Science.gov

Sample records for c-bogen-ct-unterstuetzte 3d-navigation perkutaner

  1. 3D navigation of endoscopic rhizotomy at the lumbar spine.

    PubMed

    Jentzsch, Thorsten; Sprengel, Kai; Peterer, Lorenz; Mica, Ladislav; Werner, Clément M L

    2016-01-01

    We present a detailed description of the surgical technique and the preliminary results of an endoscopic denervation for patients with chronic low back pain (CLBP) originating from the facet joints (FJ). Endoscopic denervation of the medial branches of the dorsal rami supplying the FJ has recently been appraised as providing excellent intraoperative visualization and long term pain relief for these patients. Conventional endoscopic rhizotomy has been expanded to include a the precise localization of 3D navigation. A surgical description and the results of our first four patients treated with 3D navigated endoscopic rhizotomy (3DNER) are presented. Four patients with a mean age of 59years and a follow-up time of 2months were included. All patients reported pain reduction in the immediate postoperative period, while three patients (75%) had long lasting relief. The patient without persisting relief had previously sustained a lumbar disc prolapse and only achieved minor pain relief with preoperative FJ infiltration, compared to the significant relief that was seen in the other patients. In contrast to conventional rhizotomy, 3DNER enables the surgeon to ablate more precisely and extensively, which is especially useful if scar tissue is present from previous injuries or surgeries. When successful, this technique may provide long lasting pain relief, especially if the preoperative FJ infiltrations are followed by a substantial pain reduction. PMID:26628214

  2. Comparison of different 3D navigation systems by a clinical "user".

    PubMed

    Cartellieri, M; Kremser, J; Vorbeck, F

    2001-01-01

    Three-dimensional navigation systems are routinely used in endoscopic skull base surgery, neurosurgery, maxillo-facial and endoscopic sinus surgery. Their precision can, however, change in the course of one experiment. We have compared five different 3D navigation systems and discuss here possible reasons for the limits of system precision. A plexiglass cube on which test points were marked served as a test-model. Two well-trained system users measured the distances between the test points in each of the five systems. The results were compared with reference data provided by the NUMEREX device at the Technical University of Vienna. The accuracy data shown by all these 3D navigation systems ranged from 0.0 mm to 6.67 mm. The accuracy data of a system calculated in advance did not always correspond with the system precision on the screen. The system precision in the center of the cube was higher than on its surface, which made us conclude that the angle between the tracker system and the pointing device touching the test point may be critical for system precision. Applying an automatic registration step did not result in greater system precision. Slice thickness and the angle of the pointing device seem to be responsible for system precision. PMID:11271433

  3. Comparison of 2D and 3D navigation techniques for percutaneous screw insertion into the scaphoid: results of an experimental cadaver study.

    PubMed

    Catala-Lehnen, Philip; Nüchtern, Jakob V; Briem, Daniel; Klink, Thorsten; Rueger, Johannes M; Lehmann, Wolfgang

    2011-01-01

    Navigation in hand surgery is still in the process of development. Initial studies have demonstrated the feasibility of 2D and 3D navigation for the palmar approach in scaphoid fractures, but a comparison of the possibilities of 2D and 3D navigation for the dorsal approach is still lacking. The aim of the present work was to test navigation for the dorsal approach in the scaphoid using cadaver bones. After development of a special radiolucent resting splint for the dorsal approach, we performed 2D- and 3D-navigated scaphoid osteosynthesis in 12 fresh-frozen cadaver forearms using a headless compression screw (Synthes). The operation time, radiation time, number of trials for screw insertion, and screw positions were analyzed. In six 2D-navigated screw osteosyntheses, we found two false positions with an average radiation time of 5 ± 2 seconds. Using 3D navigation, we detected one false position. A false position indicates divergence from the ideal line of the axis of the scaphoid but without penetration of the cortex. The initial scan clearly increased overall radiation time in the 3D-navigated group, and for both navigation procedures operating time was longer than in our clinical experience without navigation. Nonetheless, 2D and 3D navigation for non-dislocated scaphoid fractures is feasible, and navigation might reduce the risk of choosing an incorrect screw length, thereby possibly avoiding injury to the subtending cortex. The 3D navigation is more difficult to interpret than 2D fluoroscopic navigation but shows greater precision. Overall, navigation is costly, and the moderate advantages it offers for osteosynthesis of scaphoid fractures must be considered critically in comparisons with conventional operating techniques. PMID:21991920

  4. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

    PubMed Central

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications. PMID:26791433

  5. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation.

    PubMed

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications. PMID:26791433

  6. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

    NASA Astrophysics Data System (ADS)

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications.

  7. Design of a 3D Navigation Technique Supporting VR Interaction

    NASA Astrophysics Data System (ADS)

    Boudoin, Pierre; Otmane, Samir; Mallem, Malik

    2008-06-01

    Multimodality is a powerful paradigm to increase the realness and the easiness of the interaction in Virtual Environments (VEs). In particular, the search for new metaphors and techniques for 3D interaction adapted to the navigation task is an important stage for the realization of future 3D interaction systems that support multimodality, in order to increase efficiency and usability. In this paper we propose a new multimodal 3D interaction model called Fly Over. This model is especially devoted to the navigation task. We present a qualitative comparison between Fly Over and a classical navigation technique called gaze-directed steering. The results from preliminary evaluation on the IBISC semi-immersive Virtual Reality/Augmented Realty EVR@ platform show that Fly Over is a user friendly and efficient navigation technique.

  8. 3D Navigation and Integrated Hazard Display in Advanced Avionics: Workload, Performance, and Situation Awareness

    NASA Technical Reports Server (NTRS)

    Wickens, Christopher D.; Alexander, Amy L.

    2004-01-01

    We examined the ability for pilots to estimate traffic location in an Integrated Hazard Display, and how such estimations should be measured. Twelve pilots viewed static images of traffic scenarios and then estimated the outside world locations of queried traffic represented in one of three display types (2D coplanar, 3D exocentric, and split-screen) and in one of four conditions (display present/blank crossed with outside world present/blank). Overall, the 2D coplanar display best supported both vertical (compared to 3D) and lateral (compared to split-screen) traffic position estimation performance. Costs of the 3D display were associated with perceptual ambiguity. Costs of the split screen display were inferred to result from inappropriate attention allocation. Furthermore, although pilots were faster in estimating traffic locations when relying on memory, accuracy was greatest when the display was available.

