Clinical application of improved 2D computer-assisted fluoroscopic navigation through simulating a 3D vertebrae image to guide pedicle screw internal fixation

Objective To study the effect of using improved 2D computer-assisted fluoroscopic navigation through simulating 3D vertebrae image to guide pedicle screw internal fixation.Methods Posterior pedicle screw internal fixation,distraction

Scene Visual Perception and AR Navigation Applications

With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation and augmented reality(AR).The development of deep learning technologies has greatly improved the visual perception ability of machines to scenes.The basic framework of scene visual perception,related technologies and the specific process applied to AR navigation are introduced,and future technology development is proposed.An application(APP)is designed to improve the application effect of AR navigation.The APP includes three modules:navigation map generation,cloud navigation algorithm,and client design.The navigation map generation tool works offline.The cloud saves the navigation map and provides navigation algorithms for the terminal.The terminal realizes local real-time positioning and AR path rendering.

Clinical use of augmented reality,mixed reality,three-dimensionalnavigation and artificial intelligence in liver surgery

A precise knowledge of intra-parenchymal vascular and biliary architecture and the location of lesions in relation to the complex anatomy is indispensable to perform liver surgery.Therefore,virtual three-dimensional(3D)-reconstruction models from computed tomography/magnetic resonance imaging scans of the liver might be helpful for visualization.Augmented reality,mixed reality and 3Dnavigation could transfer such 3D-image data directly into the operation theater to support the surgeon.This review examines the literature about the clinical and intraoperative use of these image guidance techniques in liver surgery and provides the reader with the opportunity to learn about these techniques.Augmented reality and mixed reality have been shown to be feasible for the use in open and minimally invasive liver surgery.3D-navigation facilitated targeting of intraparenchymal lesions.The existing data is limited to small cohorts and description about technical details e.g.,accordance between the virtual 3D-model and the real liver anatomy.Randomized controlled trials regarding clinical data or oncological outcome are not available.Up to now there is no intraoperative application of artificial intelligence in liver surgery.The usability of all these sophisticated image guidance tools has still not reached the grade of immersion which would be necessary for a widespread use in the daily surgical routine.Although there are many challenges,augmented reality,mixed reality,3Dnavigation and artificial intelligence are emerging fields in hepato-biliary surgery.

Navigated liver surgery:State of the art and future perspectives

Background:In recent years,the development of digital imaging technology has had a significant influence in liver surgery.The ability to obtain a 3-dimensional(3D)visualization of the liver anatomy has provided surgery with virtual reality of simulation 3D computer models,3D printing models and more recently holograms and augmented reality(when virtual reality knowledge is superimposed onto reality).In addition,the utilization of real-time fluorescent imaging techniques based on indocyanine green(ICG)uptake allows clinicians to precisely delineate the liver anatomy and/or tumors within the parenchyma,applying the knowledge obtained preoperatively through digital imaging.The combination of both has transformed the abstract thinking until now based on 2D imaging into a 3D preoperative conception(virtual reality),enhanced with real-time visualization of the fluorescent liver structures,effectively facilitating intraoperative navigated liver surgery(augmented reality).Data sources:A literature search was performed from inception until January 2021 in MEDLINE(Pub Med),Embase,Cochrane library and database for systematic reviews(CDSR),Google Scholar,and National Institute for Health and Clinical Excellence(NICE)databases.Results:Fifty-one pertinent articles were retrieved and included.The different types of digital imaging technologies and the real-time navigated liver surgery were estimated and compared.Conclusions:ICG fluorescent imaging techniques can contribute essentially to the real-time definition of liver segments;as a result,precise hepatic resection can be guided by the presence of fluorescence.Furthermore,3D models can help essentially to further advancing of precision in hepatic surgery by permitting estimation of liver volume and functional liver remnant,delineation of resection lines along the liver segments and evaluation of tumor margins.In liver transplantation and especially in living donor liver transplantation(LDLT),3D printed models of the donor’s liver and models of the recipient’s hilar anatomy can contribute further to improving the results.In particular,pediatric LDLT abdominal cavity models can help to manage the largest challenge of this procedure,namely large-for-size syndrome.

A 3D Simulator for Autonomous Robotic Fish

This paper presents a 3D simulator used for studying the motion control and autonomous navigation of robotic fish. The simulator’s system structure and computation flow are presented. Simplified kinematics and hydrodynamics models for a virtual robotic fish are proposed. Many other object models are created for water, obstacles, sonar sensors and a swimming pool. Experimental results show that the simulator provides a realistic and convenient way to develop autonomous navigation algorithms for robotic fish.

