System, Method, and Computer Program Product for Segmenting an Image

Provided are systems, methods, and computer program products for segmenting an image. A method includes segmenting each image in a sequence of images including a needle into a needle and at least one needle artifact based on processing each image with a first machine-learning model trained with a plurality of hard labels for a plurality of images, resulting in a plurality of hard-labeled images, transforming each hard-labeled image of the plurality of hard-labeled images into a soft-labeled image including pixel values corresponding to an effect of the at least one needle artifact, resulting in a plurality of soft-labeled images, and segmenting at least one image of the sequence of images based on processing the at least one image with a second machine-learning model trained at least partially with the plurality of soft-labeled images.