  9. Almost Like Being at 'Bonneville'

    NASA Technical Reports Server (NTRS)

    2004-01-01

    The Mars Exploration Rover Spirit took this 3-D navigation camera mosaic of the crater nicknamed 'Bonneville' on the 67th martian day, or sol, of its mission. The rover's solar panels can be seen in the foreground, and just above the far crater rim, on the left side, is the rover's heatshield, which is visible as a tiny reflective speck.

  10. Low computation vision-based navigation for a Martian rover

    NASA Technical Reports Server (NTRS)

    Gavin, Andrew S.; Brooks, Rodney A.

    1994-01-01

    Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

  11. Screw Placement Accuracy for Minimally Invasive Transforaminal Lumbar Interbody Fusion Surgery: A Study on 3-D Neuronavigation-Guided Surgery

    PubMed Central

    Torres, Jorge; James, Andrew R.; Alimi, Marjan; Tsiouris, Apostolos John; Geannette, Christian; Härtl, Roger

    2012-01-01

    Purpose The aim of this study was to assess the impact of 3-D navigation for pedicle screw placement accuracy in minimally invasive transverse lumbar interbody fusion (MIS-TLIF). Methods A retrospective review of 52 patients who had MIS-TLIF assisted with 3D navigation is presented. Clinical outcomes were assessed with the Oswestry Disability Index (ODI), Visual Analog Scales (VAS), and MacNab scores. Radiographic outcomes were assessed using X-rays and thin-slice computed tomography. Result The mean age was 56.5 years, and 172 screws were implanted with 16 pedicle breaches (91.0% accuracy rate). Radiographic fusion rate at a mean follow-up of 15.6 months was 87.23%. No revision surgeries were required. The mean improvement in the VAS back pain, VAS leg pain, and ODI at 11.3 months follow-up was 4.3, 4.5, and 26.8 points, respectively. At last follow-up the mean postoperative disc height gain was 4.92 mm and the mean postoperative disc angle gain was 2.79 degrees. At L5–S1 level, there was a significant correlation between a greater disc space height gain and a lower VAS leg score. Conclusion Our data support that application of 3-D navigation in MIS-TLIF is associated with a high level of accuracy in the pedicle screw placement. PMID:24353961

  12. 3D transrectal ultrasound prostate biopsy using a mechanical imaging and needle-guidance system

    NASA Astrophysics Data System (ADS)

    Bax, Jeffrey; Cool, Derek; Gardi, Lori; Montreuil, Jacques; Gil, Elena; Bluvol, Jeremy; Knight, Kerry; Smith, David; Romagnoli, Cesare; Fenster, Aaron

    2008-03-01

    Prostate biopsy procedures are generally limited to 2D transrectal ultrasound (TRUS) imaging for biopsy needle guidance. This limitation results in needle position ambiguity and an insufficient record of biopsy core locations in cases of prostate re-biopsy. We have developed a multi-jointed mechanical device that supports a commercially available TRUS probe with an integrated needle guide for precision prostate biopsy. The device is fixed at the base, allowing the joints to be manually manipulated while fully supporting its weight throughout its full range of motion. Means are provided to track the needle trajectory and display this trajectory on a corresponding TRUS image. This allows the physician to aim the needle-guide at predefined targets within the prostate, providing true 3D navigation. The tracker has been designed for use with several end-fired transducers that can be rotated about the longitudinal axis of the probe to generate 3D images. The tracker reduces the variability associated with conventional hand-held probes, while preserving user familiarity and procedural workflow. In a prostate phantom, biopsy needles were guided to within 2 mm of their targets, and the 3D location of the biopsy core was accurate to within 3 mm. The 3D navigation system is validated in the presence of prostate motion in a preliminary patient study.

  13. Mackay campus of environmental education and digital cultural construction: the application of 3D virtual reality

    NASA Astrophysics Data System (ADS)

    Chien, Shao-Chi; Chung, Yu-Wei; Lin, Yi-Hsuan; Huang, Jun-Yi; Chang, Jhih-Ting; He, Cai-Ying; Cheng, Yi-Wen

    2012-04-01

    This study uses 3D virtual reality technology to create the "Mackay campus of the environmental education and digital cultural 3D navigation system" for local historical sites in the Tamsui (Hoba) area, in hopes of providing tourism information and navigation through historical sites using a 3D navigation system. We used Auto CAD, Sketch Up, and SpaceEyes 3D software to construct the virtual reality scenes and create the school's historical sites, such as the House of Reverends, the House of Maidens, the Residence of Mackay, and the Education Hall. We used this technology to complete the environmental education and digital cultural Mackay campus . The platform we established can indeed achieve the desired function of providing tourism information and historical site navigation. The interactive multimedia style and the presentation of the information will allow users to obtain a direct information response. In addition to showing the external appearances of buildings, the navigation platform can also allow users to enter the buildings to view lifelike scenes and textual information related to the historical sites. The historical sites are designed according to their actual size, which gives users a more realistic feel. In terms of the navigation route, the navigation system does not force users along a fixed route, but instead allows users to freely control the route they would like to take to view the historical sites on the platform.

  14. Endoskopie, minimal invasive chirurgische und navigierte Verfahren in der Urologie

    NASA Astrophysics Data System (ADS)

    Grosse, Joachim; von Walter, Matthias; Jakse, Gerhard

    Betrachtet man die letzten 100 Jahre der Urologie in Deutschland seit Gründung ihrer Fachgesellschaft 1906 in Stuttgart, so sind sicherlich die letzten 25 Jahre von umfassenden Entwicklungen mit z. T. vollständigen Umwälzungen bisheriger Therapien und Methoden auf urologischen Fachgebiet gekennzeichnet. In erster Linie handelte es sich dabei um minimal invasive endoskopische Techniken wie perkutane Nierenchirurgie, Ureterorenoskopie, videoendoskopisch unterstütze transurethrale Elektroresektionen der Prostata und von Blasentumore sowie die Laparoskopie. Sie führten zu besseren operativen Ergebnissen und einer deutlichen Senkung der Morbidität der entsprechenden Behandlung urologischer Krankheitsbilder, mit der Konsequenz, dass einige bisher als Standard gültige offene Operationsverfahren abgelöst wurden.

