Automatic Grasping Region Extraction Using Shape Profile Based and Geometrical Features Approach

Many applications of robotics include the grasping and manipulation of objects. Working in assembly robotic environments, the robot has to accurately not only locate the part but also to recognize it in readiness for grasping. In order to determine a grasping position, it is necessary to recognize the types of object, and detect portions which are suitable for grasp. According to get the important data clearly and correctly from the images, the detection and extraction methods are essential. This paper is mainly focused on the method of extracting the PCA and Shaped Profile with geometrical feature. Our proposed method is the combination of shapes based approach with the ratio and hole features. The proposed system has been tested successfully to a dataset of 336 images for seven types of common hand tools and achieved good accuracy and less computation complexity for 2D images by using a single camera. The overall recognition accuracy of PCA method with geometrical feature approach is 69.0476% on the same set of test images whereas overall accuracy of shape profile based method with geometrical feature approach is 97.9167%. Base on the experiment, this system is robust for the industrial robots for grasping tasks. This paper intends to implement machine vision system for industrial robotic grasping tasks.

ACUTE FATTY LIVER IN PREGNANCY

Acute fatty liver of pregnancy (AFLP) is an obstetric emergency and life threatening condition of the pregnancy. It affects during last trimester of pregnancy and occasionally occurs in postpartum period. It is presented with malaise, nausea, vomiting, and epigastric pain followed by jaundice. Laboratory tests usually derange liver and renal functions with coagulopathy. The incidence of AFLP is approximately 1 in 15,000 pregnancies. We reported the case of a 34-year-old patient, with multiple pregnancy at 35 weeks of gestation presented with dizziness, headache and dyspepsia aggravated by lying down and noted jaundice during operation. She had postpartum haemorrhage after the operation due to coagulopathy and her laboratory investigations findings favoured to diagnosis as AFLP and treated with supportive management at intensive care unit (ICU). Therefore obstetrician must be aware of one of this hepatic problem in pregnant women at latetrimester

The Prevalence of Human Papillomavirus Among the Indigenous Population in Serian, Sarawak, Malaysian Borneo

Introduction: Cervical cancer remains a significant problem worldwide, particularly in resource-limited countries, and having persistent HRHPV infection is a necessary risk factor. HPV16/18 are generally regarded as the cause of 70% cervical cancer incidences worldwide, and effective vaccines have been developed against these two HPVs. Although Malaysia has officially adopted an HPV vaccination strategy into the National Vaccination Program, the comprehensive prevalence data on each endemic HPV genotypes was absent in East Malaysia and most parts of the country except for major cities in Peninsular Malaysia. Objective: The objective of this study is to elucidate the endemic HPV genotypes that are circulating in the suburban population in Serian Division, Sarawak, Malaysia. Methods: Non-virgin women who were attending the Women's health campaign on the 5th and 23rd October 2018 were recruited. Informed consent was obtained, and a cervical swab was clinician-collected. The presence of HPV in the cervical swab was detected using MY09/MY11 followed by GP5+/GP6+ nested-PCR and its corresponding genotypes identified via sequencing. HRHPV positive women were screened using Results: We have recruited 43 sexually active women with median age of 51-year-old. HPV18, 39, 52, 56, and 84 were detected at an equal ratio. The overall prevalence rate of HPV, HRHPV and URHPV were 11.62% (5/43), 9.3% (4/43) and 2.3% respectively. Only 20% (n=1/5) of the HRHPV positive women were positive by VIA. Conclusion: HPV18, 39, 52, 56, and 84 were detected in Serian at an equal ratio. HPV16 was absent, and HPV18 was the only vaccine-genotype detected. HPV 39, 52, 56, and 84 were not covered by the bivalent and tetravalent HPV vaccines

Prevalence of Human Papillomavirus in Women with Abnormal Cervical Smears from Sarawak, Malaysia

