The use of operating microscopes is limited by the focal length.Surgeons using these instruments cannot simultaneously view and access the surgical field and must choose one or the other.The longer focal length (more...The use of operating microscopes is limited by the focal length.Surgeons using these instruments cannot simultaneously view and access the surgical field and must choose one or the other.The longer focal length (more than 1 000 mm) of an operating telescope permits a position away from the operating field,above the surgeon and out of the field of view.This gives the telescope an advantage over an operating microscope.We developed a telescopic system using screen-imaging guidance and a modified portable video macroscope constructed from a Computar MLH-10 × macro lens,a DFK-21AU04 USB CCD Camera and a Dell laptop computer as monitor screen.This system was used to establish a middle cerebral artery occlusion model in rats.Results showed that magnification of the modified portable video macroscope was appropriate (5-20 ×) even though the Computar MLH-10 × macro lens was placed 800 mm away from the operating field rather than at the specified working distance of 152.4 mm with a zoom of 1-40 ×.The screen-imaging telescopic technique was clear,life-like,stereoscopic and matched the actual operation.Screen-imaging guidance led to an accurate,smooth,minimally invasive and comparatively easy surgical procedure.Success rate of the model establishment evaluated by neurological function using the modified neurological score system was 74.07%.There was no significant difference in model establishment time,sensorimotor deficit and infarct volume percentage.Our findings indicate that the telescopic lens is effective in the screen surgical operation mode referred to as "long distance observation and short distance operation" and that screen-imaging guidance using an modified portable video macroscope can be utilized for the establishment of a middle cerebral artery occlusion model and micro-neurosurgery.展开更多
In the strap-down TV guidance system, the line-of-sight(LOS) rate can not be obtained frora the measured information, the math platform to select missile attitude information must be set up. The LOS rate selecting m...In the strap-down TV guidance system, the line-of-sight(LOS) rate can not be obtained frora the measured information, the math platform to select missile attitude information must be set up. The LOS rate selecting models based on the missile attitude angle and the rate gyro are set up, the influencing factor and the extracting precision of LOS rate are emulated and analyzed.展开更多
Proton computed tomography(CT)has a distinct practical significance in clinical applications.It eliminates 3–5%errors caused by the transformation of Hounsfield unit(HU)to relative stopping power(RSP)values when usin...Proton computed tomography(CT)has a distinct practical significance in clinical applications.It eliminates 3–5%errors caused by the transformation of Hounsfield unit(HU)to relative stopping power(RSP)values when using X-ray CT for positioning and treatment planning systems(TPSs).Following the development of FLASH proton therapy,there are increased requirements for accurate and rapid positioning in TPSs.Thus,a new rapid proton CT imaging mode is proposed based on sparsely sampled projections.The proton beam was boosted to 350 MeV by a compact proton linear accelerator(LINAC).In this study,the comparisons of the proton scattering with the energy of 350 MeV and 230 MeV are conducted based on GEANT4 simulations.As the sparsely sampled information associated with beam acquisitions at 12 angles is not enough for reconstruction,X-ray CT is used as a prior image.The RSP map generated by converting the X-ray CT was constructed based on Monte Carlo simulations.Considering the estimation of the most likely path(MLP),the prior image-constrained compressed sensing(PICCS)algorithm is used to reconstruct images from two different phantoms using sparse proton projections of 350 MeV parallel proton beam.The results show that it is feasible to realize the proton image reconstruction with the rapid proton CT imaging proposed in this paper.It can produce RSP maps with much higher accuracy for TPSs and fast positioning to achieve ultra-fast imaging for real-time image-guided radiotherapy(IGRT)in clinical proton therapy applications.展开更多