  15. The evolution of image-guided lumbosacral spine surgery

    PubMed Central

    Faulkner, Austin R.; Pasciak, Alexander S.; Bradley, Yong C.

    2015-01-01

    Techniques and approaches of spinal fusion have considerably evolved since their first description in the early 1900s. The incorporation of pedicle screw constructs into lumbosacral spine surgery is among the most significant advances in the field, offering immediate stability and decreased rates of pseudarthrosis compared to previously described methods. However, early studies describing pedicle screw fixation and numerous studies thereafter have demonstrated clinically significant sequelae of inaccurate surgical fusion hardware placement. A number of image guidance systems have been developed to reduce morbidity from hardware malposition in increasingly complex spine surgeries. Advanced image guidance systems such as intraoperative stereotaxis improve the accuracy of pedicle screw placement using a variety of surgical approaches, however their clinical indications and clinical impact remain debated. Beginning with intraoperative fluoroscopy, this article describes the evolution of image guided lumbosacral spinal fusion, emphasizing two-dimensional (2D) and three-dimensional (3D) navigational methods. PMID:25992368

  16. 3-D Maps and Compasses in the Brain.

    PubMed

    Finkelstein, Arseny; Las, Liora; Ulanovsky, Nachum

    2016-07-01

    The world has a complex, three-dimensional (3-D) spatial structure, but until recently the neural representation of space was studied primarily in planar horizontal environments. Here we review the emerging literature on allocentric spatial representations in 3-D and discuss the relations between 3-D spatial perception and the underlying neural codes. We suggest that the statistics of movements through space determine the topology and the dimensionality of the neural representation, across species and different behavioral modes. We argue that hippocampal place-cell maps are metric in all three dimensions, and might be composed of 2-D and 3-D fragments that are stitched together into a global 3-D metric representation via the 3-D head-direction cells. Finally, we propose that the hippocampal formation might implement a neural analogue of a Kalman filter, a standard engineering algorithm used for 3-D navigation. PMID:27442069

  17. 3D scintigraphic imaging and navigation in radioguided surgery: freehand SPECT technology and its clinical applications.

    PubMed

    Bluemel, Christina; Matthies, Philipp; Herrmann, Ken; Povoski, Stephen P

    2016-01-01

    Freehand SPECT (fhSPECT) is a technology platform for providing 3-dimensional (3D) navigation for radioguided surgical procedures, such as sentinel lymph node (SLN) biopsy (SLNB). In addition to the information provided by conventional handheld gamma detection probes, fhSPECT allows for direct visualization of the distribution of radioactivity in any given region of interest, allowing for improved navigation to radioactive target lesions and providing accurate lesion depth measurements. Herein, we will review the currently available clinical data on the use of fhSPECT: (i) for SLNB of various malignancies, including difficult-to-detect SLNs, and (ii) for radioguided localization of solid tumors. Moreover, the combination of fhSPECT with other technologies (e.g., small field-of-view gamma cameras, and diagnostic ultrasound) is discussed. These technical advances have the potential to greatly expand the clinical application of radioguided surgery in the future. PMID:26878667

  18. Accuracy analysis of an image-guided system for vertebroplasty spinal therapy based on electromagnetic tracking of instruments

    NASA Astrophysics Data System (ADS)

    Ding, Jienan; Khan, Noureen; Cheng, Patrick; Wilson, Emmanuel; Watson, Vance; Cleary, Kevin; Yaniv, Ziv

    2008-03-01

    Vertebroplasty is a minimally invasive procedure in which bone cement is pumped into a fractured vertebral body that has been weakened by osteoporosis, long-term steroid use, or cancer. In this therapy, a trocar (large bore hollow needle) is inserted through the pedicle of the vertebral body which is a narrow passage and requires great skill on the part of the physician to avoid going outside of the pathway. In clinical practice, this procedure is typically done using 2D X-ray fluoroscopy. To investigate the feasibility of providing 3D image guidance, we developed an image-guided system based on electromagnetic tracking and our open source software platform the Image-Guided Surgery Toolkit (IGSTK). The system includes path planning, interactive 3D navigation, and dynamic referencing. This paper will describe the system and our initial evaluation.

  19. Applying FastSLAM to Articulated Rovers

    NASA Astrophysics Data System (ADS)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  20. Sperm navigation along helical paths in 3D chemoattractant landscapes

    NASA Astrophysics Data System (ADS)

    Jikeli, Jan F.; Alvarez, Luis; Friedrich, Benjamin M.; Wilson, Laurence G.; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U. Benjamin

    2015-08-01

    Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an `off' Ca2+ response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes.

  1. Evolutionary approach to introduce 3D into the cockpit

    NASA Astrophysics Data System (ADS)

    Theunissen, Eric; Sachs, Gottfried; Dobler, Klaus

    1998-07-01

    Perspective flightpath displays and the depiction of 3-D terrain are regarded as a potential means to increase safety. Although the technology to generate such presentations in real-time is available, other issues which are required for a safe introduction must still be resolved. This paper focuses on some of the major obstacles which are still present. It discusses several objections against perspective flightpath displays and shows why most of them are no longer justified. The potential for an increase in safety is related to navigation, guidance, and control task requirements, and potential implementations, ranging in complexity, to satisfy these requirements are discussed. This classification allows a gradual transition from today's 2-D symbolic displays to future spatial displays. The paper proposes an approach which supports an evolutionary introduction of 3-D navigation displays into the cockpit.

  2. 'Bonneville' in 3-D!

    NASA Technical Reports Server (NTRS)

    2004-01-01

    The Mars Exploration Rover Spirit took this 3-D navigation camera mosaic of the crater called 'Bonneville' after driving approximately 13 meters (42.7 feet) to get a better vantage point. Spirit's current position is close enough to the edge to see the interior of the crater, but high enough and far enough back to get a view of all of the walls. Because scientists and rover controllers are so pleased with this location, they will stay here for at least two more martian days, or sols, to take high resolution panoramic camera images of 'Bonneville' in its entirety. Just above the far crater rim, on the left side, is the rover's heatshield, which is visible as a tiny reflective speck.

