{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T05:22:05Z","timestamp":1775712125461,"version":"3.50.1"},"reference-count":34,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,4,1]],"date-time":"2021-04-01T00:00:00Z","timestamp":1617235200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"State Key Laboratory of Robotics, and Systems","award":["SKLRS202009B"],"award-info":[{"award-number":["SKLRS202009B"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1109\/lra.2021.3066956","type":"journal-article","created":{"date-parts":[[2021,3,17]],"date-time":"2021-03-17T19:38:05Z","timestamp":1616009885000},"page":"3870-3877","source":"Crossref","is-referenced-by-count":40,"title":["Lightweight Deep Neural Network for Real-Time Instrument Semantic Segmentation in Robot Assisted Minimally Invasive Surgery"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7085-0797","authenticated-orcid":false,"given":"Yanwen","family":"Sun","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8419-5137","authenticated-orcid":false,"given":"Bo","family":"Pan","sequence":"additional","affiliation":[]},{"given":"Yili","family":"Fu","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref33","article-title":"BiSeNet V2: Bilateral network with guided aggregation for real-time semantic segmentation","author":"yu","year":"2020","journal-title":"arXiv 2004 02147"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00326"},{"key":"ref31","first-page":"234","article-title":"U-Net: Convolutional networks for biomedical image segmentation","author":"ronneberger","year":"0","journal-title":"Proc Int Conf Med Image Comput Comput -Assist Intervention"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-020-02214-y"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2019.101572"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-019-01958-6"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICMLA.2018.00100"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-32692-0_65"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2017.8123151"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-32254-0_49"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794122"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00716"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00140"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00474"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206462"},{"key":"ref28","first-page":"8026","article-title":"PyTorch: An imperative style, high- performance deep learning library","author":"steiner","year":"2019","journal-title":"Neural Inf Process Syst"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2019.2949881"},{"key":"ref27","article-title":"2017 robotic instrument segmentation challenge","author":"allan","year":"2019","journal-title":"arXiv 1902 06426"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.408"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.media.2016.09.003"},{"key":"ref29","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"2014","journal-title":"arXiv 14126 980"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.01.015"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2017.2787672"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2229278"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907040"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2017.2665671"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-015-1305-z"},{"key":"ref20","first-page":"9939","article-title":"Attention-guided lightweight network for real-time segmentation of robotic surgical instruments","author":"ni","year":"0","journal-title":"Proc IEEE Int Conf Robot Automation"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01219-9_25"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2900854"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/VCIP.2017.8305148"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.660"},{"key":"ref26","first-page":"1580","article-title":"GhostNet: More features from cheap operations","author":"han","year":"0","journal-title":"Proc IEEE Conf Comput Vis and Pattern Recog"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"6639","DOI":"10.1109\/LRA.2020.3009073","article-title":"Towards better surgical instrument segmentation in endoscopic vision: Multi-angle feature aggregation and contour supervision","volume":"5","author":"islam","year":"2020","journal-title":"IEEE Robot Autom Lett"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9285111\/09380950.pdf?arnumber=9380950","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:54:26Z","timestamp":1652194466000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9380950\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,4]]},"references-count":34,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3066956","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,4]]}}}