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1
Cochennec, Frédéric, Celia Riga, Mohamad Hamady, Nicholas Cheshire, and Colin Bicknell. "Improved Catheter Navigation With 3D Electromagnetic Guidance." Journal of Endovascular Therapy 20, no. 1 (February 2013): 39–47. http://dx.doi.org/10.1583/12-3951.1.
2
Mason, Alexander, Renee Paulsen, Jason M. Babuska, Sharad Rajpal, Sigita Burneikiene, E. Lee Nelson, and Alan T. Villavicencio. "The accuracy of pedicle screw placement using intraoperative image guidance systems." Journal of Neurosurgery: Spine 20, no. 2 (February 2014): 196–203. http://dx.doi.org/10.3171/2013.11.spine13413.
Анотація:
Object Several retrospective studies have demonstrated higher accuracy rates and increased safety for navigated pedicle screw placement than for free-hand techniques; however, the accuracy differences between navigation systems has not been extensively studied. In some instances, 3D fluoroscopic navigation methods have been reported to not be more accurate than 2D navigation methods for pedicle screw placement. The authors of this study endeavored to identify if 3D fluoroscopic navigation methods resulted in a higher placement accuracy of pedicle screws. Methods A systematic analysis was conducted to examine pedicle screw insertion accuracy based on the use of 2D, 3D, and conventional fluoroscopic image guidance systems. A PubMed and MEDLINE database search was conducted to review the published literature that focused on the accuracy of pedicle screw placement using intraoperative, real-time fluoroscopic image guidance in spine fusion surgeries. The pedicle screw accuracy rates were segregated according to spinal level because each spinal region has individual anatomical and morphological variations. Descriptive statistics were used to compare the pedicle screw insertion accuracy rate differences among the navigation methods. Results A total of 30 studies were included in the analysis. The data were abstracted and analyzed for the following groups: 12 data sets that used conventional fluoroscopy, 8 data sets that used 2D fluoroscopic navigation, and 20 data sets that used 3D fluoroscopic navigation. These studies included 1973 patients in whom 9310 pedicle screws were inserted. With conventional fluoroscopy, 2532 of 3719 screws were inserted accurately (68.1% accuracy); with 2D fluoroscopic navigation, 1031 of 1223 screws were inserted accurately (84.3% accuracy); and with 3D fluoroscopic navigation, 4170 of 4368 screws were inserted accurately (95.5% accuracy). The accuracy rates when 3D was compared with 2D fluoroscopic navigation were also consistently higher throughout all individual spinal levels. Conclusions Three-dimensional fluoroscopic image guidance systems demonstrated a significantly higher pedicle screw placement accuracy than conventional fluoroscopy or 2D fluoroscopic image guidance methods.
3
Raabe, Andreas, Jürgen Beck, Stefan Rohde, Joachim Berkefeld, and Volker Seifert. "Three-dimensional rotational angiography guidance for aneurysm surgery." Journal of Neurosurgery 105, no. 3 (September 2006): 406–11. http://dx.doi.org/10.3171/jns.2006.105.3.406.
Анотація:
Object The aim of this study was to investigate the feasibility of integrating three-dimensional rotational angiography (3D-RA) data into a surgical navigation system and to assess its accuracy and potential clinical benefit. Methods The study cohort consisted of 16 patients with 16 intracranial aneurysms who had been scheduled for routine or emergency surgery. Rotational angiography data were exported using a virtual reality modeling language file format and imported into the BrainLAB VectorVision2 image-guided surgery equipment. During 3D-RA the position of the head was measured using a special headframe. The authors also determined the accuracy of 3D-RA image guidance and the clinical benefit as judged by the surgeon, including, for example, early identification of branching vessels and the aneurysm. There was good correspondence between the 3D-RA–based navigation data and the intraoperative vascular anatomy in all cases, with a maximum error of 9° of angulation and 9° of rotation. In eight cases, the surgeon determined that the 3D-RA image guidance facilitated the surgical procedure by predicting the location of the aneurysm or the origin of a branching artery that had been covered by brain tissue and blood clots. Conclusions The integration of 3D-RA into surgical navigation systems is feasible, but it currently requires a new perspective-registration technique. The intraoperative 3D view provides useful information about the vascular anatomy and may improve the quality of aneurysm surgery in selected cases.
