4,457 research outputs found
Realistic and interactive high-resolution 4D environments for real-time surgeon and patient interaction
Copyright © 2016 John Wiley & Sons, Ltd. Background: Remote consultations that are realistic enough to be useful medically offer considerable clinical, logistical and cost benefits. Despite advances in virtual reality and vision hardware and software, these benefits are currently often unrealised. Method: The proposed approach combines high spatial and temporal resolution 3D and 2D machine vision with virtual reality techniques, in order to develop new environments and instruments that will enable realistic remote consultations and the generation of new types of useful clinical data. Results: New types of clinical data have been generated for skin analysis and respiration measurement; and the combination of 3D with 2D data was found to offer potential for the generation of realistic virtual consultations. Conclusion: An innovative combination of high resolution machine vision data and virtual reality online methods, promises to provide advanced functionality and significant medical benefits, particularly in regions where populations are dispersed or access to clinicians is limited. Copyright © 2016 John Wiley & Sons, Ltd
A mathematical framework for combining decisions of multiple experts toward accurate and remote diagnosis of malaria using tele-microscopy.
We propose a methodology for digitally fusing diagnostic decisions made by multiple medical experts in order to improve accuracy of diagnosis. Toward this goal, we report an experimental study involving nine experts, where each one was given more than 8,000 digital microscopic images of individual human red blood cells and asked to identify malaria infected cells. The results of this experiment reveal that even highly trained medical experts are not always self-consistent in their diagnostic decisions and that there exists a fair level of disagreement among experts, even for binary decisions (i.e., infected vs. uninfected). To tackle this general medical diagnosis problem, we propose a probabilistic algorithm to fuse the decisions made by trained medical experts to robustly achieve higher levels of accuracy when compared to individual experts making such decisions. By modelling the decisions of experts as a three component mixture model and solving for the underlying parameters using the Expectation Maximisation algorithm, we demonstrate the efficacy of our approach which significantly improves the overall diagnostic accuracy of malaria infected cells. Additionally, we present a mathematical framework for performing 'slide-level' diagnosis by using individual 'cell-level' diagnosis data, shedding more light on the statistical rules that should govern the routine practice in examination of e.g., thin blood smear samples. This framework could be generalized for various other tele-pathology needs, and can be used by trained experts within an efficient tele-medicine platform
A laboratory breadboard system for dual-arm teleoperation
The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques
3D video coding and transmission
The capture, transmission, and display of
3D content has gained a lot of attention in the last few
years. 3D multimedia content is no longer con fined to
cinema theatres but is being transmitted using stereoscopic
video over satellite, shared on Blu-RayTMdisks,
or sent over Internet technologies. Stereoscopic displays
are needed at the receiving end and the viewer needs to
wear special glasses to present the two versions of the
video to the human vision system that then generates
the 3D illusion. To be more e ffective and improve the
immersive experience, more views are acquired from a
larger number of cameras and presented on di fferent displays,
such as autostereoscopic and light field displays.
These multiple views, combined with depth data, also
allow enhanced user experiences and new forms of interaction
with the 3D content from virtual viewpoints.
This type of audiovisual information is represented by a
huge amount of data that needs to be compressed and
transmitted over bandwidth-limited channels. Part of
the COST Action IC1105 \3D Content Creation, Coding
and Transmission over Future Media Networks" (3DConTourNet)
focuses on this research challenge.peer-reviewe
Computer- and robot-assisted Medical Intervention
Medical robotics includes assistive devices used by the physician in order to
make his/her diagnostic or therapeutic practices easier and more efficient.
This chapter focuses on such systems. It introduces the general field of
Computer-Assisted Medical Interventions, its aims, its different components and
describes the place of robots in that context. The evolutions in terms of
general design and control paradigms in the development of medical robots are
presented and issues specific to that application domain are discussed. A view
of existing systems, on-going developments and future trends is given. A
case-study is detailed. Other types of robotic help in the medical environment
(such as for assisting a handicapped person, for rehabilitation of a patient or
for replacement of some damaged/suppressed limbs or organs) are out of the
scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00
Optomotor Swimming in Larval Zebrafish Is Driven by Global Whole-Field Visual Motion and Local Light-Dark Transitions
Stabilizing gaze and position within an environment constitutes an important task for the nervous system of many animals. The optomotor response (OMR) is a reflexive behavior, present across many species, in which animals move in the direction of perceived whole-field visual motion, therefore stabilizing themselves with respect to the visual environment. Although the OMR has been extensively used to probe visuomotor neuronal circuitry, the exact visual cues that elicit the behavior remain unidentified. In this study, we use larval zebrafish to identify spatio-temporal visual features that robustly elicit forward OMR swimming. These cues consist of a local, forward-moving, off edge together with on/off symmetric, similarly directed, global motion. Imaging experiments reveal neural units specifically activated by the forward-moving light-dark transition. We conclude that the OMR is driven not just by whole-field motion but by the interplay between global and local visual stimuli, where the latter exhibits a strong light-dark asymmetry
Advances in Quantum Teleportation
Quantum teleportation is one of the most important protocols in quantum
information. By exploiting the physical resource of entanglement, quantum
teleportation serves as a key primitive in a variety of quantum information
tasks and represents an important building block for quantum technologies, with
a pivotal role in the continuing progress of quantum communication, quantum
computing and quantum networks. Here we review the basic theoretical ideas
behind quantum teleportation and its variant protocols. We focus on the main
experiments, together with the technical advantages and disadvantages
associated with the use of the various technologies, from photonic qubits and
optical modes to atomic ensembles, trapped atoms, and solid-state systems.
Analysing the current state-of-the-art, we finish by discussing open issues,
challenges and potential future implementations.Comment: Nature Photonics Review. Comments are welcome. This is a
slightly-expanded arXiv version (14 pages, 5 figure, 1 table
Building Programmable Wireless Networks: An Architectural Survey
In recent times, there have been a lot of efforts for improving the ossified
Internet architecture in a bid to sustain unstinted growth and innovation. A
major reason for the perceived architectural ossification is the lack of
ability to program the network as a system. This situation has resulted partly
from historical decisions in the original Internet design which emphasized
decentralized network operations through co-located data and control planes on
each network device. The situation for wireless networks is no different
resulting in a lot of complexity and a plethora of largely incompatible
wireless technologies. The emergence of "programmable wireless networks", that
allow greater flexibility, ease of management and configurability, is a step in
the right direction to overcome the aforementioned shortcomings of the wireless
networks. In this paper, we provide a broad overview of the architectures
proposed in literature for building programmable wireless networks focusing
primarily on three popular techniques, i.e., software defined networks,
cognitive radio networks, and virtualized networks. This survey is a
self-contained tutorial on these techniques and its applications. We also
discuss the opportunities and challenges in building next-generation
programmable wireless networks and identify open research issues and future
research directions.Comment: 19 page
RGBD Datasets: Past, Present and Future
Since the launch of the Microsoft Kinect, scores of RGBD datasets have been
released. These have propelled advances in areas from reconstruction to gesture
recognition. In this paper we explore the field, reviewing datasets across
eight categories: semantics, object pose estimation, camera tracking, scene
reconstruction, object tracking, human actions, faces and identification. By
extracting relevant information in each category we help researchers to find
appropriate data for their needs, and we consider which datasets have succeeded
in driving computer vision forward and why.
Finally, we examine the future of RGBD datasets. We identify key areas which
are currently underexplored, and suggest that future directions may include
synthetic data and dense reconstructions of static and dynamic scenes.Comment: 8 pages excluding references (CVPR style
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