Introduction Cervical cancer is common cancer and ranked in fourth place in both incidence and mortality worldwide. It is 3rd most common female cancer in Malaysia with a lifetime risk of 1 in 116. Infection with high-risk oncogenic human papillomavirus (HPV) is recognized as one of the substantial risk factors for the development of cervical cancers. Methods It was a cross-sectional study conducted to determine the prevalence of HPV infection and its subtypes among women with various degrees of abnormal smears, who were seen in the colposcopy clinic of Sarawak General Hospital within six months’ period from January to June 2018. We recruited 56 participants. There were 23 each for an atypical squamous cell of undetermined significance (ASC-US) and low-grade squamous intraepithelial lesion (LSIL) and 10 high- grade squamous intraepithelial lesion (HSIL). DNA was extracted, and HPV genotypes were determined via polymerase chain reaction (PCR) using two primer pairs MY09/MY11 and GP5+/GP6+. Results The age ranged from 23 to 56 years, with a mean age of 42.96 years. HPV was detected in 20 out of 56 (35.7%). There were 6 high-risk oncogenic HPVs (18, 51, 52, 56, 58, 68) detected in participants and the most prevalent subtypes were 18, 52, and 58 (20% each). Four low-risk HPVs detected were 6, 53, 70, and 84. There was a significant association between the severity of cervical lesions and HPV positivity (P < 0.004). HSIL had the highest positive predictive value to have HPV infection as 70% compared to 43.4% of LSIL and 9.3% of ASC-US. Conclusion Distribution of HPV subtypes from women with abnormal smears from Sarawak indicated a high prevalence of HPV 18, 52, and 58. We also identified HPV 70, which has never been reported in West Malaysia. These findings could contribute valuable information for HPV vaccination strategies, particularly for Sarawakian women

Emotional Intelligence Level of Year One and Two Medical Students of University Malaysia Sarawak: Association With Demographic Data

Emotional intelligence is the ability to monitor one’s own and other’s emotions, to discriminate among them, and to guide one’s thinking and actions. It is very important to assess as it helps to reason out our emotional responses. The objective of this study is to assess the emotional intelligence level of Year one and two medical students of UNIMAS. Majority has strength in all the domains except managing emotions domain where 51.5% need attention. No respondent fall into the development priority competency. There were no significant difference among all the domains between two groups but Year 1 students need more attention in managing emotions domain compared to Year 2 students. There was no significant association between demographic characteristics – age, residency, qualification and ethnicity – but there was a significant association (p value of 0.038) in male with empathy domain. Further study should be done on groups spanning from Year 1 to Year 5 as they have a greater difference in age as well as exposure to clinical practice which may have a significant impact on their emotional intelligence

Ovarian teratoma-associated anti-NMDAR encephalitis in a 12-year-old girl

aspartate receptor (anti-NMDAR) is one of the most commonautoimmune encephalitis syndromes and it is a serious andpotentially fatal pathology that occurs in young women. Thiscase report describes of a pediatric patient with anti-NMDARencephalitis. A-12-year-old girl presented with abnormalbehavior for one week came to Emergency Department ofSarawak General Hospital, Malaysia. She had psychoticspectrum symptoms including suicidal tendency. She wasdiagnosed with anti-NMDAR encephalitis as positiveantibody was seen in her cerebrospinal fluid. She wastreated with Injection Immunoglobulin. She turned out tohave teratoma which was successfully removed later. Herprogress was remarkable after the surgery with theImmunoglobulin. A multi-disciplinary team involving apsychiatrist, neurologist and gynaecologist liaised withintensivist to successfully manage the case and achieve thegood outcome

Uterine artery pseudoaneurysm : A case of late intraabdominal haemorrhage after caesarean section

Uterine artery pseudoaneurysm (UAP) is a rare acquired vascular malformation associated with vaginal bleeding or intraabdominal haemorrhage occurring after pelvic surgery. Pseudoaneurysm may present with delayed, severe haemorrhage after a seemingly uncomplicated initial postoperative period. Treatment is therefore necessary to prevent further complications. We describe here a case of a 32-year-old mother, who presented with abdominal pain and intraabdominal bleeding, 20 days after Caesarean Section. Computerised Tomography (CT) scan showed the presence of haemoperitoneum, suggestive of pseudoaneurysm at the right cervical artery which was successfully managed with emergency angiographic embolisation