RCIT: A Robust Catadioptric-based Instrument 3D Tracking Method For Microsurgical Instruments In a Single-Camera System. - Alireza Alikhani; Sebastian Oßner; Shervin Dehghani; Benjamin Busam; Satoshi Inagaki; Mathias Maier; Nassir Navab; M. Ali Nasseri (EMBC, 2023)