Autonomous Tissue Scanning under Free-Form Motion for Intraoperative Tissue Characterisation

In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a challenging task for the surgeon. Recently, robot-assisted local tissue scanning has been investigated for motion stabilisation of imaging probes to facilitate the capturing of good quality images and reduce the surgeon's cognitive load. Nonetheless, these approaches require the tissue surface to be static or deform with periodic motion. To eliminate these assumptions, we propose a visual servoing framework for autonomous tissue scanning, able to deal with free-form tissue deformation. The 3D structure of the surgical scene is recovered and a feature-based method is proposed to estimate the motion of the tissue in real-time. A desired scanning trajectory is manually defined on a reference frame and continuously updated using projective geometry to follow the tissue motion and control the movement of the robotic arm. The advantage of the proposed method is that it does not require the learning of the tissue motion prior to scanning and can deal with free-form deformation. We deployed this framework on the da Vinci surgical robot using the da Vinci Research Kit (dVRK) for Ultrasound tissue scanning. Since the framework does not rely on information from the Ultrasound data, it can be easily extended to other probe-based imaging modalities.Comment: 7 pages, 5 figures, ICRA 202

Image analysis and statistical modelling for measurement and quality assessment of ornamental horticulture crops in glasshouses

Image analysis for ornamental crops is discussed with examples from the bedding plant industry. Feed-forward artificial neural networks are used to segment top and side view images of three contrasting species of bedding plants. The segmented images provide objective measurements of leaf and flower cover, colour, uniformity and leaf canopy height. On each imaging occasion, each pack was scored for quality by an assessor panel and it is shown that image analysis can explain 88.5%, 81.7% and 70.4% of the panel quality scores for the three species, respectively. Stereoscopy for crop height and uniformity is outlined briefly. The methods discussed here could be used for crop grading at marketing or for monitoring and assessment of growing crops within a glasshouse during all stages of production

The value of remote sensing techniques in supporting effective extrapolation across multiple marine spatial scales

The reporting of ecological phenomena and environmental status routinely required point observations, collected with traditional sampling approaches to be extrapolated to larger reporting scales. This process encompasses difficulties that can quickly entrain significant errors. Remote sensing techniques offer insights and exceptional spatial coverage for observing the marine environment. This review provides guidance on (i) the structures and discontinuities inherent within the extrapolative process, (ii) how to extrapolate effectively across multiple spatial scales, and (iii) remote sensing techniques and data sets that can facilitate this process. This evaluation illustrates that remote sensing techniques are a critical component in extrapolation and likely to underpin the production of high-quality assessments of ecological phenomena and the regional reporting of environmental status. Ultimately, is it hoped that this guidance will aid the production of robust and consistent extrapolations that also make full use of the techniques and data sets that expedite this process

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Visualizing pain data for wheelchair users: A ubiquitous approach

Copyright @ 2005 Rinton PressWe describe a wireless enabled solution for the vizualisation of pain data. Our approach uses pain drawings to record spatial location and type of pain and enables data collection with appropriate time stamping, thus providing a means for the seldom-recorded (but often attested) time-varying nature of pain, with consequential impact on monitoring the effectiveness of patient treatment regimes. Moreover, since the implementation platform of our solution is that of a Personal Digital Assistant (PDA), data collection takes place ubiquitously, providing back pain sufferers with mobility problems (such as wheelchair users) with a convenient means of logging their pain data and of seamlessly uploading it to a hospital server using WiFi technology. Stakeholder results show that, notwithstanding problems related to PDA data input, our approach is generally perceived to be an easy to use and convenient solution to the challenges of anywhere/anytime data collection