa	PROPN
ajst-32387	165	20	,	,	PUNCT
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ajst-32387	165	22	journal	journal	NOUN
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ajst-32387	165	24	computer	computer	NOUN
ajst-32387	165	25	assisted	assist	VERB
ajst-32387	165	26	radiology	radiology	NOUN
ajst-32387	165	27	and	and	CCONJ
ajst-32387	165	28	surgery	surgery	NOUN
ajst-32387	165	29	13	13	NUM
ajst-32387	165	30	,	,	PUNCT
ajst-32387	165	31	443	443	NUM
ajst-32387	165	32	(	(	PUNCT
ajst-32387	165	33	2018	2018	NUM
ajst-32387	165	34	)	)	PUNCT
ajst-32387	165	35	.	.	PUNCT
ajst-32387	166	1	[	[	X
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ajst-32387	166	3	]	]	X
ajst-32387	166	4	c.	c.	PROPN
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ajst-32387	166	6	nwoye	nwoye	PROPN
ajst-32387	166	7	,	,	PUNCT
ajst-32387	166	8	k.	k.	PROPN
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ajst-32387	166	10	,	,	PUNCT
ajst-32387	166	11	a.	a.	PROPN
ajst-32387	166	12	srinivas	srinivas	PROPN
ajst-32387	166	13	,	,	PUNCT
ajst-32387	166	14	f.	f.	PROPN
ajst-32387	166	15	zaid	zaid	PROPN
ajst-32387	166	16	,	,	PUNCT
ajst-32387	166	17	j.	j.	PROPN
ajst-32387	166	18	l.	l.	PROPN
ajst-32387	166	19	lavanchy	lavanchy	PROPN
ajst-32387	166	20	,	,	PUNCT
ajst-32387	166	21	&	&	CCONJ
ajst-32387	166	22	n.	n.	PROPN
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ajst-32387	166	24	,	,	PUNCT
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ajst-32387	166	30	(	(	PUNCT
ajst-32387	166	31	2023	2023	NUM
ajst-32387	166	32	)	)	PUNCT
ajst-32387	166	33	.	.	PUNCT
ajst-32387	167	1	[	[	X
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ajst-32387	167	3	]	]	X
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ajst-32387	167	6	,	,	PUNCT
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ajst-32387	167	8	.	.	PUNCT
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ajst-32387	168	4	q.	q.	PROPN
ajst-32387	168	5	v.	v.	CCONJ
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ajst-32387	168	7	,	,	PUNCT
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ajst-32387	168	10	/	/	SYM
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ajst-32387	168	19	(	(	PUNCT
ajst-32387	168	20	cvpr	cvpr	NOUN
ajst-32387	168	21	)	)	PUNCT
ajst-32387	168	22	(	(	PUNCT
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ajst-32387	168	24	)	)	PUNCT
ajst-32387	168	25	.	.	PUNCT
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ajst-32387	169	4	h.	h.	PROPN
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ajst-32387	169	6	,	,	PUNCT
ajst-32387	169	7	y.	y.	PROPN
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ajst-32387	169	9	,	,	PUNCT
ajst-32387	169	10	n.	n.	PROPN
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ajst-32387	169	13	and	and	CCONJ
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ajst-32387	169	15	.	.	PUNCT