  3. Sperm navigation along helical paths in 3D chemoattractant landscapes

    PubMed Central

    Jikeli, Jan F.; Alvarez, Luis; Friedrich, Benjamin M.; Wilson, Laurence G.; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U. Benjamin

    2015-01-01

    Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an ‘off' Ca2+ response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes. PMID:26278469

  4. Sperm navigation along helical paths in 3D chemoattractant landscapes.

    PubMed

    Jikeli, Jan F; Alvarez, Luis; Friedrich, Benjamin M; Wilson, Laurence G; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U Benjamin

    2015-01-01

    Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an 'off' Ca(2+) response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes. PMID:26278469

  5. Real-time three-dimensional color doppler evaluation of the flow convergence zone for quantification of mitral regurgitation: Validation experimental animal study and initial clinical experience

    NASA Technical Reports Server (NTRS)

    Sitges, Marta; Jones, Michael; Shiota, Takahiro; Qin, Jian Xin; Tsujino, Hiroyuki; Bauer, Fabrice; Kim, Yong Jin; Agler, Deborah A.; Cardon, Lisa A.; Zetts, Arthur D.; Panza, Julio A.; Thomas, James D.

    2003-01-01

    BACKGROUND: Pitfalls of the flow convergence (FC) method, including 2-dimensional imaging of the 3-dimensional (3D) geometry of the FC surface, can lead to erroneous quantification of mitral regurgitation (MR). This limitation may be mitigated by the use of real-time 3D color Doppler echocardiography (CE). Our objective was to validate a real-time 3D navigation method for MR quantification. METHODS: In 12 sheep with surgically induced chronic MR, 37 different hemodynamic conditions were studied with real-time 3DCE. Using real-time 3D navigation, the radius of the largest hemispherical FC zone was located and measured. MR volume was quantified according to the FC method after observing the shape of FC in 3D space. Aortic and mitral electromagnetic flow probes and meters were balanced against each other to determine reference MR volume. As an initial clinical application study, 22 patients with chronic MR were also studied with this real-time 3DCE-FC method. Left ventricular (LV) outflow tract automated cardiac flow measurement (Toshiba Corp, Tokyo, Japan) and real-time 3D LV stroke volume were used to quantify the reference MR volume (MR volume = 3DLV stroke volume - automated cardiac flow measurement). RESULTS: In the sheep model, a good correlation and agreement was seen between MR volume by real-time 3DCE and electromagnetic (y = 0.77x + 1.48, r = 0.87, P <.001, delta = -0.91 +/- 2.65 mL). In patients, real-time 3DCE-derived MR volume also showed a good correlation and agreement with the reference method (y = 0.89x - 0.38, r = 0.93, P <.001, delta = -4.8 +/- 7.6 mL). CONCLUSIONS: real-time 3DCE can capture the entire FC image, permitting geometrical recognition of the FC zone geometry and reliable MR quantification.

  6. Tightly Coupled Low Cost 3D RISS/GPS Integration Using a Mixture Particle Filter for Vehicular Navigation

    PubMed Central

    Georgy, Jacques; Noureldin, Aboelmagd

    2011-01-01

    Satellite navigation systems such as the global positioning system (GPS) are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF) was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle’s odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s) even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift, which are

  7. Tightly coupled low cost 3D RISS/GPS integration using a mixture particle filter for vehicular navigation.

    PubMed

    Georgy, Jacques; Noureldin, Aboelmagd

    2011-01-01

    Satellite navigation systems such as the global positioning system (GPS) are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF) was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle's odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s) even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift, which are

  8. Comparison of Isocentric C-Arm 3-Dimensional Navigation and Conventional Fluoroscopy for Percutaneous Retrograde Screwing for Anterior Column Fracture of Acetabulum

    PubMed Central

    He, Jiliang; Tan, Guoqing; Zhou, Dongsheng; Sun, Liang; Li, Qinghu; Yang, Yongliang; Liu, Ping

    2016-01-01

    Abstract Percutaneous screw insertion for minimally displaced or reducible acetabular fracture using x-ray fluoroscopy and computer-assisted navigation system has been advocated by some authors. The purpose of this study was to compare intraoperative conditions and clinical results between isocentric C-arm 3-dimensional (Iso-C 3D) fluoroscopy and conventional fluoroscopy for percutaneous retrograde screwing of acetabular anterior column fracture. A prospective cohort study was conducted. A total of 22 patients were assigned to 2 different groups: 10 patients in the Iso-C 3D navigation group and 12 patients in the conventional group. The operative time, fluoroscopic time, time of screw insertion, blood loss, and accuracy were analyzed between the 2 groups. There were significant differences in operative time, screw insertion time, fluoroscopy time, and mean blood loss between the 2 groups. Totally 2 of 12 (16.7%) screws were misplaced in the conventional fluoroscopy group, and all 10 screws were in safe zones in the navigation group. Percutaneous screw fixation using the Iso-C 3D computer-assisted navigation system significantly reduced the intraoperative fluoroscopy time and blood loss in percutaneous screwing for acetabular anterior column fracture. The Iso-C 3D computer-assisted navigation system provided a reliable and effective method for percutaneous screw insertion in acetabular anterior column fractures compared to conventional fluoroscopy. PMID:26765448

  9. Comparison of Isocentric C-Arm 3-Dimensional Navigation and Conventional Fluoroscopy for Percutaneous Retrograde Screwing for Anterior Column Fracture of Acetabulum: An Observational Study.

    PubMed

    He, Jiliang; Tan, Guoqing; Zhou, Dongsheng; Sun, Liang; Li, Qinghu; Yang, Yongliang; Liu, Ping

    2016-01-01

    Percutaneous screw insertion for minimally displaced or reducible acetabular fracture using x-ray fluoroscopy and computer-assisted navigation system has been advocated by some authors. The purpose of this study was to compare intraoperative conditions and clinical results between isocentric C-arm 3-dimensional (Iso-C 3D) fluoroscopy and conventional fluoroscopy for percutaneous retrograde screwing of acetabular anterior column fracture.A prospective cohort study was conducted. A total of 22 patients were assigned to 2 different groups: 10 patients in the Iso-C 3D navigation group and 12 patients in the conventional group. The operative time, fluoroscopic time, time of screw insertion, blood loss, and accuracy were analyzed between the 2 groups.There were significant differences in operative time, screw insertion time, fluoroscopy time, and mean blood loss between the 2 groups. Totally 2 of 12 (16.7%) screws were misplaced in the conventional fluoroscopy group, and all 10 screws were in safe zones in the navigation group. Percutaneous screw fixation using the Iso-C 3D computer-assisted navigation system significantly reduced the intraoperative fluoroscopy time and blood loss in percutaneous screwing for acetabular anterior column fracture.The Iso-C 3D computer-assisted navigation system provided a reliable and effective method for percutaneous screw insertion in acetabular anterior column fractures compared to conventional fluoroscopy. PMID:26765448

  10. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database

    PubMed Central

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-01

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

  11. In vivo cell tracking and quantification method in adult zebrafish

    NASA Astrophysics Data System (ADS)

    Zhang, Li; Alt, Clemens; Li, Pulin; White, Richard M.; Zon, Leonard I.; Wei, Xunbin; Lin, Charles P.

