scholarly journals Finding the curved pathway of the large intestine for robot-aided colonoscopy

2021 ◽  
Vol 7 (2) ◽  
pp. 215-218
Author(s):  
Giuliano A. Giacoppo ◽  
Rebecca Mammel ◽  
Peter P. Pott

Abstract To assist the insertion of a robot-aided endoscope during colonoscopy, a measuring system is required so that the endoscope tip can align automatically and thus find the curved pathway of the large intestine. To achieve this, a selfexpanding nitinol wire basket is used to sense the contour of the intestine. As the wire basket touches the wall, it is deflected towards the center of the intestine. The relative position of the wire basket within the camera image is captured, which describes the desired direction to follow the organ. To identify the wire basket in the image, the original RGB image stream is converted into the HSV (hue, saturation, value) color space. Thus, a binary image can be created, in which only the neongreen color portion of the wire basket is visible as a cross. The Hough Transformation is used to search for straight lines in the binary image. Once two lines are found, the intersection point can be calculated and thus its position in the image. The evaluation of the execution time of the algorithm on a live stream was 45 ± 31 ms on average. The algorithm robustly recognizes the wire basket even if it was not visible to the human eye in the original RGB image due to deficient lighting.

Author(s):  
Murat Karakus ◽  
Ashton Ingerson ◽  
William Thurlow ◽  
Michael Genockey ◽  
Jesse Jones

The Acoustic Emission (AE) due to the sudden release of energy from the micro-fracturing within the rock under loading has been used to estimate pre-load. Once the pre-load is exceeded an irreversible damage occurs at which AE signals significantly increase. This phenomenon known as Kaiser Effect (KE) can be recognised as an inflexion point in the cumulative AE hits versus stress curve. In order to determine the value of pre-load (sm) accurately, the curve may be approximated by two straight lines. The intersection point projected onto the stress axis indicates the pre-load. However, in some cases locating the point of inflexion is not easy. To overcome this problem we have developed a new method, The University of Adelaide Method (UoA), which use cumulative acoustic energy. Unlike existing methods, the UoA method emphasises the energy of each AE, the square term of the amplitude of each AE. As the axial pre-load is exceeded, the micro cracks become larger than the existing fractures and therefore energy released with new and larger cracks retain higher acoustic energy.


It is not surprising, says the author, that neither Sir Isaac Newton, nor Dr. Herschel, nor any other writer who has followed on the same subject, have given any explanation which appears to him to be satisfactory, since they have not been in possession of the phenomena connected with this inquiry. After stating various objections which he considers as conclusive against the alternate disposition to be reflected or transmitted inherent in the rays of light, and recurring at certain equal intervals which are expressed under the name of fits by Sir Isaac Newton, Mr. Knox proceeds to describe those new phenomena which form the principal subject of his paper, and which he has been enabled to make by the assistance of the method of observing such appearances employed by Dr. Herschel. This method consists in using the shadows of some opake substance held over thin plates of glass, for the purpose of distinguishing from each other the several effects produced by different surfaces employed at the same time. If a plate of unsilvered glass be laid upon a table before a window, and a piece of wire be held over it, there will be seen two shadows of the wire, one from each of the surfaces; if a second plate be laid upon the former, there will be three shadows, one from the uppermost surface, one from the lowest, and a third between them from the contiguous surfaces which together form but one image. If either of the surfaces in contact be slightly curved, so as to be a portion of a large sphere, then rings of colours observed by Newton are seen, and are found to arise from reflection at the surfaces of contact, as is proved by their being intercepted by the middle shadow of the wire. At the same time may also be seen other rings, occasioned by light transmitted through the surfaces in contact and reflected back to the eye from the undermost surface; but as these rings are not the subject of Mr. Knox’s experiments, he painted the under surface of the lower plate black, in order to prevent their interference with his observations. Under these circumstances, a second image of the rings, formed by reflected light, is seen by means of two reflections from the parallel surfaces of the upper plate of glass; and in a favourable light further repetitions of the same rings may be seen by several successive reflections. Under these circumstances, in addition to these appearances, Mr. Knox observed certain fringes to proceed on each side from the points of intersection of a set of primary circles, with their reflected images appearing as parallel lines at right angles to the line joining their centres, and divided into two sets, coloured in opposite directions from a central line. When a piece of glass is laid upon a convex surface, the secondary set is equal to the primary, and in that case the fringes are straight lines; but when by due combination of surfaces the primary and secondary sets differ in size from each other, then these fringes assume a circular form, coloured according to the same law as the straight fringes, being divided into two classes by a middle curve, towards which the violet edges of the curves on each side are turned. To these curves, which have not been observed before, Mr. Knox gives the name of intersectionary rings. In the same manner as one set of rings is produced by the intersection of primary and secondary reflected circles with each other, they may also be produced by the intersection of other sets, either of transmitted or reflected rings, and may be rendered numerous by a number of surfaces of various forms; or, on the contrary, may be exhibited in their most simple state by the intersection of primary fringes with each other. For if two slips of plane glass be applied to each other at a small angle, the fringes of colour then appear as straight bars of prismatic colours parallel to each other. And if a third plate of glass be placed upon the uppermost, with a slight inclination situated transversely to the former, the bands thus produced are at right angles to the preceding; and by their intersections present a set of intersectionary fringes parallel to each other, and bisecting the angle between the primaries from which they originate. These fringes, as in the former cases, are divided by a central band into two sets, of which the colours are oppositely placed, and on this account the author calls them binaa term which applies to the numerous class of phenomena which he has observed by a great variety of combinations. He reckons as many as six kinds of rectilinear bands produced in his experiments which have not been noticed by any other writer.


