Optical coherence tomography-based consensus definition for lamellar macular hole.

BackgroundA consensus on an optical coherence tomography definition of lamellar macular hole (LMH) and similar conditions is needed.MethodsThe panel reviewed relevant peer-reviewed literature to reach an accord on LMH definition and to differentiate LMH from other similar conditions.ResultsThe panel reached a consensus on the definition of three clinical entities: LMH, epiretinal membrane (ERM) foveoschisis and macular pseudohole (MPH). LMH definition is based on three mandatory criteria and three optional anatomical features. The three mandatory criteria are the presence of irregular foveal contour, the presence of a foveal cavity with undermined edges and the apparent loss of foveal tissue. Optional anatomical features include the presence of epiretinal proliferation, the presence of a central foveal bump and the disruption of the ellipsoid zone. ERM foveoschisis definition is based on two mandatory criteria: the presence of ERM and the presence of schisis at the level of Henle's fibre layer. Three optional anatomical features can also be present: the presence of microcystoid spaces in the inner nuclear layer (INL), an increase of retinal thickness and the presence of retinal wrinkling. MPH definition is based on three mandatory criteria and two optional anatomical features. Mandatory criteria include the presence of a foveal sparing ERM, the presence of a steepened foveal profile and an increased central retinal thickness. Optional anatomical features are the presence of microcystoid spaces in the INL and a normal retinal thickness.ConclusionsThe use of the proposed definitions may provide uniform language for clinicians and future research

Bio-inspired Tensegrity Soft Modular Robots

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.Comment: 12 pages, 7 figures, submitted to Living Machine conference 201

Modeling the power consumption of a Wifibot and studying the role of communication cost in operation time

Mobile robots are becoming part of our every day living at home, work or entertainment. Due to their limited power capabilities, the development of new energy consumption models can lead to energy conservation and energy efficient designs. In this paper, we carry out a number of experiments and we focus on the motors power consumption of a specific robot called Wifibot. Based on the experimentation results, we build models for different speed and acceleration levels. We compare the motors power consumption to other robot running modes. We, also, create a simple robot network scenario and we investigate whether forwarding data through a closer node could lead to longer operation times. We assess the effect energy capacity, traveling distance and data rate on the operation time

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots

Learning while Competing -- 3D Modeling & Design

The e-Yantra project at IIT Bombay conducts an online competition, e-Yantra Robotics Competition (eYRC) which uses a Project Based Learning (PBL) methodology to train students to implement a robotics project in a step-by-step manner over a five-month period. Participation is absolutely free. The competition provides all resources - robot, accessories, and a problem statement - to a participating team. If selected for the finals, e-Yantra pays for them to come to the finals at IIT Bombay. This makes the competition accessible to resource-poor student teams. In this paper, we describe the methodology used in the 6th edition of eYRC, eYRC-2017 where we experimented with a Theme (projects abstracted into rulebooks) involving an advanced topic - 3D Designing and interfacing with sensors and actuators. We demonstrate that the learning outcomes are consistent with our previous studies [1]. We infer that even 3D designing to create a working model can be effectively learned in a competition mode through PBL

Perspective distortion modeling for image measurements

A perspective distortion modelling for monocular view that is based on the fundamentals of perspective projection is presented in this work. Perspective projection is considered to be the most ideal and realistic model among others, which depicts image formation in monocular vision. There are many approaches trying to model and estimate the perspective effects in images. Some approaches try to learn and model the distortion parameters from a set of training data that work only for a predefined structure. None of the existing methods provide deep understanding of the nature of perspective problems. Perspective distortions, in fact, can be described by three different perspective effects. These effects are pose, distance and foreshortening. They are the cause of the aberrant appearance of object shapes in images. Understanding these phenomena have long been an interesting topic for artists, designers and scientists. In many cases, this problem has to be necessarily taken into consideration when dealing with image diagnostics, high and accurate image measurement, as well as accurate pose estimation from images. In this work, a perspective distortion model for every effect is developed while elaborating the nature of perspective effects. A distortion factor for every effect is derived, then followed by proposed methods, which allows extracting the true target pose and distance, and correcting image measurements