    2012-03-01

    Zebrafish have become a powerful vertebrate model organism for drug discovery, cancer and stem cell research. A recently developed transparent adult zebrafish using double pigmentation mutant, called casper, provide unparalleled imaging power in in vivo longitudinal analysis of biological processes at an anatomic resolution not readily achievable in murine or other systems. In this paper we introduce an optical method for simultaneous visualization and cell quantification, which combines the laser scanning confocal microscopy (LSCM) and the in vivo flow cytometry (IVFC). The system is designed specifically for non-invasive tracking of both stationary and circulating cells in adult zebrafish casper, under physiological conditions in the same fish over time. The confocal imaging part in this system serves the dual purposes of imaging fish tissue microstructure and a 3D navigation tool to locate a suitable vessel for circulating cell counting. The multi-color, multi-channel instrument allows the detection of multiple cell populations or different tissues or organs simultaneously. We demonstrate initial testing of this novel instrument by imaging vasculature and tracking circulating cells in CD41: GFP/Gata1: DsRed transgenic casper fish whose thrombocytes/erythrocytes express the green and red fluorescent proteins. Circulating fluorescent cell incidents were recorded and counted repeatedly over time and in different types of vessels. Great application opportunities in cancer and stem cell researches are discussed.

  12. MRI-based microrobotic system for the propulsion and navigation of ferromagnetic microcapsules.

    PubMed

    Belharet, Karim; Folio, David; Ferreira, Antoine

    2010-06-01

    This paper presents real-time MRI-based control of a ferromagnetic microcapsule for endovascular navigation. The concept was studied for future development of microdevices designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3-D navigation of a microdevice in blood vessels, namely: (i) vessel path planner, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the position recognition of the microrobot into the blood vessel is extracted using Frangi vesselness filtering from the pre-operation images (3-D MRI imaging). Then, a set of minimal trajectories is predefined, using path-planning algorithms, to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Generalized Predictive Controller (GPC) is proposed for robust time-multiplexed navigation along a two-dimensional (2D) path in presence of pulsative flow. PMID:20497068

  13. Real-Time Correction of Rigid-Body-Motion-Induced Phase Errors for Diffusion-Weighted Steady State Free Precession Imaging

    PubMed Central

    O’Halloran, R; Aksoy, M; Aboussouan, E; Peterson, E; Van, A; Bammer, R

    2014-01-01

    Purpose Diffusion contrast in diffusion-weighted steady state free precession MRI is generated through the constructive addition of signal from many coherence pathways. Motion-induced phase causes destructive interference which results in loss of signal magnitude and diffusion contrast. In this work, a 3D navigator-based real-time correction of the rigid-body-motion-induced phase errors is developed for diffusion-weighted steady state free precession MRI. Methods The efficacy of the real-time prospective correction method in preserving phase coherence of the steady-state is tested in 3D phantom experiments and 3D scans of healthy human subjects. Results In nearly all experiments, the signal magnitude in images obtained with proposed prospective correction was higher than the signal magnitude in images obtained with no correction. In the human subjects the mean magnitude signal in the data was up to 30 percent higher with prospective motion correction than without. Prospective correction never resulted in a decrease in mean signal magnitude in either the data or in the images. Conclusions The proposed prospective motion correction method is shown to preserve the phase coherence of the steady state in diffusion-weighted steady state free precession MRI, thus mitigating signal magnitude losses that would confound the desired diffusion contrast. PMID:24715414

  14. ANTS2 package: simulation and experimental data processing for Anger camera type detectors

    NASA Astrophysics Data System (ADS)

    Morozov, A.; Solovov, V.; Martins, R.; Neves, F.; Domingos, V.; Chepel, V.

    2016-04-01

    ANTS2 is a simulation and data processing package developed for position sensitive detectors with Anger camera type readout. The simulation module of ANTS2 is based on ROOT package from CERN, which is used to store the detector geometry and to perform 3D navigation. The module is capable of simulating particle sources, performing particle tracking, generating photons of primary and secondary scintillation, tracing optical photons and generating photosensor signals. The reconstruction module features several position reconstruction methods based on the statistical reconstruction algorithms (including GPU-based implementations), artificial neural networks and k-NN searches. The module can process simulated as well as imported experimental data containing photosensor signals. A custom library for B-spline parameterization of spatial response of photosensors is implemented which can be used to calculate and parameterize the spatial response of a detector. The package includes a graphical user interface with an extensive set of configuration, visualization and analysis tools. ANTS2 is being developed with the focus on the iterative (adaptive) reconstruction of the detector response using flood field irradiation data. The package is implemented in C++ programming language and it is a multiplatform, open source project.