The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection qu...The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection quality of anti-counterfeiting codes and weak differentiation of anti-counterfeiting codes for high-quality counterfeits.Developing an anticounterfeiting code authentication algorithm based on mobile phones is of great commercial value.Although the existing algorithms developed based on special equipment can effectively identify forged anti-counterfeiting codes,the anti-counterfeiting code identification scheme based on mobile phones is still in its infancy.To address the small differences in texture features,low response speed and excessively large deep learning models used in mobile phone anti-counterfeiting and identification scenarios,we propose a feature-guided double pool attention network(FG-DPANet)to solve the reprinting forgery problem of printing anti-counterfeiting codes.To address the slight differences in texture features in high-quality reprinted anti-counterfeiting codes,we propose a feature guidance algorithm that creatively combines the texture features and the inherent noise feature of the scanner and printer introduced in the reprinting process to identify anti-counterfeiting code authenticity.The introduction of noise features effectively makes up for the small texture difference of high-quality anti-counterfeiting codes.The double pool attention network(DPANet)is a lightweight double pool attention residual network.Under the condition of ensuring detection accuracy,DPANet can simplify the network structure as much as possible,improve the network reasoning speed,and run better on mobile devices with low computing power.We conducted a series of experiments to evaluate the FG-DPANet proposed in this paper.Experimental results show that the proposed FG-DPANet can resist highquality and small-size anti-counterfeiting code reprint forgery.By comparing with the existing algorithm based on texture,it is shown that the proposed method has a higher authentication accuracy.Last but not least,the proposed scheme has been evaluated in the anti-counterfeiting code blurring scene,and the results show that our proposed method can well resist slight blurring of anti-counterfeiting images.展开更多
This paper aims at a type of image homing guided missile. The guided trajectory characteristics and the initial condition of the homing guidance are analyzed by calculating the miss distance of the image guided missil...This paper aims at a type of image homing guided missile. The guided trajectory characteristics and the initial condition of the homing guidance are analyzed by calculating the miss distance of the image guided missile. Several modified proportional navigation laws which are easy for engineering implementation are introduced.展开更多
This paper presents an image-based mobile robot guidance system in an indoor space with installed artificial ceiling landmarks. The overall system, including an omni-directional mobile robot motion control, landmark i...This paper presents an image-based mobile robot guidance system in an indoor space with installed artificial ceiling landmarks. The overall system, including an omni-directional mobile robot motion control, landmark image processing and image recognition, is implemented on a single FPGA chip with one CMOS image sensor. The proposed feature representation of the artificial ceiling landmarks is invariant with respect to rotation and translation. One unique feature of the proposed ceiling landmark recognition system is that the feature points of landmarks are determined by topological information from both the foreground and background. To enhance recognition accuracy, landmark classification is performed after the mobile robot is moved to a position such that the ceiling landmark is located in the upright- top corner position of the robot’s camera image. The accuracy of the proposed artificial ceiling landmark recognition system using the nearest neighbor classification is 100% in our experiments.展开更多
Puncture biopsy is an important clinical technique to obtain diseased tissue for pathological diagnosis,where imaging guidance is critical.In this paper,we describe a metal reflector-enhanced microwave-induced thermoa...Puncture biopsy is an important clinical technique to obtain diseased tissue for pathological diagnosis,where imaging guidance is critical.In this paper,we describe a metal reflector-enhanced microwave-induced thermoacoustic imaging(TAI)approach capable of guiding puncture biopsy for detection of breast cancer and joint diseases.Numerical experimentations simulating puncture guidance in breast cancer and knee gout models werefirst conducted using(CST STUDIO SUITE)(CST)software,and then ex-vivo experiments were performed followed by qualitative observations and semi-quantitative analysis.The results of both the simulations and ex-vivo experiments showed that our reflector-enhanced TAI could image the puncture needle in high resolution with a large depth of>12 cm.展开更多
