79EBAE69-B150-4580-ABD7-1000987F410CEPSRC UK IMAGE-GUIDED THERAPIES NETWORK+Research GrantEP/N027078/1798CB33D-C79E-4578-83F2-72606407192CEPSRCINCOME_ACTUAL6392875E34E739-788E-4CC2-9FFF-4624C8523D05Deep Learning Based Robotic Tool Detection and Articulation Estimation With Spatio-Temporal LayersIEEE Robotics and Automation Letters7dc14c2cc76497fd802adfd6dd5635aeColleoni E2019-01-01http://dx.doi.org/10.1109/lra.2019.2917163http://dx.doi.org/10.1109/lra.2019.29171633Journal Article/Review5dae46152f9708.86323709