4
Wickens, Christopher D., Chia-Chin Liang, Tyler Prevett, and Oscar Olmos. "Egocentric and Exocentric Displays for Terminal Area Navigation." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 38, no. 1 (October 1994): 16–20. http://dx.doi.org/10.1177/154193129403800105.
Анотація:
Two experiments are reported that contrast egocentric vs. exocentric features of perspective (3D) or plan view (2D) electronic map displays for supporting local guidance and global awareness. Pilots used these displays for a simulated approach to a landing along a curved approach, through a terrain-filled region. The task was simulated on an IRIS visual graphics workstation. In Experiment 1, a rotating vs. fixed-map display was experimentally crossed with a 2D vs. 3D (perspective map) view as 24 pilots were assessed in their ability to maintain the flight path (local guidance) and demonstrate global awareness of surrounding terrain features. Rotating displays supported better flight path guidance in both the lateral and vertical axes, and did not substantially harm performance on the task of recalling the location of terrain features. Map rotation also supported better performance in locating features from an ego-referenced but not a world-referenced perspective. 3D displays provided a slight advantage for lateral guidance but a substantial cost for vertical control, because of the ambiguity with which perspective viewing depicted precise altitude. In Experiment 2, 10 pilots flew with the rotating 2D display, and with an improved version of the rotating 3D display, using color coding to reduce the ambiguity of altitude information. Vertical control improved as a result of the 3D display design improvement, but lateral control did not. Assessment of terrain awareness on a map reconstruction task revealed marginally better performance with the 2D map. The results are discussed in terms of the costs and benefits of presenting information in 3D, ego-referenced format for both local guidance and global awareness tasks.
5
Prod’homme, M., G. Cavalié, G. Kerschbaumer, S. Valmary-Degano, M. Boudissa, and J. Tonetti. "T1 Vertebra Pedicular Osteoid Osteoma: Minimally Invasive Surgical Resection Aided by New Integrated Navigation to 3D Imaging Device." Case Reports in Orthopedics 2019 (March 18, 2019): 1–6. http://dx.doi.org/10.1155/2019/7626454.
Анотація:
We hereby describe a minimally invasive resection of a T1 pedicular osteoid osteoma next to the vertebral canal. The patient had an 18-month report of painful radiculopathy. We performed the surgery under 3D imaging guidance using navigation with an all-in-one device. Full procedure irradiation was 1.17 mSv for a 181-picture acquisition. Complete operative time incision to closure was 58 minutes. Despite sparing the vertebral stability without any fixation, the tumor resection was well-margined, thanks to the focused guidance. After surgery, the patient had complete relief of his symptoms at the 6-month follow-up. 3D imaging system coupled to navigation made the procedure safe without consuming time. The single Surgivisio® device allows comfortable 3D minimally invasive spine navigation surgery with the ergonomics of a C-arm.
6
Varma, S. Aditya, and Mangal Kothari. "A 3D pitch and impact-angle constrained guidance scheme." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 5 (February 22, 2018): 1571–84. http://dx.doi.org/10.1177/0954410018757239.
Анотація:
In this paper, a guidance scheme for achieving all the possible impact angles constraints for 3D engagements is proposed. For a simple and computationally efficient solution, our approach considers proportional navigation based impact-angle constrained guidance. However, the 3D proportional navigation law cannot be directly applied. This paper proposes a guidance strategy in which a 3D problem is divided into two consecutive 2D problems using a temporary target. The missile switches between the two planes using a temporary target. The paper begins with a simple approach and finally proposes a realistic solution. In all the scenarios considered, the guidance scheme achieves the desired impact angles. To further increase its effectiveness, the paper considers pitch constrained impact-angle law that drives the terminal angle of attack to zero. This ensures that the body axis of the missile will be aligned with its velocity vector at the time of impact. The effectiveness of the proposed guidance schemes are systematically verified through numerical simulations considering both kinematic and realistic models with first-order autopilot lag.
7
Wang, Chao, Andrey V. Savkin, and Matthew Garratt. "A strategy for safe 3D navigation of non-holonomic robots among moving obstacles." Robotica 36, no. 2 (November 10, 2017): 275–97. http://dx.doi.org/10.1017/s026357471700039x.
Анотація:
SUMMARYA non-holonomic robot with a bounded control input travels in a dynamic unknown 3D environment with moving obstacles. We propose a 3D navigation strategy to reach a given final destination point while avoiding collisions with obstacles. A formal analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results and experiments with a real flying autonomous vehicle confirm the applicability and performance of the proposed guidance approach.
