A surgical procedure on a patient is monitored at a sensor to provide an observation. A current surgical state is estimated as a belief state over of a plurality of surgical states, representing different phases of the surgery, from the observation and an observation function for each surgical state. A world state of a plurality of world states representing a state of one of the patient, a medical professional performing the surgical procedure, and the environment in which the surgical procedure is being conducted is estimated from the estimated surgical state. From the estimated surgical state, the estimated world state, and a model, at least one surgical state that will be entered during the surgical procedure is predicted and an output representing the predicted at least one surgical state is provided O at an associated output device.
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