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3% and a recall of 89.0% (n=14). These results represent a significant improvement (10% in F1 score) over state-of-the-art necklace-based approaches. Additionally, this work presents a wearable device that is more inconspicuous and thus more likely to be adopted in clinical applications.We have developed a series of 3D endoscopic systems where a micro-sized pattern projector is inserted through the instrument channel of the endoscope and shapes are reconstructed by a structured light technique using captured images of the endoscopic c