@article{realtime3dtrackingofarticulatedtools,
  title = {Real-time 3D Tracking of Articulated Tools for Robotic Surgery},
  author = {Menglong Ye and Lin Zhang and Stamatia Giannarou and Guang-Zhong Yang},
  year = {2016},
  eprint = {1605.03483},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1605.03483v3},
}