15 research outputs found
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3D A-Mode Ultrasound Calibration and Registration of the Tibia and Femur for Computer-Assisted Robotic Surgery
Registration is a key component for computer-navigated robot-assisted surgery. Invasive approaches such as fiducial-based and surface matching with mechanical probes are common but ultrasound may provide a non-invasive alternative. If an A-mode ultrasound transducer can be used to percutaneously select data points on the bones, a registration can be determined without needing any incision. This study investigates selecting an A-mode ultrasound transducer, calibrating it, analyzing the ultrasound signal, and using it to register a phantom sawbone tibia and femur as well as cadaveric specimens. This study is performed in conjunction with MAKO Surgical Corp.\u27s Tactile Guidance Systemâ„¢ (TGSâ„¢) at their headquarters and at The South Florida Spine Clinic for cadaveric experiments. The results for phantom and cadaveric ultrasound registrations compared to a mechanical probe approach demonstrate that A-mode ultrasound registration is a viable option for registration of the bones of the knee
"iTheater" interface design : integrating an educational user interface with a non-linear story engine
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, June 2000."May 5, 2000."Includes bibliographical references (leaves 33-34).by Alon Mozes.M.Eng
The Local and the Global: The Flora of the Israeli Garden
The floral palette of the Israeli garden is a rich and diverse mosaic, similar to the human mosaic of the country's population. Indigenous species mentioned in the Bible bloom in the Israeli garden alongside species that were introduced hundreds of years ago and that are now considered residents, as well as new introductions from around the world. This floral palette is not incidental, but is the product of the development of Israeli garden culture, a process not innocent of ideology, politics, economy and society
The International Competition for the Reclamation of the Hiriya Landfill: A National Israeli Symbol in the ‘Global’ Arena
The recent international competition for the reclamation of the Hiriya landfill (2004), located in the centre of Israel’s metropolitan area, was the climax of a fiveyear project, in which the fifty-year-old landfill (1948–1998), Israel’s largest, became the focus of international artistic, planning and design activities.This paper discusses the Hiriya project in order to explore the reciprocity between local activity within the field of landscape architecture and the global arena of landscape architecture practice, focusing specifically on the reclamation of marginal landscapes.For many years, Hiriya served as a symbol of Zionists’ environmental neglect. Therefore, unsurprisingly, the reclamation of the site and the design of the metropolitan park surrounding it became a national symbol of regeneration, involving world-renowned experts. By examining the planning process, and particularly the recent design competition, this paper explores the relationship between the local and the global, and significantly, the difficulty of bridging these opposing stands visà- vis landscape reclamation. The design process proved that, to be part of the global arena, it is not enough to bring in foreign designers and let them play according to local rules. It requires frankness toward greater global cultural changes that are beyond the sole activity of design. The design proposals exemplify complex and rich interpretations of local and global ideas by both local and foreign designers, but ultimately proving that at times, outsiders are more successful in grasping the site’s genius loci than locals. 
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Three-dimensional A-mode ultrasound calibration and registration for robotic orthopaedic knee surgery
Registration is a key step for computer-navigated robot-assisted surgery. Registration links the live patient anatomical location to the prescanned CT or MRI images, so that predesigned procedures can be performed accurately. Fiducial markers or mechanical probes are usually used to identify anatomical features or collect data points for registration. This conventional invasive approach is common; however, using ultrasound probes may provide a non-invasive alternative.
This report presents investigations of selecting an A-mode ultrasound transducer, calibrating it, analysing the ultrasound signal and using it to register phantom-sawbones of tibia and femur as well as cadaveric specimens. To ensure accurate registration, the A-mode ultrasound probe is calibrated by a designed calibration system. Detailed mathematical derivation and procedures for the calibration are provided in the Appendix. The calibration and registration experiments were performed in conjunction with MAKO Surgical Corporation's Tactile Guidance System (TGS) at their headquarters and at the South Florida Spine Clinic for cadaveric experiments.
Calibration results show that an A-mode ultrasound probe can reach the same accuracy level as a mechanical probe. By using the A-mode ultrasound probe, averaged root mean square errors (RMSE) are <0.5 mm for calibration, <1.0 mm for phantom-sawbones and <2.0 mm for cadaveric specimens.
The registration results from phantom and cadaveric experiments are suitable for clinical applications. A-mode ultrasound registration is a viable option for registration of the bones in orthopaedic knee surgery but with reduced incision size