With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary su...With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.展开更多
AIM:To evaluate the usefulness of real-time virtual sonography(RVS)in biliary and pancreatic diseases.METHODS:This study included 15 patients with biliary and pancreatic diseases.RVS can be used to observe an ultrasou...AIM:To evaluate the usefulness of real-time virtual sonography(RVS)in biliary and pancreatic diseases.METHODS:This study included 15 patients with biliary and pancreatic diseases.RVS can be used to observe an ultrasound image in real time by merging the ultrasound image with a multiplanar reconstruction computed tomography(CT)image,using pre-scanned CT volume data.The ultrasound used was EUB-8500with a convex probe EUP-C514.The RVS images were evaluated based on 3 levels,namely,excellent,good and poor,by the displacement in position.RESULTS:By combining the objectivity of CT with free scanning using RVS,it was possible to easily interpret the relationship between lesions and the surrounding organs as well as the position of vascular structures.The resulting evaluation levels of the RVS images were12 excellent(pancreatic cancer,bile duct cancer,cholecystolithiasis and cholangiocellular carcinoma)and 3 good(pancreatic cancer and gallbladder cancer).Compared with conventional B-mode ultrasonography and CT,RVS images achieved a rate of 80%superior visualization and 20%better visualization.CONCLUSION:RVS has potential usefulness in objective visualization and diagnosis in the field of biliary and pancreatic diseases.展开更多
The maritime navigation accuracy requirements for radionavigation systems such as GPS are specified by the International Maritime Organization (IMO). Maritime navigation usually consists of three major phases identifi...The maritime navigation accuracy requirements for radionavigation systems such as GPS are specified by the International Maritime Organization (IMO). Maritime navigation usually consists of three major phases identified as Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking with an accuracy requirement that ranges from 10 m to 0.1 m. With the advancement in autonomous GPS positioning techniques such as Precise Point Positioning (PPP) and with the advent of the new IGS-Real-Time-Service (RTS), it is necessary to assess the possibility of a wider role of the PPP-based positioning technique in maritime applications. This paper investigates the performance of an autonomous real-time PPP-positioning solution by using the IGS- RTS service for maritime applications that require an accurate positioning system. To examine the performance of the real-time IGS-RTS PPP-based technique for maritime applications, kinematic data from a dual frequency GPS receiver is investigated. It is shown that the real-time IGS-RTS PPP-based GPS positioning technique fulfills IMO requirements for maritime applications with an accuracy requirement ranges from 10 m for Ocean/Coastal/Port approach/Inland waterways navigation to 1.0 m for in port navigation but cannot fulfill the automatic docking application with an accuracy requirement of 0.10 m. To further investigate the real-time PPP-based GPS positioning technique, a comparison is made between the real-time IGS-RTS PPP-based positioning technique and the real-time PPP-based positioning by using the predicted part of the IGS Ultra-Rapid products and the real-time GPS positioning technique with the Wide Area Differential GPS service (WADGPS). It is shown that the IGS-RTS PPP-based positioning technique is superior to the IGS-Ultra-Rapid PPP-based and WADGPS-based positioning techniques.展开更多
Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled po...Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.展开更多
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 surger...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.展开更多
基金Supported by National Natural Science Foundation of China,No.82070638 and No.81770621and JSPS KAKENHI,No.JP18H02866.
文摘With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery.
文摘AIM:To evaluate the usefulness of real-time virtual sonography(RVS)in biliary and pancreatic diseases.METHODS:This study included 15 patients with biliary and pancreatic diseases.RVS can be used to observe an ultrasound image in real time by merging the ultrasound image with a multiplanar reconstruction computed tomography(CT)image,using pre-scanned CT volume data.The ultrasound used was EUB-8500with a convex probe EUP-C514.The RVS images were evaluated based on 3 levels,namely,excellent,good and poor,by the displacement in position.RESULTS:By combining the objectivity of CT with free scanning using RVS,it was possible to easily interpret the relationship between lesions and the surrounding organs as well as the position of vascular structures.The resulting evaluation levels of the RVS images were12 excellent(pancreatic cancer,bile duct cancer,cholecystolithiasis and cholangiocellular carcinoma)and 3 good(pancreatic cancer and gallbladder cancer).Compared with conventional B-mode ultrasonography and CT,RVS images achieved a rate of 80%superior visualization and 20%better visualization.CONCLUSION:RVS has potential usefulness in objective visualization and diagnosis in the field of biliary and pancreatic diseases.
文摘The maritime navigation accuracy requirements for radionavigation systems such as GPS are specified by the International Maritime Organization (IMO). Maritime navigation usually consists of three major phases identified as Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking with an accuracy requirement that ranges from 10 m to 0.1 m. With the advancement in autonomous GPS positioning techniques such as Precise Point Positioning (PPP) and with the advent of the new IGS-Real-Time-Service (RTS), it is necessary to assess the possibility of a wider role of the PPP-based positioning technique in maritime applications. This paper investigates the performance of an autonomous real-time PPP-positioning solution by using the IGS- RTS service for maritime applications that require an accurate positioning system. To examine the performance of the real-time IGS-RTS PPP-based technique for maritime applications, kinematic data from a dual frequency GPS receiver is investigated. It is shown that the real-time IGS-RTS PPP-based GPS positioning technique fulfills IMO requirements for maritime applications with an accuracy requirement ranges from 10 m for Ocean/Coastal/Port approach/Inland waterways navigation to 1.0 m for in port navigation but cannot fulfill the automatic docking application with an accuracy requirement of 0.10 m. To further investigate the real-time PPP-based GPS positioning technique, a comparison is made between the real-time IGS-RTS PPP-based positioning technique and the real-time PPP-based positioning by using the predicted part of the IGS Ultra-Rapid products and the real-time GPS positioning technique with the Wide Area Differential GPS service (WADGPS). It is shown that the IGS-RTS PPP-based positioning technique is superior to the IGS-Ultra-Rapid PPP-based and WADGPS-based positioning techniques.
基金Supported by the Guizhou Provincial Science and Technology Projects([2020]2Y044)the Science and Technology Projects of China Southern Power Grid Co.Ltd.(066600KK52170074)the National Natural Science Foundation of China(61473144)。
文摘Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.
文摘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.
