This dataset was used and described in detail in the following publication. The Effects of Different Levels of Realism on the Training of CNNs with only Synthetic Images for the Semantic Segmentation of Robotic Instruments in a Head Phantom. Heredia-Perez, S. A.; Marinho, M. M.; Harada, K.; and Mitsuishi, M. International Journal of Computer Assisted Radiology and Surgery (IJCARS). 2020. https://doi.org/10.1007/s11548-020-02185-0