With advancements in medical imaging and robotic technology,the idea of fully autonomous diagnosis and treatment has become appealing,from ethereal to tangible.Owing to its characteristics of non-invasiveness,non-radi...With advancements in medical imaging and robotic technology,the idea of fully autonomous diagnosis and treatment has become appealing,from ethereal to tangible.Owing to its characteristics of non-invasiveness,non-radiation,and fast imaging speed,ultrasonography has been increasingly used in clinical practice,such as in obstetrics,gynecology,and surgical puncture.In this paper,we propose a real-time image-based visual servo control scheme using a hybrid slice-to-volume registration method.In this manner,the robot can autonomously locate the ultrasound probe to the desired posture according to preoperational planning,even in the presence of disturbances.The experiments are designed and conducted using a thyroid biopsy phantom model.The results show that the proposed scheme can achieve a refresh rate of up to 30 Hz and a tracking accuracy of(0.52±0.65)mm.展开更多
This paper describes a geographic information system(GIS)-based method for observing changes in topography caused by the initiation, transport, and deposition of debris flows using highresolution light detection and r...This paper describes a geographic information system(GIS)-based method for observing changes in topography caused by the initiation, transport, and deposition of debris flows using highresolution light detection and ranging(LiDAR) digital elevation models(DEMs) obtained before and after the debris flow events. The paper also describes a method for estimating the volume of debris flows using the differences between the LiDAR DEMs. The relative and absolute positioning accuracies of the LiDAR DEMs were evaluated using a real-time precise global navigation satellite system(GNSS) positioning method. In addition, longitudinal and cross-sectional profiles of the study area were constructed to determine the topographic changes caused by the debris flows. The volume of the debris flows was estimated based on the difference between the LiDAR DEMs. The accuracies of the relative and absolute positioning of the two LiDAR DEMs were determined to be ±10 cm and ±11 cm RMSE, respectively, which demonstrates the efficiency of the method for determining topographic changes at an scale equivalent to that of field investigations. Based on the topographic changes, the volume of the debris flows in the study area was estimated to be 3747 m3, which is comparable with the volume estimated based on the data from field investigations.展开更多
Objective Volume navigation (Vnav) combines real-time ultrasound (US) with previously acquired volume data from magnetic resonance imaging (MRI) data into a single display. The efficacy of Vnav for preoperative assess...Objective Volume navigation (Vnav) combines real-time ultrasound (US) with previously acquired volume data from magnetic resonance imaging (MRI) data into a single display. The efficacy of Vnav for preoperative assessment of the extent of breast cancer lesions was evaluated in the present study.Methods Twenty-nine breast cancer patients were evaluated using Vnav during second-look US or preoperative mapping. Retrospective chart review was performed. Correlation detection rates and pathological results were evaluated.Results Vnav identified lesions that were initially detected on MRI in 23 of 29 patients (79.3%). Of the 23 patients who had US correlated lesions, pathological diagnoses of the corresponding lesions were as follows: benign (n=9) and malignant (n=14).Conclusion Vnav may be a useful technique for identification of the extent of breast cancer lesions.展开更多
服务段仿真(Service Volume Simulation,SVS)主要用于导航系统服务性能的分析与评估,是导航仿真系统的重要组成部分。在分析了导航系统SVS的特点后,建立了导航系统服务性能分析模型之间的数据流关系,采用SMP2.0(Simulation Model Portab...服务段仿真(Service Volume Simulation,SVS)主要用于导航系统服务性能的分析与评估,是导航仿真系统的重要组成部分。在分析了导航系统SVS的特点后,建立了导航系统服务性能分析模型之间的数据流关系,采用SMP2.0(Simulation Model Portability)的基于组件的模型设计方法,提出了面向SVS的仿真模型框架,并基于此框架和SMP2.0的集成方法进行了导航系统SVS的模型设计、开发和集成。该框架包含空间段、环境段、用户段以及分析记录等模型、接口和组件,并通过面向导航系统的SVS仿真应用环境检验了该框架的合理性和可移植性。展开更多
基金the Shenzhen Science and Technology Program(No.RCYX20200714114736115)the Longgang District Medical and Health Science and Technology Project of Shenzhen(No.LGWJ2021-036)。
文摘With advancements in medical imaging and robotic technology,the idea of fully autonomous diagnosis and treatment has become appealing,from ethereal to tangible.Owing to its characteristics of non-invasiveness,non-radiation,and fast imaging speed,ultrasonography has been increasingly used in clinical practice,such as in obstetrics,gynecology,and surgical puncture.In this paper,we propose a real-time image-based visual servo control scheme using a hybrid slice-to-volume registration method.In this manner,the robot can autonomously locate the ultrasound probe to the desired posture according to preoperational planning,even in the presence of disturbances.The experiments are designed and conducted using a thyroid biopsy phantom model.The results show that the proposed scheme can achieve a refresh rate of up to 30 Hz and a tracking accuracy of(0.52±0.65)mm.
基金supported by the Public Welfare & Safety Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (Grant No. 2012M3A2A1050979)
文摘This paper describes a geographic information system(GIS)-based method for observing changes in topography caused by the initiation, transport, and deposition of debris flows using highresolution light detection and ranging(LiDAR) digital elevation models(DEMs) obtained before and after the debris flow events. The paper also describes a method for estimating the volume of debris flows using the differences between the LiDAR DEMs. The relative and absolute positioning accuracies of the LiDAR DEMs were evaluated using a real-time precise global navigation satellite system(GNSS) positioning method. In addition, longitudinal and cross-sectional profiles of the study area were constructed to determine the topographic changes caused by the debris flows. The volume of the debris flows was estimated based on the difference between the LiDAR DEMs. The accuracies of the relative and absolute positioning of the two LiDAR DEMs were determined to be ±10 cm and ±11 cm RMSE, respectively, which demonstrates the efficiency of the method for determining topographic changes at an scale equivalent to that of field investigations. Based on the topographic changes, the volume of the debris flows in the study area was estimated to be 3747 m3, which is comparable with the volume estimated based on the data from field investigations.
文摘Objective Volume navigation (Vnav) combines real-time ultrasound (US) with previously acquired volume data from magnetic resonance imaging (MRI) data into a single display. The efficacy of Vnav for preoperative assessment of the extent of breast cancer lesions was evaluated in the present study.Methods Twenty-nine breast cancer patients were evaluated using Vnav during second-look US or preoperative mapping. Retrospective chart review was performed. Correlation detection rates and pathological results were evaluated.Results Vnav identified lesions that were initially detected on MRI in 23 of 29 patients (79.3%). Of the 23 patients who had US correlated lesions, pathological diagnoses of the corresponding lesions were as follows: benign (n=9) and malignant (n=14).Conclusion Vnav may be a useful technique for identification of the extent of breast cancer lesions.
文摘服务段仿真(Service Volume Simulation,SVS)主要用于导航系统服务性能的分析与评估,是导航仿真系统的重要组成部分。在分析了导航系统SVS的特点后,建立了导航系统服务性能分析模型之间的数据流关系,采用SMP2.0(Simulation Model Portability)的基于组件的模型设计方法,提出了面向SVS的仿真模型框架,并基于此框架和SMP2.0的集成方法进行了导航系统SVS的模型设计、开发和集成。该框架包含空间段、环境段、用户段以及分析记录等模型、接口和组件,并通过面向导航系统的SVS仿真应用环境检验了该框架的合理性和可移植性。