Arthrodesis of the sacroiliac joint(SIJ) for surgical treatment of SIJ dysfunction has regained interest among spine specialists.Current techniques described in the literature most often utilize intraoperative fluor...Arthrodesis of the sacroiliac joint(SIJ) for surgical treatment of SIJ dysfunction has regained interest among spine specialists.Current techniques described in the literature most often utilize intraoperative fluoroscopy to aid in implant placement;however,image guidance for SIJ fusion may allow for minimally invasive percutaneous instrumentation with more precise implant placement.In the following cases,we performed percutaneous stereotactic navigated sacroiliac instrumentation using O-arm^(?)multidimensional surgical imaging with StealthStation^(?)navigation(Medtronic,Inc.Minneapolis,MN).Patients were positioned prone and an image-guidance reference frame was placed contralateral to the surgical site.O-arm^(?) integrated with StealthStation^(?) allowed immediate autoregistration.The skin incision was planned with an image-guidance probe.An image-guided awl,drill and tap were utilized to choose a starting point and trajectory.Threaded titanium cage(s) packed with autograft and/or allograft were then placed.O-arm^(?) image-guidance allowed for implant placement in the SIJ with a small skin incision.However,we could not track the cage depth position with our current system,and in one patient,the SIJ cage had to be revised secondary to the anterior breach of sacrum.展开更多
Generally,Doppler fuze can only estimate actuation delay-time with a limited precision. As an improvement,imaging fuze can estimate actuation delay-time more precisely with the available two-dimensional image of the t...Generally,Doppler fuze can only estimate actuation delay-time with a limited precision. As an improvement,imaging fuze can estimate actuation delay-time more precisely with the available two-dimensional image of the target. In this paper,imprecision of actuation delay-time estimation with Doppler fuze is first analyzed theoretically in brief. Secondly,feasibility analysis and theoretical model of imaging fuze are described,in which a criterion is established for the actuation delay-time based on the image,and then an image based gray-value weighted least square( GWLS) algorithm is presented to calculate actuation delay-time of the imaging fuze. Finally,a simulation model of missiletarget near-field encounter is established. Simulation results indicate that actuation delay-time of the imaging fuze is estimated more precisely than by the Doppler fuze.展开更多
A technical feasibility of autofluorescence ductoscopy in breast milk ducts as blood vessels phantoms has been assessed as successful.Malignant tumor can be clearly identified through the milk ducts.We also present th...A technical feasibility of autofluorescence ductoscopy in breast milk ducts as blood vessels phantoms has been assessed as successful.Malignant tumor can be clearly identified through the milk ducts.We also present the operation principle as well as the preliminary experimental results of a new type of microsize multicorefiber that enables imaging through blood vessel phantoms.Imaging of a manipulated microwire through a drilled phantom is presented.展开更多
Limitations of cancer margin delineation and surgical guidance by means of autofluorescence imaging under conditions of laser ablation were investigated and preliminary results are presented.PinPoint^(TM)(Novadaq Tech...Limitations of cancer margin delineation and surgical guidance by means of autofluorescence imaging under conditions of laser ablation were investigated and preliminary results are presented.PinPoint^(TM)(Novadaq Technologies Inc.,Canada)was used to capture digital images and Er:YAG laser(2.94μm,Glissando,WaveLight^(TM),Germany)was exploited to cause laser ablation on both normal and cancer sites of the specimen.It was shown that changes of the autofluorescence image after ablation extend beyond the actual sizes of the ablation loci.The tumor tissue after the laser ablation starts to emit fluorescent light within the green wavelength band(490-550nm)similar to normal tissue stating that the current technology of in-process tissue classification fails.However,when the autofluorescence was collected in the red range(600-750nm),then the abnormal/normal contrast was reduced,but still present even after the laser ablation.The present study highlights the importance of finding a proper technology for surgical navigation of cancer removal under conditions of high power effects in biological tissues.展开更多
Image-guided needles are currently used for drug delivery in bodies, but the additional time associated with aligning and maintaining the needle’s position results in increased patient discomfort or risk of invasion ...Image-guided needles are currently used for drug delivery in bodies, but the additional time associated with aligning and maintaining the needle’s position results in increased patient discomfort or risk of invasion of the human body. In this paper, a needle guidance system using piezoelectric materials is designed and analyzed for precise drug delivery without damaging parts of the body and improving processing time. A piezoelectric generates an ultrasound wave that can propagate through different mediums, and a second piezoelectric crystal can receive that energy and convert it into voltage. A 1D real-time image represents the changes of the voltage induced in the double piezoelectric crystal. Extensive data analysis and visualization are done using different obstacles and location of the needle verified for other mediums. The presence of obstacles in between those crystals can be identified in the real-time grayscale image. The needle can reach its destination using this image information as directional guidance. This guided drug delivery improves patient recovery time and eliminates extra injuries that can be caused due to wrong needle injections, such as lumbar puncture-related nerve damage.展开更多
