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

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

Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed. It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user. The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planar-model fitting. We also present experimental results on different real outdoor scenarios showing that our method is the most reliable in the sense that it minimizes the false positives rate.N. Ortigosa acknowledges the support of Universidad Politecnica de Valencia under grant FPI-UPV 2008 and Spanish Ministry of Science and Innovation under grant MTM2010-15200. S. Morillas acknowledges the support of Universidad Politecnica de Valencia under grant PAID-05-12-SP20120696.Ortigosa Araque, N.; Morillas Gómez, S. (2014). 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Luminance, colour, viewpoint and border enhanced disparity energy model

The visual cortex is able to extract disparity information through the use of binocular cells. This process is reflected by the Disparity Energy Model, which describes the role and functioning of simple and complex binocular neuron populations, and how they are able to extract disparity. This model uses explicit cell parameters to mathematically determine preferred cell disparities, like spatial frequencies, orientations, binocular phases and receptive field positions. However, the brain cannot access such explicit cell parameters; it must rely on cell responses. In this article, we implemented a trained binocular neuronal population, which encodes disparity information implicitly. This allows the population to learn how to decode disparities, in a similar way to how our visual system could have developed this ability during evolution. At the same time, responses of monocular simple and complex cells can also encode line and edge information, which is useful for refining disparities at object borders. The brain should then be able, starting from a low-level disparity draft, to integrate all information, including colour and viewpoint perspective, in order to propagate better estimates to higher cortical areas.Portuguese Foundation for Science and Technology (FCT); LARSyS FCT [UID/EEA/50009/2013]; EU project NeuroDynamics [FP7-ICT-2009-6, PN: 270247]; FCT project SparseCoding [EXPL/EEI-SII/1982/2013]; FCT PhD grant [SFRH-BD-44941-2008

Real-time deep learning of robotic manipulator inverse dynamics

In certain cases analytical derivation of physics-based models of robots is difficult or even impossible. A potential workaround is the approximation of robot models from sensor data-streams employing machine learning approaches. In this paper, the inverse dynamics models are learned by employing a novel real-time deep learning algorithm. The algorithm exploits the methods of self-organized learning, reservoir computing and Bayesian inference. It is evaluated and compared to other state of the art algorithms in terms of generalization ability, convergence and adaptability using five datasets gathered from four robots. Results show that the proposed algorithm can adapt to real-time changes of the inverse dynamics model significantly better than the other state of the art algorithms

SASCr3: A Real Time Hardware Coprocessor for Stereo Correspondence

Main focus of this paper is to show the relevant improvements for a real time hardware co-processor for Stereo-Matching. The approach follows the well-known scheme for strings alignment proposed by Needleman&Wunsch, commonly used in bio-informatics. The principal improvement concerns the algorithm parallelization in FPGA design, in an hardware architecture many resources can work at the same time avoiding the reduction of system performance. The architecture, highly modular, was designed by using Bluespec SystemVerilog development tool and is described in detail. For many parallelism degrees the synthesis and performance results are shown, for this purpose a Lattice ECP3-70 is set as target device. The aim of this project is to build stereo vision system for embedded application, charaterized by low power usage and device cost. The actual circuit is an updated version of SASCr2 design. Performance is benchmarked against the former implementation

A built-in current sensor using thin-film transistors

Abstract. A simple current mirror using TFTs with input terminals which are capacitively coupled to the TFT gate, is used in this work, to design a built-in current sensor (BICS). The important feature in this application is that the voltage drop across the sensing TFT device can be reduced to almost zero value, while preserving transistor operation in the saturation region. This makes the proposed BICS appropriate for TFT applications without affecting the circuit operation. It also results in adequate linearity for the current monitoring, making the structure applicable to digital as well as to analog and mixed-signal circuit testing