Preoperative 3D reconstruction and fluorescent indocyanine green for laparoscopic duodenum preserving pancreatic head resection:A case report

BACKGROUND Duodenum-preserving pancreatic head resection(DPPHR)is the choice of surgery for benign or low-grade malignant tumors of the pancreatic head.Laparoscopic DPPHR(LDPPHR)procedure can be improved by preoperative 3D model reconstruction and the use of intravenous indocyanine green fluorescent before surgery for real-time navigation with fluorescent display to guide the surgical dissection and prevention of from injury to vessels and biliary tract.CASE SUMMARY Here we report the successful short-and long-term outcomes after one year following LDPPHR for a 60-year lady who had an uneventful recovery and was discharged home one week after the surgery.CONCLUSION There was no bile leakage or pancreatic leakage or delayed gastric emptying.The histopathology report showed multiple cysts in the pancreatic head and localized pancreatic intraepithelial tumor lesions.The resected margin was free of tumor.

基于改进蝴蝶优化算法的无人机3-D航迹规划方法

针对基本蝴蝶优化算法(Butterfly optimization algorithm,BOA)在进行无人机(Unmanned aerial vehicle,UAV)三维航迹规划时存在的搜索速度慢、搜索精度低以及易陷入局部最优等问题,提出一种改进的蝴蝶优化算法(Improved butterfly optimization algorithm,IBOA)。在全局搜索阶段提出对数自适应惯性权重策略和动态更新调节策略,提高了算法全局搜索能力和搜索精度。同时,在局部搜索阶段,提出一种动态概率余弦选择策略,增加位置更新多样性,避免陷入局部最优。首先,为检验改进算法与基本算法的寻优性能,在部分标准多元函数上进行仿真对比。对比结果表明,改进算法对复杂函数具有较强的寻优能力,能在更短时间内找到全局最优解。然后,在二维路径规划仿真中对比了改进算法与PSO算法性能,从对比结果看,IBOA具有更优的规划效果。接着,利用山峰模拟函数对UAV三维航迹规划进行建模,将改进算法应用到航迹规划中,利用MATLAB仿真对比了不同复杂度环境下的航迹规划效果。仿真实验表明:相同实验条件下,该优化算法较BOA综合适应度值减小21.9%,具有搜索速度快、搜索精度高等优点,能够有效地指导UAV在三维环境中完成自主导航避障任务。

真3D，真便利 艾维特G601 PND导航仪

目前市面上的PND（Portable Navigation Device）产品，多数属于GPS导航设备的高端产品，不菲的价格往往让许多购买者踌躇不前。最新上市的艾维特（aiviter）G60IPND导航仪（以下简称G601），在价格和功能上找到了平衡点，提供了极具竞争力的性价比。特别是其提供的全真3D导航，使其成为GPS市场上强有力的竞争者。

Vision navigation for aircrafts based on 3D reconstruction from real-time image sequences

In this paper,we propose a novel vision navigation method based on three-dimensional(3D)reconstruction from real-time image sequences.It adapts 3D reconstruction and terrain matching to establish the correspondence between image points and3D space points and the terrain reference(by using a digital elevation map(DEM)).An adaptive weighted orthogonal iterative pose estimation method is employed to calculate the position and attitude angle of the aircraft.Synthesized and real experiments show that the proposed method is capable of providing accurate navigation parameters for a long-endurance flight without using a global positioning system or an inertial navigation system(INS).Moreover,it can be combined with an INS to achieve an improved navigation result.

Generation and Control of Game Virtual Environment

In this paper, we present a framework for the generation and control of an Internet-based 3-dimensional game virtual environment that allows a character to navigate through the environment. Our framework includes 3-dimensional terrain mesh data processing, a map editor, scene processing, collision processing, and walkthrough control. We also define an environment-specific semantic information editor, which can be applied using specific location obtained from the real world. Users can insert text information related to the characters real position in the real world during navigation in the game virtual environment.