介入治疗在神经、血管和乳腺等手术中广泛使用。在影像学检查引导下,机器人辅助的介入治疗可以有效提高介入治疗的精准性和安全性,已成为当前介入手术的重要发展方向。与其他介入成像方法相比,磁共振介入成像(interventional magnetic r...介入治疗在神经、血管和乳腺等手术中广泛使用。在影像学检查引导下,机器人辅助的介入治疗可以有效提高介入治疗的精准性和安全性,已成为当前介入手术的重要发展方向。与其他介入成像方法相比,磁共振介入成像(interventional magnetic resonance imaging, i-MRI)具有高软组织对比度、多对比度、可定量成像、无电离辐射等优点,在介入治疗的引导中具有巨大优势。然而,磁共振成像(magnetic resonance imaging,MRI)的成像速度相对较慢,对介入器械的兼容性要求高,是当前i-MRI引导治疗中面临的主要挑战。得益于快速i-MRI以及磁兼容介入设备等技术的发展,i-MRI在神经介入、心血管介入、前列腺介入以及乳腺介入等临床手术中发挥了重要的作用。本文总结i-MRI技术的发展现状及i-MRI的临床应用现状,分析i-MRI目前所面临的成像速度慢和时空分辨率难以平衡等挑战,并对i-MRI在多模态成像、实时MRI以及i-MRI引导下的介入机器人手术等方面的发展机遇进行展望。展开更多
文摘The use of operating microscopes is limited by the focal length.Surgeons using these instruments cannot simultaneously view and access the surgical field and must choose one or the other.The longer focal length (more than 1 000 mm) of an operating telescope permits a position away from the operating field,above the surgeon and out of the field of view.This gives the telescope an advantage over an operating microscope.We developed a telescopic system using screen-imaging guidance and a modified portable video macroscope constructed from a Computar MLH-10 × macro lens,a DFK-21AU04 USB CCD Camera and a Dell laptop computer as monitor screen.This system was used to establish a middle cerebral artery occlusion model in rats.Results showed that magnification of the modified portable video macroscope was appropriate (5-20 ×) even though the Computar MLH-10 × macro lens was placed 800 mm away from the operating field rather than at the specified working distance of 152.4 mm with a zoom of 1-40 ×.The screen-imaging telescopic technique was clear,life-like,stereoscopic and matched the actual operation.Screen-imaging guidance led to an accurate,smooth,minimally invasive and comparatively easy surgical procedure.Success rate of the model establishment evaluated by neurological function using the modified neurological score system was 74.07%.There was no significant difference in model establishment time,sensorimotor deficit and infarct volume percentage.Our findings indicate that the telescopic lens is effective in the screen surgical operation mode referred to as "long distance observation and short distance operation" and that screen-imaging guidance using an modified portable video macroscope can be utilized for the establishment of a middle cerebral artery occlusion model and micro-neurosurgery.
文摘In the strap-down TV guidance system, the line-of-sight(LOS) rate can not be obtained frora the measured information, the math platform to select missile attitude information must be set up. The LOS rate selecting models based on the missile attitude angle and the rate gyro are set up, the influencing factor and the extracting precision of LOS rate are emulated and analyzed.
基金supported by the Research collaboration on Thailand’s new synchrotron light source facility(SPS-II)(No.ANSO-CR-KP-2020-16).
文摘Proton computed tomography(CT)has a distinct practical significance in clinical applications.It eliminates 3–5%errors caused by the transformation of Hounsfield unit(HU)to relative stopping power(RSP)values when using X-ray CT for positioning and treatment planning systems(TPSs).Following the development of FLASH proton therapy,there are increased requirements for accurate and rapid positioning in TPSs.Thus,a new rapid proton CT imaging mode is proposed based on sparsely sampled projections.The proton beam was boosted to 350 MeV by a compact proton linear accelerator(LINAC).In this study,the comparisons of the proton scattering with the energy of 350 MeV and 230 MeV are conducted based on GEANT4 simulations.As the sparsely sampled information associated with beam acquisitions at 12 angles is not enough for reconstruction,X-ray CT is used as a prior image.The RSP map generated by converting the X-ray CT was constructed based on Monte Carlo simulations.Considering the estimation of the most likely path(MLP),the prior image-constrained compressed sensing(PICCS)algorithm is used to reconstruct images from two different phantoms using sparse proton projections of 350 MeV parallel proton beam.The results show that it is feasible to realize the proton image reconstruction with the rapid proton CT imaging proposed in this paper.It can produce RSP maps with much higher accuracy for TPSs and fast positioning to achieve ultra-fast imaging for real-time image-guided radiotherapy(IGRT)in clinical proton therapy applications.
