Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery. - Fozilov, Khusniddin; Colan, Jacinto; Davila, Ana; Misawa, Kazunari; Qiu, Jie; Hayashi, Yuichiro; Mori, Kensaku; Hasegawa, Yasuhisa (Sensors, 2023)