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H-Net: Multitask Stereo Segmentation and 3D Force Estimation for Catheters

A lightweight multi-input multi-output encoder-decoder that takes two simultaneous biplane-fluoroscopy X-ray views of a deflected catheter, uses shared-parameter parallel sub-networks to produce two segmentation maps, and via stereo vision regresses the 3D (x,y,z) tip force in one end-to-end network - the first to do stereo catheter segmentation and 3D force estimation jointly.