1974 ◽  
Vol 38 (2) ◽  
pp. 639-646 ◽  
Author(s):  
Kristian Holt-Hansen

When the stimulus was the Hering illusion, Ss experienced—besides oscillation of the parallel lines—different kinds of rings around the intersection point of the rays. These rings were most frequently a number of circles and less frequently ellipses. The colours of the rings contrasted with the colours of the Hering illusion. The fact that straight lines may condition the experience of rings (circles or ellipses) is juxtaposed with the results of another experiment, in which I demonstrated that a circle as stimulus conditioned the experience of straight lines as radii in the circle.


1995 ◽  
Vol 1 (3) ◽  
pp. 177-181 ◽  
Author(s):  
Graham Watson
Keyword(s):  
The Wire ◽  
At Will ◽  

The conventional use of a basket involves a metallic wire section that is contained within a polythene sheath. The wire basket can be withdrawn or protruded from the sheath using a handle. The advantage of this system is that the basket can be kept shut or open at will within the ureter. Thus one can keep the basket closed in order to maneuver the basket past a stone before opening it above the stone. With the development of efficient and safe lithotripsy modalities becoming widely available and with miniaturization of these and the ureteroscopes, it is becoming less common to dilate the ureter. Therefore it is not frequently possible to extract a stone intact. Baskets still can be used secondarily to extract the fragments. It is possible to use the basket wire without its sheath. The ureteroscope channel effectively becomes the sheath, and the basket opens immediately on protruding it beyond the ureteroscope. This has the following advantages: (a) A larger-diameter basket wire can be introduced. The very small baskets of 2F and 3F used via miniature ureteroscopes are very flimsy. When the sheath is removed, it becomes possible to use an otherwise 3F basket via a 2F channel. (b)The operator can work the basket usingjust two fingers close to the instrument channel port. This is more ergonomic than working an opening mechanism at the end of the basket, because this latter system takes the operator's hand away from the instrument. (c) The basket can be detached more readily from the ureteroscope, should it become, impacted together with a stone within the ureter. This makes it possible to reinsert the ureteroscope alongside the basket and fragment the stone within the basket, provided that there is no reinforced section to the inner wire at the handle.


2010 ◽  
Author(s):  
Robert Tamburo

This paper describes a set of pixel accessors that transform RGB pixel values to a different color space. Accessors for the HSI, XYZ, Yuv, YUV, HSV, Lab, Luv, HSL, CMY, and CMYK color spaces are provided here. This paper is accompanied with source code for the pixel accessors and test, test images and parameters, and expected output images.Note: Set() methods are incorrect. Will provide revision by 12.17.2010.


2020 ◽  
Author(s):  
Ela Šegina ◽  
Mateja Jemec Auflič ◽  
Tina Peternel ◽  
Matija Zupan ◽  
Jernej Jež ◽  
...  