  15. Robot navigation in cluttered 3-D environments using preference-based fuzzy behaviors.

    PubMed

    Shi, Dongqing; Collins, Emmanuel G; Dunlap, Damion

    2007-12-01

    Autonomous navigation systems for mobile robots have been successfully deployed for a wide range of planar ground-based tasks. However, very few counterparts of previous planar navigation systems were developed for 3-D motion, which is needed for both unmanned aerial and underwater vehicles. A novel fuzzy behavioral scheme for navigating an unmanned helicopter in cluttered 3-D spaces is developed. The 3-D navigation problem is decomposed into several identical 2-D navigation subproblems, each of which is solved by using preference-based fuzzy behaviors. Due to the shortcomings of vector summation during the fusion of the 2-D subproblems, instead of directly outputting steering subdirections by their own defuzzification processes, the intermediate preferences of the subproblems are fused to create a 3-D solution region, representing degrees of preference for the robot movement. A new defuzzification algorithm that steers the robot by finding the centroid of a 3-D convex region of maximum volume in the 3-D solution region is developed. A fuzzy speed-control system is also developed to ensure efficient and safe navigation. Substantial simulations have been carried out to demonstrate that the proposed algorithm can smoothly and effectively guide an unmanned helicopter through unknown and cluttered urban and forest environments. PMID:18179068

  16. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

    PubMed

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-01

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

  17. Total 3D Airo® Navigation for Minimally Invasive Transforaminal Lumbar Interbody Fusion.

    PubMed

    Lian, Xiaofeng; Navarro-Ramirez, Rodrigo; Berlin, Connor; Jada, Ajit; Moriguchi, Yu; Zhang, Qiwei; Härtl, Roger

    2016-01-01

    Introduction. A new generation of iCT scanner, Airo®, has been introduced. The purpose of this study is to describe how Airo facilitates minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF). Method. We used the latest generation of portable iCT in all cases without the assistance of K-wires. We recorded the operation time, number of scans, and pedicle screw accuracy. Results. From January 2015 to December 2015, 33 consecutive patients consisting of 17 men and 16 women underwent single-level or two-level MIS-TLIF operations in our institution. The ages ranged from 23 years to 86 years (mean, 66.6 years). We treated all the cases in MIS fashion. In four cases, a tubular laminectomy at L1/2 was performed at the same time. The average operation time was 192.8 minutes and average time of placement per screw was 2.6 minutes. No additional fluoroscopy was used. Our screw accuracy rate was 98.6%. No complications were encountered. Conclusions. Airo iCT MIS-TLIF can be used for initial planning of the skin incision, precise screw, and cage placement, without the need for fluoroscopy. "Total navigation" (complete intraoperative 3D navigation without fluoroscopy) can be achieved by combining Airo navigation with navigated guide tubes for screw placement. PMID:27529069

  18. Development of fluoroscopic registration in spinal neuronavigation

    NASA Astrophysics Data System (ADS)

    Abbasi, Hamid R.; Grzeszczuk, Robert; Chin, Shao; Holz, H.; Hariri, Sanaz; Badr, Rana; Kim, Daniel; Adler, John R.; Shahidi, Ramin

    2001-05-01

    We present a system involving a computer-instrumented fluoroscope for the purpose of 3D navigation and guidance using pre-operative diagnostic scans as a reference. The goal of the project is to devise a computer-assisted tool that will improve the accuracy, reduce risk, minimize the invasiveness, and shorten the time it takes to perform a variety of neurosurgical and orthopedic procedures of the spine. For this purpose we propose an apparatus that will track surgical tools and localize them with respect to the patient's 3D anatomy and pre-operative 3D diagnostic scans using intraoperative fluoroscopy for in situ registration and localization of embedded fiducials. Preliminary studies have found a fiducial registration error (FRE) of 1.41 mm and a Target Localization Error (TLE) of 0.48 mm. The resulting system leverages equipment already commonly available in the operating room (OR), providing an important new functionality that is free of many current limitations, such as the inadequacy of skin fiducials for spinal neuronavigation, while keeping costs contained.

  19. Analysis of biomedical data with multilevel glyphs

    PubMed Central

    2014-01-01

    Background This paper presents multilevel data glyphs optimized for the interactive knowledge discovery and visualization of large biomedical data sets. Data glyphs are three- dimensional objects defined by multiple levels of geometric descriptions (levels of detail) combined with a mapping of data attributes to graphical elements and methods, which specify their spatial position. Methods In the data mapping phase, which is done by a biomedical expert, meta information about the data attributes (scale, number of distinct values) are compared with the visual capabilities of the graphical elements in order to give a feedback to the user about the correctness of the variable mapping. The spatial arrangement of glyphs is done in a dimetric view, which leads to high data density, a simplified 3D navigation and avoids perspective distortion. Results We show the usage of data glyphs in the disease analyser a visual analytics application for personalized medicine and provide an outlook to a biomedical web visualization scenario. Conclusions Data glyphs can be successfully applied in the disease analyser for the analysis of big medical data sets. Especially the automatic validation of the data mapping, selection of subgroups within histograms and the visual comparison of the value distributions were seen by experts as an important functionality. PMID:25079119

  20. Total 3D Airo® Navigation for Minimally Invasive Transforaminal Lumbar Interbody Fusion

    PubMed Central

    Lian, Xiaofeng; Berlin, Connor; Moriguchi, Yu; Zhang, Qiwei; Härtl, Roger

    2016-01-01

    Introduction. A new generation of iCT scanner, Airo®, has been introduced. The purpose of this study is to describe how Airo facilitates minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF). Method. We used the latest generation of portable iCT in all cases without the assistance of K-wires. We recorded the operation time, number of scans, and pedicle screw accuracy. Results. From January 2015 to December 2015, 33 consecutive patients consisting of 17 men and 16 women underwent single-level or two-level MIS-TLIF operations in our institution. The ages ranged from 23 years to 86 years (mean, 66.6 years). We treated all the cases in MIS fashion. In four cases, a tubular laminectomy at L1/2 was performed at the same time. The average operation time was 192.8 minutes and average time of placement per screw was 2.6 minutes. No additional fluoroscopy was used. Our screw accuracy rate was 98.6%. No complications were encountered. Conclusions. Airo iCT MIS-TLIF can be used for initial planning of the skin incision, precise screw, and cage placement, without the need for fluoroscopy. “Total navigation” (complete intraoperative 3D navigation without fluoroscopy) can be achieved by combining Airo navigation with navigated guide tubes for screw placement. PMID:27529069

  1. 3D segmentation of the true and false lumens on CT aortic dissection images

    NASA Astrophysics Data System (ADS)

    Fetnaci, Nawel; Łubniewski, Paweł; Miguel, Bruno; Lohou, Christophe

    2013-03-01

    Our works are related to aortic dissections which are a medical emergency and can quickly lead to death. In this paper, we want to retrieve in CT images the false and the true lumens which are aortic dissection features. Our aim is to provide a 3D view of the lumens that we can difficultly obtain either by volume rendering or by another visualization tool which only directly gives the outer contour of the aorta; or by other segmentation methods because they mainly directly segment either only the outer contour of the aorta or other connected arteries and organs both. In our work, we need to segment the two lumens separately; this segmentation will allow us to: distinguish them automatically, facilitate the landing of the aortic prosthesis, propose a virtual 3d navigation and do quantitative analysis. We chose to segment these data by using a deformable model based on the fast marching method. In the classical fast marching approach, a speed function is used to control the front propagation of a deforming curve. The speed function is only based on the image gradient. In our CT images, due to the low resolution, with the fast marching the front propagates from a lumen to the other; therefore, the gradient data is insufficient to have accurate segmentation results. In the paper, we have adapted the fast marching method more particularly by modifying the speed function and we succeed in segmenting the two lumens separately.

