scholarly journals Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Yongde Zhang ◽  
Liyi Sun ◽  
Dexian Liang ◽  
Haiyan Du
Keyword(s):  
Physical Model ◽  
Interventional Procedure ◽  
Three Dimensional ◽  
Hydraulic Drive ◽  
Positioning Error ◽  
Three Dimensional Model ◽  
Differential Motion ◽  
Working Space ◽  
Control Research ◽  
Long Time

Introduction. Magnetic Resonance Imaging has better resolution for soft tissue; at the same time, the robot can work in a stable manner for a long time. MRI image-guided breast interventional robots have attracted much attention due to their minimally invasive nature and accuracy. In this paper, a hydraulic-driven MRI-compatible breast interventional robot is proposed to perform breast interventional procedure. Methods. First is the analysis of the design requirements of the hydraulic-driven MRI-compatible breast interventional robot, and then the design scheme is determined. Second, the three-dimensional model and the link frames are established. The workspace of the robot end point is solved by MATLAB/Simulink software. Then, the 3D printing technology is used to make a physical model of the MRI-compatible breast interventional robot. After assembly and debugging, the physical model is used for workspace verification, and the simulation result of the workspace shows that it is correct. Finally, the experimental research on the positioning error of the hydraulic drive is carried out, which established the theoretical foundation for the follow-up control research of the robot. Results. The positioning error has nothing to do with the motion distance, speed, and length of the selected tubing. The errors are 0.564 mm, 0.534 mm, and 0.533 mm at different distances of 40 mm, 80 mm, and 120 mm, respectively. The errors are 0.552 mm, 0.564 mm, and 0.559 mm at different speeds of 3 mm/s, 5 mm/s, and 8 mm/s, respectively. The errors are 0.564 mm, 0.568 mm, and 0.548 mm for different lengths of 0.5 m, 1 m, and 1.6 m, respectively. Then, the robot’s working space on the X O Z plane and the X O Y plane meets the conditions. Conclusion. The structure of a differential rotary breast interventional robot is determined, with the link frames assigned to the mechanism and the Denavit-Hartenberg parameters given. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D printed MRI-compatible breast interventional robot is assembled and debugged to verify that its working space and positioning error meet the requirements.

Three-Dimensional Scene Reconstruction

2011 ◽  
pp. 142-162
Author(s):  
Dimitrios Chrysostomou ◽  
Antonios Gasteratos
Keyword(s):  
Vision System ◽  
Three Dimensional ◽  
3D Models ◽  
Scene Reconstruction ◽  
Depth Information ◽  
Vision Systems ◽  
Working Space ◽  
Scene Structure ◽  
Long Time ◽  
Dimensional Surface

The production of 3D models has been a popular research topic already for a long time, and important progress has been made since the early days. During the last decades, vision systems have established to become the standard and one of the most efficient sensorial assets in industrial and everyday applications. Due to the fact that vision provides several vital attributes, many applications tend to use novel vision systems into domestic, working, industrial, and any other environments. To achieve such goals, a vision system should robustly and effectively reconstruct the 3D surface and the working space. This chapter discusses different methods for capturing the three-dimensional surface of a scene. Geometric approaches to three-dimensional scene reconstruction are generally based on the knowledge of the scene structure from the camera’s internal and external parameters. Another class of methods encompasses the photometric approaches, which evaluate the pixels’ intensity to understand the three-dimensional scene structure. The third and final category of approaches, the so-called real aperture approaches, includes methods that use the physical properties of the visual sensors for image acquisition in order to reproduce the depth information of a scene.

Modern Means of Graphic Disciplines Teaching for Extramural Students

2019 ◽  
Vol 6 (4) ◽  
pp. 72-87 ◽  
Author(s):  
Владимир Панченко ◽  
Vladimir Panchenko
Keyword(s):  
Computer Graphics ◽  
Primary Education ◽  
Age Groups ◽  
Three Dimensional ◽  
Laboratory Work ◽  
Full Time ◽  
Three Dimensional Model ◽  
Theoretical Concepts ◽  
Teaching Tools ◽  
Long Time

When studying ''Engineering and Computer Graphics'' discipline, extramural students are faced with a number of difficulties. Age groups of these students differ from full-time students from behind a greater number of students related to more age categories. Also, unlike full-time students, the level of extramural students’ primary education is higher, but it has been acquired for a long time, and knowledge, in the vast majority of cases, leaves much to be desired. In addition to the described differences it is possible to report a lesser amount of free time, which an extramural student can use for his independent work because of his primary employment’s strained activity timetable. An important moment that plays a key role in discipline understanding is the complexity of "Engineering and Computer Graphics" subject itself, which requires drawing skills (in the school some students did not even have such a discipline) and the ability for spatial thinking. In the presented paper have been considered features on age groups, primary education and drawing skill level for two streams of extramural students learning on the "Railway Operations" specialty in the Russian University of Transport (MIIT). In view of students’ contingent peculiarities the use of modern teaching tools in the process of studying "Engineering and Computer Graphics" discipline has been suggested as a method for enhancement of effectiveness for understanding of educational material. As an illustration of obtained theoretical concepts has been presented a plan for carrying out a laboratory work on "Engineering and Computer Graphics" discipline using modern teaching techniques. In the process of performing the laboratory work, modern teaching tools are used, and after its completion the trainees receive a useful solid piece (a stand for a smartphone) made on a 3D printer, obtained with the help of a three-dimensional model prepared by students, that increases the efficiency of received material’s understanding.