<p>Geodetic Integrated Monitoring System (GIMS) has been developed as a low-cost solution for detecting and measuring ground movements (https://www.gims-project.eu/). The prototype has been tested on the landslide on Potoška planina in the north of Slovenia that has been monitored by the seven GIMS units. These units, consisting of GNSS receiver and inclinometer, provide live monitoring data with millimetric precision. In this paper, the project consortium presents the first results of the prototype measuring system and estimate its applicability in modern landslides monitoring. The GIMS measurements have been validated by the wire crackmeter located at the site. The data were correlated to the groundwater level in a piezometer and to the amount of precipitation detected at the rain gauge. Results of GIMS units show good comparability to the wire crackmeter measurements and increased precision in detecting variations in landslide movements. The latter enables us to precisely define the rainfall threshold value for the particular landslide as crucial information needed for a reliable early warning system.</p><p> </p>


2019 ◽  
Vol 7 (1) ◽  
pp. 37-41
Author(s):  
D. Hema ◽  
◽  
Dr. S. Kannan ◽  

The primary goal of this research work is to extract only the essential foreground fragments of a color image through segmentation. This technique serves as the foundation for implementing object detection algorithms. The color image can be segmented better in HSV color space model than other color models. An interactive GUI tool is developed in Python and implemented to extract only the foreground from an image by adjusting the values for H (Hue), S (Saturation) and V (Value). The input is an RGB image and the output will be a segmented color image.


2021 ◽  
Vol 39 (1) ◽  
pp. 41-46
Author(s):  
Richard J. Hauer ◽  
Andrew K. Koeser ◽  
Jason W. Miesbauer ◽  
Jeff Edgar ◽  
David Kleinhuizen

Abstract When balled-and-burlapped trees are planted, a decision must be made regarding whether the wire basket, burlap, and other packing materials should be removed (completely or partially) or retained. While past research has failed to show a significant impact of either approach with regard to initial growth and establishment, many professionals still question whether a decision to leave the wire basket intact at planting will have longer-term impacts to tree health and stability. In this study, we revisit two nursery trials first initiated in 2011 and 2012 to assess the impact of burlap folding, and full wire basket removal, partial removal, or retention on tree growth and root anchorage five to six growing years after planting. We found that neither stem caliper (min P = 0.249) nor twig elongation (min P = 0.297) differed among removal treatments with the Norway maple (Acer platanoides L.) and ‘Skycole' honeylocust (Gleditsia triacanthos L. var. inermis) trees used in this study. Similarly, we were unable to detect any differences in rooting strength among the removal treatments tested (min P = 0.154). These results serve as further evidence that wire baskets are not a cause of early tree mortality or instability. Index words: Arboriculture, biomechanics, growth and longevity, nursery production, static-pull test, transplanting, transplant shock. Species used in this study: Norway maple (Acer platanoides L.); ‘Skycole' honeylocust (Gleditsia triacanthos L. var. inermis).


2021 ◽  
Vol 9 (3A) ◽  
Author(s):  
Alex Noel Joseph Raj ◽  
◽  
M. Murugappan ◽  
Arunachalam V ◽  
◽  
...  

Several applications utilizing a set of red green blue (RGB) and near infrared (NIR) images have been emerging over recent years. The present work proposes a technique of enhancing an image by combining color (RGB) and near infrared information (NIR). In order to fuse the two types of images, the NIR-channel is considered as a luminance counterpart to the visible image. International standard database (RGB-NIR Scene Dataset) is used in this work for image fusion. The objective of the paper is to present a simple and hardware efficient fusion method, where the original RGB image is converted into two different color spaces, namely, HSV and YCbCr. Later, the luminance channel of the RGB image is replaced with the near infrared channel, thereby obtaining a fused enhanced image. The above procedure is effectively implemented on FPGA using the Xilinx HLS tool. RGB-NIR dataset is used in the present work for testing the proposed image fusion algorithm, and the quality of the fused image is measured through peak signal to noise ratio (PSNR). The experimental results indicate that HSV color space is more efficient in image fusion compared to YCbCr color space based on the average PSNR values of approximately 29db for HSV and 25db for YCbCr for various images, respectively. Finally, this complete fusion algorithm is implemented on Xilinx Nexys4 FPGA board to be able to obtain real-time outputs in the form of vivid, contrasted images that are pleasing to the observers. The experimental results illustrate that the Xilinx FPGA utilizes only 50% of the available hardware resources and consumes approximately 5.3 Watts to implement the fusion process.


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