Up-to-date intraoperative computer assisted solutions for liver surgery

Computer assisted surgical planning allowed for a better selection of patients,evaluation of operative strategy, appropriate volumetric measurements,identification of anatomical risks, definition of tumour resection margins and choice of surgical approach in liver oncologic resections and living donor liver transplantations. Although preoperative computer surgical analysis has been widely used in daily clinical practice, intraoperative computer assisted solutions for risk analysis and navigation in liver surgery are not widely available or still under clinical evaluation. Computer science technology can efficiently assist modern surgeons during complex liver operations, mainly by providing image guidance with individualized 2 D images and 3 D models of the various anatomical and pathological structures of interest. Intraoperative computer assisted liver surgery is particularly useful in complex parenchyma-sparing hepatectomies, for intraoperative risk analysis and for the effective treatment of colorectal metastases after neoadjuvant therapy or when they are multiple. In laparoscopic liver surgery, intraoperative computer aid is definitively more important as, apart from a restricted field of view, there is also loss of the fine haptic feedback. Intraoperative computer assisted developments face challenges that prevent their application in daily clinical practice. There is a vast variety of studies regarding intraoperative computer assisted liver surgery but there are no clear objective measurements in order to compare them and select the most effective solutions. An overview of up-to-date intraoperative computer assisted solutions for liver surgery will be discussed.

Virtual Huanghe River System:Framework and Technology

Virtual Reality provides a new approach for geographical research. In this paper, a framework of the Virtual Huanghe （Yellow） River System was first presented from the view of technology, which included five main modules——data sources, 3D simulation terrain database, 3D simulation model database, 3D simulation implementation and application system. Then the key technoiogies of constructing Virtual Huanghe River System were discussed in detail： 1） OpenGL technology, the 3D graphics developing instrument, was employed in Virtual Huanghe River System to realize the function of dynamic real-time navigation. 2） MO and OpenGL technologies were used to make the mutual response between 3D scene and 2D electronic map available, which made use of the advantages of both 3D scene and 2D electronic map, with the macroscopic view, integrality and conciseness of 2D electronic map combined with the locality, reality and visualization of 3D scene. At the same time the disadvantages of abstract and ambiguity of 2D electronic map and the direction losing of virtual navigation in 3D scene were overcome.

A new navigation approach of terrain contour matching based on 3-D terrain reconstruction from onboard image sequence

This article presents a passive navigation method of terrain contour matching by reconstructing the 3-D terrain from the image sequence(acquired by the onboard camera).To achieve automation and simultaneity of the image sequence processing for navigation,a correspondence registration method based on control points tracking is proposed which tracks the sparse control points through the whole image sequence and uses them as correspondence in the relation geometry solution.Besides,a key frame selection method based on the images overlapping ratio and intersecting angles is explored,thereafter the requirement for the camera system configuration is provided.The proposed method also includes an optimal local homography estimating algorithm according to the control points,which helps correctly predict points to be matched and their speed corresponding.Consequently,the real-time 3-D terrain of the trajectory thus reconstructed is matched with the referenced terrain map,and the result of which provides navigating information.The digital simulation experiment and the real image based experiment have verified the proposed method.

A unified 3D space-based navigation model for seamless navigation in indoor and outdoor

Seamless navigation has attracted lots of attention and many methods have been reported in the literature or made available as commercial applications.The process of navigation can be interpreted as a continuous movement of 3D objects from one unoccupied 3D indoor/outdoor space to another.From a technical perspective,a 3D navigation model is one of the critical components that should be available to perform successful navigation.A major approach to build a unified navigation model to support seamless path computation is linking indoor navigation networks to outdoor road/street-based networks.Because of different sources of indoor and outdoor navigation networks,the major approach fails to build up true seamless navigation models.With regards to this,we propose a unified 3D space-based navigation model(U3DSNM).The presented model ensures all types of spaces for navigation(indoor,semi-indoor,semi-outdoor,and outdoor)have the same representation,management methods,and network derivation approach,thereby building up unified navigation networks to support seamless navigation paths planning.The model can be linked to the international standards(data models)that are also based on spaces,such as IndoorGML and the on-going version of CityGML 3.0.Three navigation path planning cases show the feasibility of U3DSNM.

Atmospheric Pressure-Aware Seamless 3-D Localization and Navigation for Mobile Internet Devices

This paper describes a seamless three-dimensional （3-D） localization and navigation system for smartphones. The smartphone includes an atmospheric pressure sensor to measure the user＇s altitude that is combined with the outdoor Global Positioning System （GPS） and indoor WiFi-APs localization systems in a seamless 3-D localization system. The smartphone software also provides seamless navigation services by updating map information for both indoor and outdoor locations through the mobile Internet. The indoor floor information calculated from the altitude information is used to project localization anchor nodes, e.g., WiFi-AP, on different floors onto the user＇s floor with an indoor 3-D localization algorithm using projection distances based on a Received Signal Strength （RSS） algorithm. Tests show that the 3-D method reduces systematic errors and achieves much higher accuracy than the traditional two-dimensional localization method.