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ajst-32387	170	9	on	on	ADP
ajst-32387	170	10	computer	computer	NOUN
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ajst-32387	170	12	(	(	PUNCT
ajst-32387	170	13	iccv	iccv	PROPN
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ajst-32387	170	15	(	(	PUNCT
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ajst-32387	170	17	)	)	PUNCT
ajst-32387	170	18	.	.	PUNCT
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ajst-32387	171	2	29	29	NUM
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ajst-32387	171	4	h.	h.	PROPN
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ajst-32387	171	6	,	,	PUNCT
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ajst-32387	171	9	,	,	PUNCT
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ajst-32387	171	11	n.	n.	PROPN
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ajst-32387	171	13	,	,	PUNCT
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ajst-32387	171	15	d.	d.	PROPN
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ajst-32387	171	17	-	-	PUNCT
ajst-32387	171	18	paz	paz	PROPN
ajst-32387	171	19	,	,	PUNCT
ajst-32387	171	20	arxiv	arxiv	PROPN
ajst-32387	171	21	(	(	PUNCT
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ajst-32387	171	25	(	(	PUNCT
ajst-32387	171	26	2017	2017	NUM
ajst-32387	171	27	)	)	PUNCT
ajst-32387	171	28	.	.	PUNCT
ajst-32387	172	1	[	[	X
ajst-32387	172	2	30	30	NUM
ajst-32387	172	3	]	]	X
ajst-32387	172	4	g.	g.	PROPN
ajst-32387	172	5	loza	loza	PROPN
ajst-32387	172	6	,	,	PUNCT
ajst-32387	172	7	p.	p.	PROPN
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ajst-32387	172	9	,	,	PUNCT
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ajst-32387	172	11	s.	s.	PROPN
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ajst-32387	172	13	,	,	PUNCT
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ajst-32387	172	16	letters	letter	NOUN
ajst-32387	172	17	11	11	NUM
ajst-32387	172	18	,	,	PUNCT
ajst-32387	172	19	48	48	NUM
ajst-32387	172	20	(	(	PUNCT
ajst-32387	172	21	2023	2023	NUM
ajst-32387	172	22	)	)	PUNCT
ajst-32387	172	23	.	.	PUNCT
ajst-32387	173	1	[	[	X
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ajst-32387	173	11	h.	h.	PROPN
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ajst-32387	173	13	,	,	PUNCT
ajst-32387	173	14	peerj	peerj	PROPN
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ajst-32387	173	18	,	,	PUNCT
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ajst-32387	173	20	(	(	PUNCT
ajst-32387	173	21	2022	2022	NUM
ajst-32387	173	22	)	)	PUNCT
ajst-32387	173	23	.	.	PUNCT
ajst-32387	174	1	[	[	X
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ajst-32387	174	3	]	]	PUNCT
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ajst-32387	175	4	,	,	PUNCT
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ajst-32387	175	8	,	,	PUNCT
