Automatic tool segmentation and tracking during robotic intravascular catheterization for cardiac interventions - Omisore, Olatunji Mumini; Duan, Wenke; Du, Wenjing; Zheng, Yuhong; Akinyemi, Toluwanimi; Al-Handerish, Yousef; Li, Wanghongbo; Liu, Yong; Xiong, Jing; Wang, Lei (Quantitative Imaging in Medicine and Surgery, 2021)