Experimental evaluation of autonomous map-based Spot navigation in confined environments

In this article,we address the task of experimental evaluation of autonomous map-based navigation of a Boston Dynamics Spot quadruped robot in confined environments equipped with the developed autonomy package that incorporates a 3D lidar,an IMU,and an onboard computer.For that,we propose an integrated software and hardware system that is considered as an enabler for robot localization and risk-aware path planning,based on the known map.The system design itself is modular and incorporates the perception capabilities required for autonomous navigation.The Spot robot first is utilized to build the offline map of the environment by utilizing the Google Cartographer simultaneous localization and mapping(SLAM)package.During the next step,the online environmental information from the autonomy package sensors and the offline map are provided to the onboard computer to localize the robot on the known map by utilizing means provided by Cartographer.Finally,the occupancy information is provided to the online grid-based path planner that generates risk-aware paths.The extensive experimental evaluation of the proposed system is performed in corridors and SubT environments.

Rapid development methodology of agricultural robot navigation system working in GNSS-denied environment

Robotic autonomous operating systems in global n40avigation satellite system(GNSS)-denied agricultural environments(green houses,feeding farms,and under canopy)have recently become a research hotspot.3D light detection and ranging(LiDAR)locates the robot depending on environment and has become a popular perception sensor to navigate agricultural robots.A rapid development methodology of a 3D LiDAR-based navigation system for agricultural robots is proposed in this study,which includes:(i)individual plant clustering and its location estimation method(improved Euclidean clustering algorithm);(ii)robot path planning and tracking control method(Lyapunov direct method);(iii)construction of a robot-LiDAR-plant unified virtual simulation environment(combination use of Gazebo and SolidWorks);and(vi)evaluating the accuracy of the navigation system(triple evaluation:virtual simulation test,physical simulation test,and field test).Applying the proposed methodology,a navigation system for a grape field operation robot has been developed.The virtual simulation test,physical simulation test with GNSS as ground truth,and field test with path tracer showed that the robot could travel along the planned path quickly and smoothly.The maximum and mean absolute errors of path tracking are 2.72 cm,1.02 cm;3.12 cm,1.31 cm,respectively,which meet the accuracy requirements of field operations,establishing the effectiveness of the proposed methodology.The proposed methodology has good scalability and can be implemented in a wide variety of field robot,which is promising to shorten the development cycle of agricultural robot navigation system working in GNSS-denied environment.

双导堤口门航道横流特性对通航影响研究

在经验证的3维潮流数值模型基础上,对连云港地区双导堤口门进港航道内横流特性进行研究.结果表明航道内横流垂向梯度很大,不同吃水深度的船型实际承受的横流强度存在差异,吃水较浅的船型对应的横流较强;较大横流出现在高潮位时刻附近.在设计进港航道有效宽度时,必须充分考虑横流的垂向梯度,而仅采用二维模型加以评价偏于危险.在进港船舶的调度安排上,对于抵抗横流能力弱的较小船型应避免高潮位进港,如有困难也应尽量避免高潮位时双向通航.

两坝间河段通航水流条件的三维数值模拟

三峡工程建成后,三峡-葛洲坝之间的河段是宜昌至重庆河段船舶航行最困难的航段之一。建立了该河段的三维水流数值模型,计算三峡不同下泄流量下的三维流场,并根据计算结果与适航条件分析其适航区域。研究结果表明,当下泄流量不大于25 000 m3/s时,两坝间河段基本能满足万吨级船队的通航水流条件;当流量大于此值时,将会出现碍航区域,且随流量的增加,万吨级船队通航水流条件逐渐恶化。若适当提高通航标准,则通航流量可加大到45 000 m3/s。

岸滩侧蚀对航道条件影响的三维数值模拟——以长江中游太平口水道为例

长江中游河道岸滩侧蚀现象普遍,易对航道稳定形成不利影响,深入研究岸滩侧蚀冲刷机理及其航道响应过程具有重要意义。建立了考虑相邻土体影响的黏性岸滩侧蚀坍塌力学模式,以长江中游太平口水道为例,基于局部网格可动技术,构建了岸滩侧蚀及其河床冲淤变化的三维水沙动力学模型;在模型验证相似的基础上,分析了清水冲刷条件下腊林洲边滩侧蚀对太平口水道航道格局的影响。研究结果表明:模型可较好地模拟由岸滩侧蚀所引发的河势演变过程;上游来沙减少后,太平口水道河床以及未守护低滩部位将进一步产生冲刷;腊林洲边滩稳定与否,对太平口水道"南槽-北汊"航道格局的稳定具有重要作用。