4,935 research outputs found

    HATSouth: a global network of fully automated identical wide-field telescopes

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    HATSouth is the world's first network of automated and homogeneous telescopes that is capable of year-round 24-hour monitoring of positions over an entire hemisphere of the sky. The primary scientific goal of the network is to discover and characterize a large number of transiting extrasolar planets, reaching out to long periods and down to small planetary radii. HATSouth achieves this by monitoring extended areas on the sky, deriving high precision light curves for a large number of stars, searching for the signature of planetary transits, and confirming planetary candidates with larger telescopes. HATSouth employs 6 telescope units spread over 3 locations with large longitude separation in the southern hemisphere (Las Campanas Observatory, Chile; HESS site, Namibia; Siding Spring Observatory, Australia). Each of the HATSouth units holds four 0.18m diameter f/2.8 focal ratio telescope tubes on a common mount producing an 8.2x8.2 arcdeg field, imaged using four 4Kx4K CCD cameras and Sloan r filters, to give a pixel scale of 3.7 arcsec/pixel. The HATSouth network is capable of continuously monitoring 128 square arc-degrees. We present the technical details of the network, summarize operations, and present weather statistics for the 3 sites. On average each of the 6 HATSouth units has conducted observations on ~500 nights over a 2-year time period, yielding a total of more than 1million science frames at 4 minute integration time, and observing ~10.65 hours per day on average. We describe the scheme of our data transfer and reduction from raw pixel images to trend-filtered light curves and transiting planet candidates. Photometric precision reaches ~6 mmag at 4-minute cadence for the brightest non-saturated stars at r~10.5. We present detailed transit recovery simulations to determine the expected yield of transiting planets from HATSouth. (abridged)Comment: 25 pages, 11 figures, 1 table, submitted to PAS

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

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    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

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

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    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
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