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ajst-32387	175	12	,	,	PUNCT
ajst-32387	176	1	v.	v.	ADP
ajst-32387	176	2	t.	t.	NOUN
ajst-32387	176	3	pho	pho	PROPN
ajst-32387	176	4	,	,	PUNCT
ajst-32387	176	5	h.	h.	PROPN
ajst-32387	176	6	h.	h.	PROPN
ajst-32387	176	7	dang	dang	PROPN
ajst-32387	176	8	,	,	PUNCT
ajst-32387	176	9	d.	d.	PROPN
ajst-32387	176	10	v.	v.	PROPN
ajst-32387	176	11	sang	sing	VERB
ajst-32387	176	12	,	,	PUNCT
ajst-32387	176	13	and	and	CCONJ
ajst-32387	176	14	t.	t.	PROPN
ajst-32387	176	15	t.	t.	PROPN
ajst-32387	176	16	nguyen	nguyen	PROPN
ajst-32387	176	17	,	,	PUNCT
ajst-32387	176	18	journal	journal	NOUN
ajst-32387	176	19	of	of	ADP
ajst-32387	176	20	medical	medical	ADJ
ajst-32387	176	21	artificial	artificial	ADJ
ajst-32387	176	22	intelligence	intelligence	NOUN
ajst-32387	176	23	0	0	NUM
ajst-32387	176	24	,	,	PUNCT
ajst-32387	176	25	0	0	NUM
ajst-32387	176	26	(	(	PUNCT
ajst-32387	176	27	2023	2023	NUM
ajst-32387	176	28	)	)	PUNCT
ajst-32387	176	29	.	.	PUNCT
ajst-32387	177	1	[	[	X
ajst-32387	177	2	33	33	NUM
ajst-32387	177	3	]	]	PUNCT
ajst-32387	177	4	l.	l.	PROPN
ajst-32387	177	5	wiese	wiese	PROPN
ajst-32387	177	6	,	,	PUNCT
ajst-32387	177	7	l.	l.	PROPN
ajst-32387	177	8	hinz	hinz	PROPN
ajst-32387	177	9	,	,	PUNCT
ajst-32387	177	10	e.	e.	PROPN
ajst-32387	177	11	reithmeier	reithmeier	PROPN
ajst-32387	177	12	,	,	PUNCT
ajst-32387	177	13	p.	p.	PROPN
ajst-32387	177	14	korn	korn	PROPN
ajst-32387	177	15	,	,	PUNCT
ajst-32387	177	16	and	and	CCONJ
ajst-32387	177	17	m.	m.	NOUN
ajst-32387	177	18	neuhaus	neuhaus	PROPN
ajst-32387	177	19	,	,	PUNCT
ajst-32387	177	20	computers	computer	NOUN
ajst-32387	177	21	14	14	NUM
ajst-32387	177	22	,	,	PUNCT
ajst-32387	177	23	69	69	NUM
ajst-32387	177	24	(	(	PUNCT
ajst-32387	177	25	2025	2025	NUM
ajst-32387	177	26	)	)	PUNCT
ajst-32387	177	27	.	.	PUNCT
ajst-32387	178	1	[	[	X
ajst-32387	178	2	34	34	NUM
ajst-32387	178	3	]	]	X
ajst-32387	178	4	b.	b.	PROPN
ajst-32387	178	5	zhao	zhao	PROPN
ajst-32387	178	6	,	,	PUNCT
ajst-32387	178	7	r.	r.	PROPN
ajst-32387	178	8	song	song	PROPN
ajst-32387	178	9	,	,	PUNCT
ajst-32387	178	10	and	and	CCONJ
ajst-32387	178	11	j.	j.	PROPN
ajst-32387	178	12	liang	liang	PROPN
ajst-32387	178	13	,	,	PUNCT
ajst-32387	178	14	2021	2021	NUM
ajst-32387	178	15	ieee	ieee	NOUN
ajst-32387	178	16	/	/	SYM
ajst-32387	178	17	cvf	cvf	NOUN
ajst-32387	178	18	international	international	ADJ
ajst-32387	178	19	conference	conference	NOUN
ajst-32387	178	20	on	on	ADP
ajst-32387	178	21	computer	computer	NOUN
ajst-32387	178	22	vision	vision	NOUN
ajst-32387	178	23	(	(	PUNCT
ajst-32387	178	24	iccv	iccv	PROPN
ajst-32387	178	25	)	)	PUNCT
ajst-32387	178	26	6123	6123	NUM
ajst-32387	178	27	(	(	PUNCT
ajst-32387	178	28	2023	2023	NUM
ajst-32387	178	29	)	)	PUNCT
ajst-32387	178	30	.	.	PUNCT
ajst-32387	179	1	[	[	X
ajst-32387	179	2	35	35	NUM