  2. Visual feedback mounted on surgical tool: proof of concept

    NASA Astrophysics Data System (ADS)

    Carter, K.; Vaughan, T.; Holden, M.; Gauvin, G.; Pezeshki, P.; Lasso, A.; Ungi, T.; Morin, E.; Rudan, J.; Engel, C. J.; Fichtinger, G.

    2016-03-01

    PURPOSE: When using surgical navigation systems in the operating room, feedback is typically displayed on a computer monitor. The surgeon's attention is usually focused on the tool and the surgical site, so the display is typically out of the direct line of sight. The purpose is to develop a visual feedback device mounted on an electromagnetically tracked electrosurgical cauterizer which will provide navigation information for the surgeon in their field of view. METHODS: A study was conducted to determine the usefulness of the visual feedback in adjunct to the navigation system currently in use. Subjects were asked to follow tumor contours with the tracked cauterizer using 3D screen navigation with the mounted visual feedback and the 3D navigation screen alone. The movements of the cauterizer were recorded. RESULTS: The study showed a significant decrease in the subjects' distance from the tumor margin, a significant increase in the subjects' confidence to avoid cutting the tumor and a statistically significant reduction in the subjects' perception of the need to look at the screen when using the visual feedback device compared to without. DISCUSSION: The LED feedback device helped the subjects feel confident in their ability to identify safe margins and minimize the amount of healthy tissue removed in the tumor resection. CONCLUSION: Good potential for the visual LED feedback has been shown. With additional training, this approach promises to lead to improved resection technique, with fewer cuts into the tumor and less healthy tissue removed.

  3. Subspacing Based on Connected Opening Spaces and for Different Locomotion Types Using Geometric and Graph Based Representation in Multilayered Space-Event Model (mlsem)

    NASA Astrophysics Data System (ADS)

    Khan, A. A.; Kolbe, T. H.

    2013-09-01

    Indoor navigation has to deal with more issues as compared to outdoor navigation. Those issues include but are not limited to; need more level of detail to process enclosing area around navigating subject or object, consideration of the context of navigation (about locomotion type and its operating environment), and dealing with unconstrained indoor space for accurate results. Because of these complex issues, most of the frameworks for indoor navigation support for only one single type of locomotion, i.e. either walking, driving, or flying. And this decision to select a specific type of locomotion results in restricting the use of representation of indoor space for other types of locomotion e.g. graph-based abstraction of indoor space for driving cannot be used for flying. In this work, we addressed the problem of supporting different types of locomotion in indoor space by determining 3D navigable subspace for the given locomotion type based on its physical constraints. While determining 3D subspace, we focused on some issues that include indoor space representation, precision of subspace computation, and "the consideration of the context of navigation" (about indoor space and the locomotion type). To achieve better representation of indoor space, the subspaces are determined based on the connected opening spaces. And for precise subspace computation according to the given locomotion type, we used the geometric methods i.e. configuration space from robotics field. Furthermore, a semantically enriched 3D indoor virtual model in CityGML format and different locomotion types (flying, driving, and walking) containing information (semantics, geometry, and topology) were considered to examine the context of navigation. Last but not least, the subspacing procedure was presented and implemented in a sound mathematical framework i.e. Multilayered Space-Event Model (MLSEM) as proposed by Becker, Nagel, and Kolbe in 2008 and 2009.

  4. Real-time synthetic vision cockpit display for general aviation

    NASA Astrophysics Data System (ADS)

    Hansen, Andrew J.; Smith, W. Garth; Rybacki, Richard M.

    1999-07-01

    Low cost, high performance graphics solutions based on PC hardware platforms are now capable of rendering synthetic vision of a pilot's out-the-window view during all phases of flight. When coupled to a GPS navigation payload the virtual image can be fully correlated to the physical world. In particular, differential GPS services such as the Wide Area Augmentation System WAAS will provide all aviation users with highly accurate 3D navigation. As well, short baseline GPS attitude systems are becoming a viable and inexpensive solution. A glass cockpit display rendering geographically specific imagery draped terrain in real-time can be coupled with high accuracy (7m 95% positioning, sub degree pointing), high integrity (99.99999% position error bound) differential GPS navigation/attitude solutions to provide both situational awareness and 3D guidance to (auto) pilots throughout en route, terminal area, and precision approach phases of flight. This paper describes the technical issues addressed when coupling GPS and glass cockpit displays including the navigation/display interface, real-time 60 Hz rendering of terrain with multiple levels of detail under demand paging, and construction of verified terrain databases draped with geographically specific satellite imagery. Further, on-board recordings of the navigation solution and the cockpit display provide a replay facility for post-flight simulation based on live landings as well as synchronized multiple display channels with different views from the same flight. PC-based solutions which integrate GPS navigation and attitude determination with 3D visualization provide the aviation community, and general aviation in particular, with low cost high performance guidance and situational awareness in all phases of flight.