基金This work is supported by Supported by the National Key Research and Development Program of China under Grant No.2020YFF0304902the Science and Technology Research Project of Jiangxi Provincial Department of Education under Grant No.GJJ202511。
文摘The authenticity identification of anti-counterfeiting codes based on mobile phone platforms is affected by lighting environment,photographing habits,camera resolution and other factors,resulting in poor collection quality of anti-counterfeiting codes and weak differentiation of anti-counterfeiting codes for high-quality counterfeits.Developing an anticounterfeiting code authentication algorithm based on mobile phones is of great commercial value.Although the existing algorithms developed based on special equipment can effectively identify forged anti-counterfeiting codes,the anti-counterfeiting code identification scheme based on mobile phones is still in its infancy.To address the small differences in texture features,low response speed and excessively large deep learning models used in mobile phone anti-counterfeiting and identification scenarios,we propose a feature-guided double pool attention network(FG-DPANet)to solve the reprinting forgery problem of printing anti-counterfeiting codes.To address the slight differences in texture features in high-quality reprinted anti-counterfeiting codes,we propose a feature guidance algorithm that creatively combines the texture features and the inherent noise feature of the scanner and printer introduced in the reprinting process to identify anti-counterfeiting code authenticity.The introduction of noise features effectively makes up for the small texture difference of high-quality anti-counterfeiting codes.The double pool attention network(DPANet)is a lightweight double pool attention residual network.Under the condition of ensuring detection accuracy,DPANet can simplify the network structure as much as possible,improve the network reasoning speed,and run better on mobile devices with low computing power.We conducted a series of experiments to evaluate the FG-DPANet proposed in this paper.Experimental results show that the proposed FG-DPANet can resist highquality and small-size anti-counterfeiting code reprint forgery.By comparing with the existing algorithm based on texture,it is shown that the proposed method has a higher authentication accuracy.Last but not least,the proposed scheme has been evaluated in the anti-counterfeiting code blurring scene,and the results show that our proposed method can well resist slight blurring of anti-counterfeiting images.
文摘This paper aims at a type of image homing guided missile. The guided trajectory characteristics and the initial condition of the homing guidance are analyzed by calculating the miss distance of the image guided missile. Several modified proportional navigation laws which are easy for engineering implementation are introduced.
文摘This paper presents an image-based mobile robot guidance system in an indoor space with installed artificial ceiling landmarks. The overall system, including an omni-directional mobile robot motion control, landmark image processing and image recognition, is implemented on a single FPGA chip with one CMOS image sensor. The proposed feature representation of the artificial ceiling landmarks is invariant with respect to rotation and translation. One unique feature of the proposed ceiling landmark recognition system is that the feature points of landmarks are determined by topological information from both the foreground and background. To enhance recognition accuracy, landmark classification is performed after the mobile robot is moved to a position such that the ceiling landmark is located in the upright- top corner position of the robot’s camera image. The accuracy of the proposed artificial ceiling landmark recognition system using the nearest neighbor classification is 100% in our experiments.
基金supported in part by the Chinese Postdoctoral Science Foundation(2022MD723722)in part by the National Natural Science Foundation of China(62001075)in part by the Chongqing postdoctoral research project(special funding project 2021XM2026).
文摘Puncture biopsy is an important clinical technique to obtain diseased tissue for pathological diagnosis,where imaging guidance is critical.In this paper,we describe a metal reflector-enhanced microwave-induced thermoacoustic imaging(TAI)approach capable of guiding puncture biopsy for detection of breast cancer and joint diseases.Numerical experimentations simulating puncture guidance in breast cancer and knee gout models werefirst conducted using(CST STUDIO SUITE)(CST)software,and then ex-vivo experiments were performed followed by qualitative observations and semi-quantitative analysis.The results of both the simulations and ex-vivo experiments showed that our reflector-enhanced TAI could image the puncture needle in high resolution with a large depth of>12 cm.