ajst-32387	179	3	]	]	PUNCT
ajst-32387	179	4	a.	a.	NOUN
ajst-32387	179	5	moslemi	moslemi	PROPN
ajst-32387	179	6	,	,	PUNCT
ajst-32387	179	7	a.	a.	NOUN
ajst-32387	179	8	briskina	briskina	PROPN
ajst-32387	179	9	,	,	PUNCT
ajst-32387	179	10	z.	z.	PROPN
ajst-32387	179	11	dang	dang	PROPN
ajst-32387	179	12	,	,	PUNCT
ajst-32387	179	13	and	and	CCONJ
ajst-32387	179	14	j.	j.	PROPN
ajst-32387	179	15	li	li	PROPN
ajst-32387	179	16	,	,	PUNCT
ajst-32387	179	17	machine	machine	NOUN
ajst-32387	179	18	learning	learning	NOUN
ajst-32387	179	19	with	with	ADP
ajst-32387	179	20	applications	application	NOUN
ajst-32387	179	21	18	18	NUM
ajst-32387	179	22	,	,	PUNCT
ajst-32387	179	23	100605	100605	NUM
ajst-32387	179	24	(	(	PUNCT
ajst-32387	179	25	2024	2024	NUM
ajst-32387	179	26	)	)	PUNCT
ajst-32387	179	27	.	.	PUNCT
ajst-32387	180	1	[	[	X
ajst-32387	180	2	36	36	NUM
ajst-32387	180	3	]	]	PUNCT
ajst-32387	180	4	a.	a.	NOUN
ajst-32387	180	5	abiri	abiri	PROPN
ajst-32387	180	6	,	,	PUNCT
ajst-32387	180	7	j.	j.	PROPN
ajst-32387	180	8	pensa	pensa	PROPN
ajst-32387	180	9	,	,	PUNCT
ajst-32387	180	10	a.	a.	PROPN
ajst-32387	180	11	tao	tao	PROPN
ajst-32387	180	12	,	,	PUNCT
ajst-32387	180	13	j.	j.	PROPN
ajst-32387	180	14	ma	ma	PROPN
ajst-32387	180	15	,	,	PUNCT
ajst-32387	180	16	y.-y	y.-y	PROPN
ajst-32387	180	17	.	.	PUNCT
ajst-32387	181	1	juo	juo	PROPN
ajst-32387	181	2	,	,	PUNCT
ajst-32387	181	3	s.	s.	PROPN
ajst-32387	181	4	j.	j.	PROPN
ajst-32387	181	5	askari	askari	PROPN
ajst-32387	181	6	,	,	PUNCT
ajst-32387	181	7	j.	j.	PROPN
ajst-32387	181	8	bisley	bisley	PROPN
ajst-32387	181	9	,	,	PUNCT
ajst-32387	181	10	j.	j.	PROPN
ajst-32387	181	11	rosen	rosen	PROPN
ajst-32387	181	12	,	,	PUNCT
ajst-32387	181	13	e.	e.	PROPN
ajst-32387	181	14	p.	p.	PROPN
ajst-32387	181	15	dutson	dutson	PROPN
ajst-32387	181	16	,	,	PUNCT
ajst-32387	181	17	and	and	CCONJ
ajst-32387	181	18	w.	w.	PROPN
ajst-32387	181	19	s.	s.	PROPN
ajst-32387	181	20	grundfest	grundfest	PROPN
ajst-32387	181	21	,	,	PUNCT
ajst-32387	181	22	scientific	scientific	ADJ
ajst-32387	181	23	reports	report	NOUN
ajst-32387	181	24	9	9	NUM
ajst-32387	181	25	,	,	PUNCT
ajst-32387	181	26	(	(	PUNCT
ajst-32387	181	27	2019	2019	NUM
ajst-32387	181	28	)	)	PUNCT
ajst-32387	181	29	.	.	PUNCT
ajst-32387	182	1	[	[	X
ajst-32387	182	2	37	37	NUM
ajst-32387	182	3	]	]	PUNCT
ajst-32387	182	4	l.	l.	PROPN
ajst-32387	182	5	farah	farah	PROPN
ajst-32387	182	6	,	,	PUNCT
ajst-32387	182	7	j.	j.	PROPN
ajst-32387	182	8	m.	m.	PROPN
ajst-32387	182	9	murris	murris	PROPN
ajst-32387	182	10	,	,	PUNCT
ajst-32387	182	11	i.	i.	NOUN
ajst-32387	182	12	borget	borget	PROPN
ajst-32387	182	13	,	,	PUNCT
ajst-32387	182	14	a.	a.	NOUN
ajst-32387	182	15	guilloux	guilloux	PROPN
ajst-32387	182	16	,	,	PUNCT
ajst-32387	182	17	n.	n.	PROPN
ajst-32387	182	18	martelli	martelli	PROPN
ajst-32387	182	19	m.	m.	PROPN
ajst-32387	182	20	&	&	CCONJ
