Towards automated visual flexible endoscope navigation

Background:\ud The design of flexible endoscopes has not changed significantly in the past 50 years. A trend is observed towards a wider application of flexible endoscopes with an increasing role in complex intraluminal therapeutic procedures. The nonintuitive and nonergonomical steering mechanism now forms a barrier in the extension of flexible endoscope applications. Automating the navigation of endoscopes could be a solution for this problem. This paper summarizes the current state of the art in image-based navigation algorithms. The objectives are to find the most promising navigation system(s) to date and to indicate fields for further research.\ud Methods:\ud A systematic literature search was performed using three general search terms in two medical–technological literature databases. Papers were included according to the inclusion criteria. A total of 135 papers were analyzed. Ultimately, 26 were included.\ud Results:\ud Navigation often is based on visual information, which means steering the endoscope using the images that the endoscope produces. Two main techniques are described: lumen centralization and visual odometry. Although the research results are promising, no successful, commercially available automated flexible endoscopy system exists to date.\ud Conclusions:\ud Automated systems that employ conventional flexible endoscopes show the most promising prospects in terms of cost and applicability. To produce such a system, the research focus should lie on finding low-cost mechatronics and technologically robust steering algorithms. Additional functionality and increased efficiency can be obtained through software development. The first priority is to find real-time, robust steering algorithms. These algorithms need to handle bubbles, motion blur, and other image artifacts without disrupting the steering process

Quantifying and visualising change: strain monitoring of tapestries with digital image correlation

A three-year research project at the University of Southampton (2007–2010) investigated whether monitoring techniques commonly used by engineers to assess the strength and durability of materials could be usefully applied to inform the condition assessment of historic tapestries. To date it has not been possible to obtain an objective picture of the overall condition of a tapestry; the study investigated whether it is possible to identify precursors of structural damage. The two techniques, digital image correlation (DIC) and optical fibre sensors, were used to monitor a representative wool fabric, specially woven tapestry samples, a newly woven tapestry, and historic tapestries, both in the laboratory and in situ in a historic house. This study first sets out to answer the question: can DIC be used to monitor and visualize strain in historic tapestries? It is shown that DIC can be used successfully. Secondly, it discusses the map function, a novel development which allowed the monitoring equipment to be moved, so that it could be used in situ in a historic house. Thirdly, it provides further details of the experimental work using optical fibre sensors to confirm the accuracy of the DIC technique

Holographic system for nondestructive testing

A description is given of a holographic system for nondestructive testing. The system is comprised of a mirror which illuminates the test object surface; the mirror is positionable to direct illumination on an object at varying angles with respect to a line normal to the surface of the object. In this manner holograms may be produced with varying degrees of sensitivity enabling optimum observation of dimensions of deformation of an object occurring between test exposures

Deemo: a new technology for the fabrication of microstructures

The recent innovations in dry etching make it a promising technology for the fabrications of micromoulds. The high aspect ratios, directional freedom, low roughness, high etch rates and high selectivity with respect to the mask material allow a versatile fabrication process of micromoulds for subsequent electroplating and embossing, as is demonstrated with the DEEMO process. DEEMO is an English acronym and stands for Dry Etching, Electroplating and Moulding

Wing and body motion during flight initiation in Drosophila revealed by automated visual tracking

The fruit fly Drosophila melanogaster is a widely used model organism in studies of genetics, developmental biology and biomechanics. One limitation for exploiting Drosophila as a model system for behavioral neurobiology is that measuring body kinematics during behavior is labor intensive and subjective. In order to quantify flight kinematics during different types of maneuvers, we have developed a visual tracking system that estimates the posture of the fly from multiple calibrated cameras. An accurate geometric fly model is designed using unit quaternions to capture complex body and wing rotations, which are automatically fitted to the images in each time frame. Our approach works across a range of flight behaviors, while also being robust to common environmental clutter. The tracking system is used in this paper to compare wing and body motion during both voluntary and escape take-offs. Using our automated algorithms, we are able to measure stroke amplitude, geometric angle of attack and other parameters important to a mechanistic understanding of flapping flight. When compared with manual tracking methods, the algorithm estimates body position within 4.4±1.3% of the body length, while body orientation is measured within 6.5±1.9 deg. (roll), 3.2±1.3 deg. (pitch) and 3.4±1.6 deg. (yaw) on average across six videos. Similarly, stroke amplitude and deviation are estimated within 3.3 deg. and 2.1 deg., while angle of attack is typically measured within 8.8 deg. comparing against a human digitizer. Using our automated tracker, we analyzed a total of eight voluntary and two escape take-offs. These sequences show that Drosophila melanogaster do not utilize clap and fling during take-off and are able to modify their wing kinematics from one wingstroke to the next. Our approach should enable biomechanists and ethologists to process much larger datasets than possible at present and, therefore, accelerate insight into the mechanisms of free-flight maneuvers of flying insects

Response of clay soil to three-dimensional tunnelling simulation in centrifuge models

Tunnelling-induced ground movements are complicated and investigations into them normally require some simplifications. This paper provides a brief literature review which highlights the advantages of adopting simplifications in physical modelling and addresses some of the deficiencies in the assessment of soil deformation due to a simulated tunnel excavation. A set of centrifuge tests modelling a tunnel heading located at different depths in clay was carried out at 125g. The tunnel was modelled by a semi-circular cavity partly supported by a stiff lining. The unlined tunnel heading was supported by a thin rubber bag supplied with compressed air pressure. Tunnel excavation was simulated by reducing air pressure. The induced ground movements at the subsurface and surface were measured by a 2D image analysis and a new, novel 3D imaging system. The results show that the experiment successfully reproduced key aspects of tunnelling-induced soil deformation in practice. In addition, a new equation to predict horizontal displacements in the longitudinal direction is proposed

Camera motion estimation through planar deformation determination

In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of the deformation between two images, in the case of a scene with constant depth in the camera coordinate system. This condition is very restrictive but we show that provided translation and depth inverse variations are small enough, the error on optical flow involved by the approximation of depths by a constant is small. In this context, we propose a new model of camera motion, that allows to separate the image deformation in a similarity and a ``purely'' projective application, due to change of optical axis direction. This model leads to a quadratic approximation of image deformation that we estimate with an M-estimator; we can immediatly deduce camera motion parameters.Comment: 21 pages, version modifi\'ee accept\'e le 20 mars 200

Light intensity strain analysis

A process is described for the analysis of the strain field of structures subjected to large deformations involving a low modulus substrate having a high modulus, relatively thin coating. The optical properties of transmittance and reflectance are measured for the coated substrate while stressed and unstressed to indicate the strain field for the coated substrate