scholarly journals Serial Section-Based Three-Dimensional Reconstruction of Anaxagorea (Annonaceae) Carpel Vasculature and Implications for the Morphological Relationship between the Carpel and the Ovule

Plants ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 2221
Author(s):  
Ya Li ◽  
Wei Du ◽  
Ye Chen ◽  
Shuai Wang ◽  
Xiao-Fan Wang
Keyword(s):  
Three Dimensional ◽  
Three Dimensional Model ◽  
Floral Organogenesis ◽  
Dimensional Reconstruction ◽  
Long Time ◽  
The Relationship ◽  
Morphological Relationship ◽  
Anatomical Evidence ◽  
Bearing Part ◽  
Complex Organ

Elucidating the origin of flowers has been a challenge in botany for a long time. One of the central questions surrounding the origin of flowers is how to interpret the carpel, especially the relationship between the phyllome part (carpel wall) and the ovule. Recently, consensus favors the carpel originating from the fusion of an ovule-bearing part and the phyllome part that subtends it. Considering the carpel is a complex organ, the accurate presentation of the anatomical structure of the carpel is necessary for resolving this question. Anaxagorea is the most basal genus in a primitive angiosperm family, Annonaceae. The conspicuous stipe at the base of each carpel makes it an ideal material for exploring the histological relationships among the receptacle, the carpel, and the ovule. In the present study, floral organogenesis and vasculature were delineated in Anaxagorea luzonensis and Anaxagorea javanica, and a three-dimensional model of the carpel vasculature was reconstructed based on serial sections. The results show that in Anaxagorea, the vasculature in the carpel branches in the form of shoots. The radiosymmetrical vasculature pattern is repeatedly presented in the receptacle, the carpel, and the funiculus of the ovule. This provides anatomical evidence of the composite origin of the carpel.

Three-Dimensional Model for Virtual Surgical Simulation, during Complex Skull Base Surgery and Aneurysm Surgery

Skull Base ◽  
2008 ◽  
Vol 18 (S 01) ◽  
Author(s):  
Akio Morita ◽  
Toshikazu Kimura ◽  
Shigeo Sora ◽  
Kengo Nishimura ◽  
Hisayuki Sugiyama ◽  
...  
Keyword(s):  
Skull Base ◽  
Surgical Simulation ◽  
Skull Base Surgery ◽  
Three Dimensional ◽  
Aneurysm Surgery ◽  
Dimensional Model ◽  
Three Dimensional Model

Digitalization system of ancient architecture decoration art based on neural network and image features

2020 ◽  
pp. 1-12
Author(s):  
Wu Xin ◽  
Qiu Daping
Keyword(s):  
Neural Network ◽  
Construction Industry ◽  
Three Dimensional ◽  
Performance Testing ◽  
Image Features ◽  
Three Dimensional Model ◽  
Performance Effect ◽  
Data Process ◽  
And Performance ◽  
Construction Mode

The inheritance and innovation of ancient architecture decoration art is an important way for the development of the construction industry. The data process of traditional ancient architecture decoration art is relatively backward, which leads to the obvious distortion of the digitalization of ancient architecture decoration art. In order to improve the digital effect of ancient architecture decoration art, based on neural network, this paper combines the image features to construct a neural network-based ancient architecture decoration art data system model, and graphically expresses the static construction mode and dynamic construction process of the architecture group. Based on this, three-dimensional model reconstruction and scene simulation experiments of architecture groups are realized. In order to verify the performance effect of the system proposed in this paper, it is verified through simulation and performance testing, and data visualization is performed through statistical methods. The result of the study shows that the digitalization effect of the ancient architecture decoration art proposed in this paper is good.

Phonetic iconicity in the evaluative morphology of a sample of Indo-European, Niger-Congo and Austronesian languages

2010 ◽  
Vol 3 (2) ◽  
pp. 156-180 ◽  
Author(s):  
Renáta Gregová ◽  
Lívia Körtvélyessy ◽  
Július Zimmermann
Keyword(s):  
Three Dimensional ◽  
Sound Symbolism ◽  
Three Dimensional Model ◽  
Austronesian Languages ◽  
Place Of Articulation ◽  
European Languages ◽  
Phonetic Symbolism ◽  
The Individual ◽  
Core Vocabulary

Universals Archive (Universal #1926) indicates a universal tendency for sound symbolism in reference to the expression of diminutives and augmentatives. The research ( Štekauer et al. 2009 ) carried out on European languages has not proved the tendency at all. Therefore, our research was extended to cover three language families – Indo-European, Niger-Congo and Austronesian. A three-step analysis examining different aspects of phonetic symbolism was carried out on a core vocabulary of 35 lexical items. A research sample was selected out of 60 languages. The evaluative markers were analyzed according to both phonetic classification of vowels and consonants and Ultan's and Niewenhuis' conclusions on the dominance of palatal and post-alveolar consonants in diminutive markers. Finally, the data obtained in our sample languages was evaluated by means of a three-dimensional model illustrating the place of articulation of the individual segments.

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