文摘Arthrodesis of the sacroiliac joint(SIJ) for surgical treatment of SIJ dysfunction has regained interest among spine specialists.Current techniques described in the literature most often utilize intraoperative fluoroscopy to aid in implant placement;however,image guidance for SIJ fusion may allow for minimally invasive percutaneous instrumentation with more precise implant placement.In the following cases,we performed percutaneous stereotactic navigated sacroiliac instrumentation using O-arm^(?)multidimensional surgical imaging with StealthStation^(?)navigation(Medtronic,Inc.Minneapolis,MN).Patients were positioned prone and an image-guidance reference frame was placed contralateral to the surgical site.O-arm^(?) integrated with StealthStation^(?) allowed immediate autoregistration.The skin incision was planned with an image-guidance probe.An image-guided awl,drill and tap were utilized to choose a starting point and trajectory.Threaded titanium cage(s) packed with autograft and/or allograft were then placed.O-arm^(?) image-guidance allowed for implant placement in the SIJ with a small skin incision.However,we could not track the cage depth position with our current system,and in one patient,the SIJ cage had to be revised secondary to the anterior breach of sacrum.
基金Supported by the Ministerial Level Advanced Research Foundation of China(9140A05030213HT25012)
文摘Generally,Doppler fuze can only estimate actuation delay-time with a limited precision. As an improvement,imaging fuze can estimate actuation delay-time more precisely with the available two-dimensional image of the target. In this paper,imprecision of actuation delay-time estimation with Doppler fuze is first analyzed theoretically in brief. Secondly,feasibility analysis and theoretical model of imaging fuze are described,in which a criterion is established for the actuation delay-time based on the image,and then an image based gray-value weighted least square( GWLS) algorithm is presented to calculate actuation delay-time of the imaging fuze. Finally,a simulation model of missiletarget near-field encounter is established. Simulation results indicate that actuation delay-time of the imaging fuze is estimated more precisely than by the Doppler fuze.
基金This study was supported by the Ontario Research and Development Challenge Fund,the Princess Margaret Hospital Foundation and Xillix Technologies Corp.,Canada.The authors thank Dr.B.Shnapir of Barr Associates,USA and Mr.S.Miike of Fibertech,Japan for their cooperation.The authors gratefully acknowledge funding of the Erlangen Graduate School in Advanced Optical Technologies(SAOT)by the German National Science Foundation(DFG)in the framework of the excellence initiative.
文摘A technical feasibility of autofluorescence ductoscopy in breast milk ducts as blood vessels phantoms has been assessed as successful.Malignant tumor can be clearly identified through the milk ducts.We also present the operation principle as well as the preliminary experimental results of a new type of microsize multicorefiber that enables imaging through blood vessel phantoms.Imaging of a manipulated microwire through a drilled phantom is presented.
基金the Erlangen Graduate School in Advanced Optical Technologies(SAOT)by the German National Science Foundation(DFG)in the framework of the excellence initiative and Bavarian Laser Centre(BLZ)for support of this study.
文摘Limitations of cancer margin delineation and surgical guidance by means of autofluorescence imaging under conditions of laser ablation were investigated and preliminary results are presented.PinPoint^(TM)(Novadaq Technologies Inc.,Canada)was used to capture digital images and Er:YAG laser(2.94μm,Glissando,WaveLight^(TM),Germany)was exploited to cause laser ablation on both normal and cancer sites of the specimen.It was shown that changes of the autofluorescence image after ablation extend beyond the actual sizes of the ablation loci.The tumor tissue after the laser ablation starts to emit fluorescent light within the green wavelength band(490-550nm)similar to normal tissue stating that the current technology of in-process tissue classification fails.However,when the autofluorescence was collected in the red range(600-750nm),then the abnormal/normal contrast was reduced,but still present even after the laser ablation.The present study highlights the importance of finding a proper technology for surgical navigation of cancer removal under conditions of high power effects in biological tissues.
文摘Image-guided needles are currently used for drug delivery in bodies, but the additional time associated with aligning and maintaining the needle’s position results in increased patient discomfort or risk of invasion of the human body. In this paper, a needle guidance system using piezoelectric materials is designed and analyzed for precise drug delivery without damaging parts of the body and improving processing time. A piezoelectric generates an ultrasound wave that can propagate through different mediums, and a second piezoelectric crystal can receive that energy and convert it into voltage. A 1D real-time image represents the changes of the voltage induced in the double piezoelectric crystal. Extensive data analysis and visualization are done using different obstacles and location of the needle verified for other mediums. The presence of obstacles in between those crystals can be identified in the real-time grayscale image. The needle can reach its destination using this image information as directional guidance. This guided drug delivery improves patient recovery time and eliminates extra injuries that can be caused due to wrong needle injections, such as lumbar puncture-related nerve damage.