ajst-32387	182	21	s.	s.	PROPN
ajst-32387	182	22	i.	i.	PROPN
ajst-32387	182	23	m.	m.	PROPN
ajst-32387	182	24	katsahian	katsahian	PROPN
ajst-32387	182	25	,	,	PUNCT
ajst-32387	182	26	mayo	mayo	NOUN
ajst-32387	182	27	clinic	clinic	NOUN
ajst-32387	182	28	proceedings	proceeding	NOUN
ajst-32387	182	29	.	.	PUNCT
ajst-32387	183	1	digital	digital	ADJ
ajst-32387	183	2	health	health	NOUN
ajst-32387	183	3	,	,	PUNCT
ajst-32387	183	4	1	1	NUM
ajst-32387	183	5	(	(	PUNCT
ajst-32387	183	6	2	2	NUM
ajst-32387	183	7	)	)	PUNCT
ajst-32387	183	8	,	,	PUNCT
ajst-32387	183	9	120–138	120–138	NUM
ajst-32387	183	10	.	.	PUNCT
ajst-32387	184	1	(	(	PUNCT
ajst-32387	184	2	2023	2023	NUM
ajst-32387	184	3	)	)	PUNCT
ajst-32387	184	4	.	.	PUNCT
ajst-32387	185	1	[	[	X
ajst-32387	185	2	38	38	NUM
ajst-32387	185	3	]	]	PUNCT
ajst-32387	185	4	z.	z.	PROPN
ajst-32387	185	5	sadeghi	sadeghi	PROPN
ajst-32387	185	6	,	,	PUNCT
ajst-32387	185	7	r.	r.	PROPN
ajst-32387	185	8	alizadehsani	alizadehsani	PROPN
ajst-32387	185	9	,	,	PUNCT
ajst-32387	185	10	s.	s.	PROPN
ajst-32387	185	11	kausar	kausar	PROPN
ajst-32387	185	12	,	,	PUNCT
ajst-32387	185	13	r.	r.	PROPN
ajst-32387	185	14	rehman	rehman	PROPN
ajst-32387	185	15	,	,	PUNCT
ajst-32387	185	16	p.	p.	PROPN
ajst-32387	185	17	mahanta	mahanta	PROPN
ajst-32387	185	18	,	,	PUNCT
ajst-32387	185	19	p.	p.	PROPN
ajst-32387	185	20	k.	k.	PROPN
ajst-32387	185	21	bora	bora	PROPN
ajst-32387	185	22	,	,	PUNCT
ajst-32387	185	23	a.	a.	PROPN
ajst-32387	185	24	almasri	almasri	PROPN
ajst-32387	185	25	,	,	PUNCT
ajst-32387	185	26	r.	r.	PROPN
ajst-32387	185	27	s.	s.	PROPN
ajst-32387	185	28	alkhawaldeh	alkhawaldeh	PROPN
ajst-32387	185	29	,	,	PUNCT
ajst-32387	185	30	s.	s.	PROPN
ajst-32387	185	31	hussain	hussain	PROPN
ajst-32387	185	32	,	,	PUNCT
ajst-32387	185	33	b.	b.	PROPN
ajst-32387	185	34	alatas	alatas	PROPN
ajst-32387	185	35	,	,	PUNCT
ajst-32387	185	36	a.	a.	NOUN
ajst-32387	185	37	shoeibi	shoeibi	NOUN
ajst-32387	185	38	,	,	PUNCT
ajst-32387	185	39	h.	h.	PROPN
ajst-32387	185	40	moosaei	moosaei	PROPN
ajst-32387	185	41	,	,	PUNCT
ajst-32387	185	42	m.	m.	NOUN
ajst-32387	185	43	hladík	hladík	PROPN
ajst-32387	185	44	,	,	PUNCT
ajst-32387	185	45	s.	s.	PROPN
ajst-32387	185	46	nahavandi	nahavandi	PROPN
ajst-32387	185	47	,	,	PUNCT
ajst-32387	185	48	&	&	CCONJ
ajst-32387	185	49	p.	p.	PROPN
ajst-32387	185	50	m	m	PROPN
ajst-32387	185	51	pardalos	pardalo	NOUN
ajst-32387	185	52	,	,	PUNCT
ajst-32387	185	53	computers	computer	NOUN
ajst-32387	185	54	&	&	CCONJ
ajst-32387	185	55	electrical	electrical	ADJ
ajst-32387	185	56	engineering	engineering	NOUN
ajst-32387	185	57	,	,	PUNCT
ajst-32387	185	58	118	118	NUM
ajst-32387	185	59	,	,	PUNCT
ajst-32387	185	60	109370–109370	109370–109370	NUM
ajst-32387	185	61	.	.	PUNCT
ajst-32387	185	62	(	(	PUNCT
ajst-32387	185	63	2024	2024	NUM
ajst-32387	185	64	)	)	PUNCT
ajst-32387	185	65	.	.	PUNCT