Laparoscopic image analysis for automatic tracking of surgical tools

Laparoscopy is a surgical technique nowadays embedded in the clinical routine. Recent researches have been focused on analysing video information captured by the endoscope for extracting cues useful for surgeons, such as depth information. In particular, the 3D pose estimation of the surgical tools presents three important added values: (1) to extract objective parameters for the surgical training stage, (2) to develop an image-guided surgery based on the knowledge of the surgery tools localization, (3) to design new roboticsystems for an automatic laparoscope positioning, according to the visual feedback. Tool’s shape and orientation in the image is the key to get its 3D position. This work presents an image analysis for automatic laparoscopic tool’s detection along the recorded video without extra tool markers, using an edges detection strategy. Also, this analysis includes a previous stage of barrel distortion correction for videoendoscopic image

Topological Measure Locating the Effective Crossover between Segregation and Integration in a Modular Network

We introduce an easily computable topological measure which locates the effective crossover between segregation and integration in a modular network. Segregation corresponds to the degree of network modularity, while integration is expressed in terms of the algebraic connectivity of an associated hyper-graph. The rigorous treatment of the simplified case of cliques of equal size that are gradually rewired until they become completely merged, allows us to show that this topological crossover can be made to coincide with a dynamical crossover from cluster to global synchronization of a system of coupled phase oscillators. The dynamical crossover is signaled by a peak in the product of the measures of intra-cluster and global synchronization, which we propose as a dynamical measure of complexity. This quantity is much easier to compute than the entropy (of the average frequencies of the oscillators), and displays a behavior which closely mimics that of the dynamical complexity index based on the latter. The proposed toplogical measure simultaneously provides information on the dynamical behavior, sheds light on the interplay between modularity vs total integration and shows how this affects the capability of the network to perform both local and distributed dynamical tasks

A numerical study of cell merger over Cuba ? Part II: sensitivity to environmental conditions

International audienceIn the first part of this study, an external 3-D ambient field (3d-field) was used to initiate a simulation (Sim1). In this paper, the influence of the 3-D field in the occurrence of the cloud merger simulated in Sim1 is studied. The surface convergence was very important to supply the lifting necessary for the development of new the convection. The interaction of the gust front from an old cloud with the environmental wind, as well as the interaction between the two gust fronts, were the main factors that enhanced the surface convergence. A favorable perturbation pressure gradient was also found to intensify this mechanism. The formation and development of a new cloud from the cloud bridge was the main feature for the occurrence of the cloud merger. The influence of the wind shear components and the relative humidity (RH) in the occurrence of the cloud merger was also analyzed. The parallel wind shear component and the large RH present in the zone of study had a positive contribution to the occurrence of the cloud merger. However, the perpendicular wind shear component did not provide the main forced lifting which would be capable of generating the new convection along the direction between interacting clouds. A high resolution simulation corroborated that the cloud merger was correctly simulated and it was not obtained by unrealistic effects due to the coarse resolution employed. It evidenced that when the horizontal resolution is improved, the life cycle of each cloud and the different processes related to their interactions are better described

A numerical study of cell merger over Cuba ? Part I: implementation of the ARPS/MM5 models

International audienceOn 21 July 2001 a number of severe storms developed over the region of Camaguey, Cuba, which were observed by radar. A numerical simulation was performed in order to realistically reproduce the development of the storms observed that day. The mesoscale model MM5 was used to determine the initial, boundary and update conditions for the storm-scale simulation with the model ARPS. Changes to the source code of ARPS were made in order to assimilate the output from the MM5 as input data and a new land-use file with a 1-km horizontal resolution for the Cuban territory was created. A case representing the merger between cells at different stages of development was correctly reproduced by the simulation and is in good agreement with radar observations. The state of development of each cell, the time when the merger occurred, starting from the formation of clouds, the propagation motion of the cells and the increase in precipitation, due to the growth of the area after the merger, were correctly reproduced. Simulated clouds matched the main characteristics of the observed radar echoes, though in some cases, reflectivity tops and horizontal areas were overestimated. Maximum reflectivity values and the heights where these maximum values were located were in good agreement with radar data, particularly when the model reflectivity was calculated without including the snow. The MM5/ARPS configuration introduced in this study, improved sensibly the ability to simulate convective systems, thereby enhancing the local forecasting of convection in the region

Symmetries in Fluctuations Far from Equilibrium

Fluctuations arise universally in Nature as a reflection of the discrete microscopic world at the macroscopic level. Despite their apparent noisy origin, fluctuations encode fundamental aspects of the physics of the system at hand, crucial to understand irreversibility and nonequilibrium behavior. In order to sustain a given fluctuation, a system traverses a precise optimal path in phase space. Here we show that by demanding invariance of optimal paths under symmetry transformations, new and general fluctuation relations valid arbitrarily far from equilibrium are unveiled. This opens an unexplored route toward a deeper understanding of nonequilibrium physics by bringing symmetry principles to the realm of fluctuations. We illustrate this concept studying symmetries of the current distribution out of equilibrium. In particular we derive an isometric fluctuation relation which links in a strikingly simple manner the probabilities of any pair of isometric current fluctuations. This relation, which results from the time-reversibility of the dynamics, includes as a particular instance the Gallavotti-Cohen fluctuation theorem in this context but adds a completely new perspective on the high level of symmetry imposed by time-reversibility on the statistics of nonequilibrium fluctuations. The new symmetry implies remarkable hierarchies of equations for the current cumulants and the nonlinear response coefficients, going far beyond Onsager's reciprocity relations and Green-Kubo formulae. We confirm the validity of the new symmetry relation in extensive numerical simulations, and suggest that the idea of symmetry in fluctuations as invariance of optimal paths has far-reaching consequences in diverse fields.Comment: 8 pages, 4 figure