  5. Compressed sensing for rapid late gadolinium enhanced imaging of the left atrium: A preliminary study.

    PubMed

    Kamesh Iyer, Srikant; Tasdizen, Tolga; Burgon, Nathan; Kholmovski, Eugene; Marrouche, Nassir; Adluru, Ganesh; DiBella, Edward

    2016-09-01

    Current late gadolinium enhancement (LGE) imaging of left atrial (LA) scar or fibrosis is relatively slow and requires 5-15min to acquire an undersampled (R=1.7) 3D navigated dataset. The GeneRalized Autocalibrating Partially Parallel Acquisitions (GRAPPA) based parallel imaging method is the current clinical standard for accelerating 3D LGE imaging of the LA and permits an acceleration factor ~R=1.7. Two compressed sensing (CS) methods have been developed to achieve higher acceleration factors: a patch based collaborative filtering technique tested with acceleration factor R~3, and a technique that uses a 3D radial stack-of-stars acquisition pattern (R~1.8) with a 3D total variation constraint. The long reconstruction time of these CS methods makes them unwieldy to use, especially the patch based collaborative filtering technique. In addition, the effect of CS techniques on the quantification of percentage of scar/fibrosis is not known. We sought to develop a practical compressed sensing method for imaging the LA at high acceleration factors. In order to develop a clinically viable method with short reconstruction time, a Split Bregman (SB) reconstruction method with 3D total variation (TV) constraints was developed and implemented. The method was tested on 8 atrial fibrillation patients (4 pre-ablation and 4 post-ablation datasets). Blur metric, normalized mean squared error and peak signal to noise ratio were used as metrics to analyze the quality of the reconstructed images, Quantification of the extent of LGE was performed on the undersampled images and compared with the fully sampled images. Quantification of scar from post-ablation datasets and quantification of fibrosis from pre-ablation datasets showed that acceleration factors up to R~3.5 gave good 3D LGE images of the LA wall, using a 3D TV constraint and constrained SB methods. This corresponds to reducing the scan time by half, compared to currently used GRAPPA methods. Reconstruction of 3D LGE images

  6. Geomatics techniques applied to time series of aerial images for multitemporal geomorphological analysis of the Miage Glacier (Mont Blanc).

    NASA Astrophysics Data System (ADS)

    Perotti, Luigi; Carletti, Roberto; Giardino, Marco; Mortara, Giovanni

    2010-05-01

    The Miage glacier is the major one in the Italian side of the Mont Blanc Massif, the third by area and the first by longitudinal extent among Italian glaciers. It is a typical debris covered glacier, since the end of the L.I.A. The debris coverage reduces ablation, allowing a relative stability of the glacier terminus, which is characterized by a wide and articulated moraine apparatus. For its conservative landforms, the Miage Glacier has a great importance for the analysis of the geomorphological response to recent climatic changes. Thanks to an organized existing archive of multitemporal aerial images (1935 to present) a photogrammetric approach has been applied to detect recent geomorphological changes in the Miage glacial basin. The research team provided: a) to digitize all the available images (still in analogic form) through photogrammetric scanners (very low image distortions devices) taking care of correctly defining the resolution of the acquisition compared to the scale mapping images are suitable for; b) to import digitized images into an appropriate digital photogrammetry software environment; c) to manage images in order, where possible, to carried out the stereo models orientation necessary for 3D navigation and plotting of critical geometric features of the glacier. Recognized geometric feature, referring to different periods, can be transferred to vector layers and imported in a GIS for further comparisons and investigations; d) to produce multi-temporal Digital Elevation Models for glacier volume changes; e) to perform orthoprojection of such images to obtain multitemporal orthoimages useful for areal an planar terrain evaluation and thematic analysis; f) to evaluate both planimetric positioning and height determination accuracies reachable through the photogrammetric process. Users have to known reliability of the measures they can do over such products. This can drive them to define the applicable field of this approach and this can help them to

  7. The Engelbourg's ruins: from 3D TLS point cloud acquisition to 3D virtual and historic models

    NASA Astrophysics Data System (ADS)

    Koehl, Mathieu; Berger, Solveig; Nobile, Sylvain

    2014-05-01

    . The 3D model integrated into a GIS is now a precious means of communication for the valuation of the site. Accessible to all, including to the distant people, he allows discover the castle and his history in an educational and relevant way. From an archaeological point of view, the 3D model brings an overall view and a backward movement on the constitution of the site, which a 2D document cannot easily offer. The 3D navigation and the integration of 2D data in the model allow analyze vestiges in another way, contributing to the faster establishment of new hypotheses. Complementary to other methods already exploited in archaeology, the analysis by the 3D vision is, for the scientists, a significant saving of time which they can so dedicate to the more thorough study of certain put aside hypotheses. In parallel, we created several panoramas, and set up a virtual and interactive visit of the site. In the optics to perpetuate this project, and to offer to the future users the ways to continue and to update this study, we tested and set up the methodologies of processing. We were so able to release procedures clear, orderly and applicable as well to the case of Engelbourg as to other similar studies. At least, some hypotheses permits to reconstruct virtually first versions of the original state of the castle.

  8. Releasing the digital elevation model for the whole Italian territory: a case study reporting two years of core-data dissemination for Earth Sciences communities and other stakeholders

    NASA Astrophysics Data System (ADS)

    Tarquini, Simone; Nannipieri, Luca

    2014-05-01

    EPOS (European Plate Observing System) is the European initiative for the implementation and integration of European Research Infrastructures in the field of Solid Earth Sciences. In particular, EPOS is aimed at creating a common environment for data exchange for both the scientific community and relevant stakeholders interested in Earth Sciences. In such a context, a service providing access to the complete topography of one of the countries participating in EPOS represents a step forward towards the realization of the EPOS mission. Here we report about two years of activity of a data dissemination service which released (for free) a digital elevation model (DEM) of the whole Italian territory at 10 m-resolution named TINTALY/01. The new TINITALY/01 DEM for the whole Italian territory was completed and presented by INGV in 2007. This DEM was the final result of a project funded by the Italian Ministry of the Environment. TINITALY/01 was completed in two phases: in a first phase, independent elevation models for single regions were derived, and in a second phase, all the regional models were merged into a single, seamless model covering the whole territory of Italy. In early 2012, a web portal was published (http://tinitaly.pi.ingv.it/) through which the above DEM is open for a full web-GIS navigation (3-D navigation in anaglyph mode or standard 2-D hillshade), and where internet navigators can ask for the download of the DEM dataset (in grid format, 10 m-resolution) through the compilation of an online form (http://tinitaly.pi.ingv.it/account_request_form.html). Submission of the form implies stating the destination of use for the data, and acceptance of the policy of use (i.e. no-profit use). After nearly two years from the opening of the portal, the DEM is still browsed by up to 10-20 users per day (about 3000 visits throughout 2013). As of 31 December 2013, about 220 users affiliated to nearly 150 different institutions or associations (i.e. universities