FRSR: Framework for real-time scene reconstruction in robot-assisted minimally invasive surgery. - Ziyang Chen; Aldo Marzullo; Davide Alberti; Elena Lievore; Matteo Fontana; Ottavio De Cobelli; Gennaro Musi; Giancarlo Ferrigno; Elena De Momi (Comput. Biol. Medicine, 2023)