Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object

In a robot mounted camera arrangement, handeye calibration estimates the rigid relationship between the robot and camera coordinate frames. Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of the robot to compute the hand-eye transformation. Such approaches achieve good accuracy for general use but for applications such as robotic assisted minimally invasive surgery, acquiring a calibration sequence multiple times during a procedure is not practical. In this paper, we present a new approach to tackle the problem by using the robotic surgical instruments as the calibration object with well known geometry from CAD models used for manufacturing. Our approach removes the requirement of a custom sterile calibration object to be used in the operating room and it simplifies the process of acquiring calibration data when the laparoscope is constrained to move around a remote centre of motion. This is the first demonstration of the feasibility to perform hand-eye calibration using components of the robotic system itself and we show promising validation results on synthetic data as well as data acquired with the da Vinci Research Kit

Traditional Ethnomedicinal Knowledge Confined to the Pawra Tribe of Satpura Hills, Maharashtra, India

Ethnobotanical surveys can potentially bring out many different clues for the development of safe, effective and inexpensive indigenous remedies. Present study has been focussed on Pawra tribe of Nandurbar district of Maharashtra, India. Field surveys of this area were carried out during 2000–2005 through several field visits and interviews. The aim of the present study was primarily to evaluate and inverntorize medicinal uses of the plants known to Pawras and to encourage preservation of their culture, conservation and sustainable utilization of the plant wealth. After an extensive comparison with literature, about 80 unique or less known uses of 79 plant species belonging to 59 families are described. The documented ethnomedicinal usage of plants mostly pertains to cure asthma, inflammation, lactation, menstrual problems, poisonous bites, skin problems, stomach ache and tooth ache. We found that the study area is rich in ethnic and biodiversity and the tribe posses a valuable treasure of ethnobotanical knowledge. This wisdom available with the tribe is transmitted only through oral communication in locally-spoken, script-less language and therefore needs conservation. The plants used by the Pawra tribe are arranged alphabetically followed by family name, herbarium number, local name, parts used, mode of preparation and medicinal uses

NLP Based Text Summarization Using Semantic Analysis

Due to an exponential growth in the generation of textual data, the need for tools and mechanisms for automatic summarization of documents has become very critical. Text documents are vital to any organization\u27s day-to-day working and as such, long documents often hamper trivial work. Therefore, an automatic summarizer is vital towards reducing human effort. Text summarization is an important activity in the analysis of a high volume text documents and is currently a major research topic in Natural Language Processing. It is the process of generation of the summary of input text by extracting the representative sentences from it. In this project, we present a novel technique for generating the summarization of domain specific text by using Semantic Analysis for text summarization, which is a subset of Natural Language Processing

Utjecaj sadržaja lijeka i veličine aglomerata na tabletiranje i oslobađanje bromheksin hidroklorida iz aglomerata s talkom pripremljenih kristalokoaglomeracijom

The objective of the investigation was to study the effect of bromhexine hydrochloride (BXH) content and agglomerate size on mechanical, compressional and drug release properties of agglomerates prepared by crystallo-co-agglomeration (CCA). Studies on optimized batches of agglomerates (BXT1 and BXT2) prepared by CCA have showed adequate sphericity and strength required for efficient tabletting. Trend of strength reduction with a decrease in the size of agglomerates was noted for both batches, irrespective of drug loading. However, an increase in mean yield pressure (14.189 to 19.481) with an increase in size was observed for BXT2 having BXH-talc (1:15.7). Surprisingly, improvement in tensile strength was demonstrated by compacts prepared from BXT2, due to high BXH load, whereas BXT1, having a low amount of BXH (BXH-talc, 1:24), showed low tensile strength. Consequently, increased tensile strength was reflected in extended drug release from BXT2 compacts (Higuchi model, R2 = 0.9506 to 0.9981). Thus, it can be concluded that interparticulate bridges formed by BXH and agglomerate size affect their mechanical, compressional and drug release properties.Cilj rada bio je praćenje utjecaja sadržaja bromheksidin hidroklorida (BXH) i veličine aglomerata na mehanička svojstva, kompresivnost i oslobađanje ljekovite tvari iz aglomerata pripravljenih kristalokoaglomeracijom (CCA). Optimizirani pripravci aglomerata (BXT1 i BXT2) pripravljeni CCA metodom pokazuju adekvatnu sferičnost i čvrstoću potrebnu za učinkovito tabletiranje. U oba pripravka se smanjenjem veličine aglomerata smanjivala i čvrstoća, neovisno o količini ljekovite tvari. Međutim, povećanje prosječnog tlaka s povećanjem veličine čestica primijećeno je u pripravku BXT2 s omjerom BXH-talk 1:15,7. Iznenađuje da su kompakti pripravljeni iz BXT2, s visokim sadržajem BXH, imali veću vlačnu čvrstoću, dok su BXT1 s niskim sadržajem BXH (BXH-talk, 1:24) imali manju čvrstoću. Veća vlačna čvrstoća imala je za posljedicu produljeno oslobađanje ljekovite tvari iz BXT2 (Higuchijev model, R2 = 0,9506 do 0,9981). Može se zaključiti da mostovi među česticama BXH i veličina aglomerata utječu na njihova mehanička i kompresivna svojstva te na oslobađanje ljekovite tvari

Understanding uncertainty in temperature effects on vector-borne disease: A Bayesian approach

Extrinsic environmental factors influence the distribution and population dynamics of many organisms, including insects that are of concern for human health and agriculture. This is particularly true for vector-borne infectious diseases, like malaria, which is a major source of morbidity and mortality in humans. Understanding the mechanistic links between environment and population processes for these diseases is key to predicting the consequences of climate change on transmission and for developing effective interventions. An important measure of the intensity of disease transmission is the reproductive number $R_0$. However, understanding the mechanisms linking $R_0$ and temperature, an environmental factor driving disease risk, can be challenging because the data available for parameterization are often poor. To address this we show how a Bayesian approach can help identify critical uncertainties in components of $R_0$ and how this uncertainty is propagated into the estimate of $R_0$. Most notably, we find that different parameters dominate the uncertainty at different temperature regimes: bite rate from 15-25$^\circ$ C; fecundity across all temperatures, but especially $\sim$25-32$^\circ$ C; mortality from 20-30$^\circ$ C; parasite development rate at $\sim$15-16$^\circ$C and again at $\sim$33-35$^\circ$C. Focusing empirical studies on these parameters and corresponding temperature ranges would be the most efficient way to improve estimates of $R_0$. While we focus on malaria, our methods apply to improving process-based models more generally, including epidemiological, physiological niche, and species distribution models.Comment: 27 pages, including 1 table and 3 figure