8
Shan, Guangbao, Guodong Wang, Qijun Lu, and Yintang Yang. "A 3D heterogeneously integrated guidance, navigation, and control micro-system." Japanese Journal of Applied Physics 58, SH (June 11, 2019): SHCB01. http://dx.doi.org/10.7567/1347-4065/ab17c3.
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Ai, X. L., L. L. Wang, and Y. C. Shen. "Co-operative 3D salvo attack of multiple missiles under switching topologies subject to time-varying communication delays." Aeronautical Journal 123, no. 1262 (April 2019): 464–83. http://dx.doi.org/10.1017/aer.2019.7.
Анотація:
ABSTRACTThis study focuses on the co-operative salvo attack problem of multiple missiles against a stationary target under jointly connected switching topologies subject to time-varying communication delays. By carefully exploring certain features of the typical pure proportional navigation guidance law, a two-stage distributed guidance scheme is proposed without any information on time-to-go in this study to realise the simultaneous attack of multiple missiles. In the first guidance stage, a co-operative guidance law is proposed using local neighbouring communications only to achieve consensus on range-to-go and heading error to provide favourable initial conditions for the latter phase, in which switching topologies and time-varying communication delays are taken into account when obtaining sufficient conditions of consensus in terms of linear matrix inequalities. Then, missiles disconnect from each other and are guided individually by the typical pure proportional navigation guidance law with the same navigation gain to realise salvo attack in the second guidance phase. Finally, numerical simulations are carried out to clearly validate the theoretical results.
10
Oertel, Matthias F., Juliane Hobart, Marco Stein, Vanessa Schreiber, and Wolfram Scharbrodt. "Clinical and methodological precision of spinal navigation assisted by 3D intraoperative O-arm radiographic imaging." Journal of Neurosurgery: Spine 14, no. 4 (April 2011): 532–36. http://dx.doi.org/10.3171/2010.10.spine091032.
Анотація:
Object In recent years, the importance of intraoperative navigation in neurosurgery has been increasing. Multiple studies have proven the advantages and safety of computer-assisted spinal neurosurgery. The use of intraoperative 3D radiographic imaging to acquire image information for navigational purposes has several advantages and should increase the accuracy and safety of screw guidance with navigation. The aim of this study was to evaluate the clinical and methodological precision of navigated spine surgery in combination with the O-arm multidimensional imaging system. Methods Thoracic, lumbar, and sacral pedicle screws that were placed with the help of the combination of the O-arm and StealthStation TREON plus navigation systems were analyzed. To evaluate clinical precision, 278 polyaxial pedicle screws in 139 vertebrae were reviewed for medial or caudal perforations on coronal projection. For the evaluation of the methodological accuracy, virtual and intraoperative images were compared, and the angulation of the pedicle screw to the midsagittal line was measured. Results Pedicle perforations were recorded in 3.2% of pedicle screws. None of the perforated pedicle screws damaged a nerve root. The difference in angulation between the actual and virtual pedicle screws was 2.8° ± 1.9°. Conclusions The use of the StealthStation TREON plus navigation system in combination with the O-arm system showed the highest accuracy for spinal navigation compared with other studies that used traditional image acquisition and registration for navigation.
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Al-Nimer, Sara, Aydan Hanlon, Kihyun Cho, Anouva Kalra-Lall, Crew Weunski, Jeffrey Yanof, Karl West, and Charles Martin. "3D Holographic Guidance and Navigation for Percutaneous Ablation of Solid Tumor." Journal of Vascular and Interventional Radiology 31, no. 3 (March 2020): 526–28. http://dx.doi.org/10.1016/j.jvir.2019.09.027.
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Sica, Michele, Juliette Meziere, Daniele Amparore, Paolo Verri, and Federico Piramide. "Telesurgery with Cognitive 3D model guidance during robot-assisted partial nephrectomy: first experience across Europe." Uro-Technology Journal 7, no. 1 (March 30, 2023): 03–07. http://dx.doi.org/10.31491/utj.2023.03.007.
Анотація:
Telesurgery has found application in the modern era using 3D technology to improve surgical performance and organ preservation outcomes. Virtual congresses were created during the Covid-19 pandemic, giving to the participants the possibility to interact through digital platforms. This study aimed to describe the feasibility of using remotely guided telesurgery while applying 3D technology to aid the surgeon with intraoperative navigation as well as preoperative planning. The generated three-dimensional reconstruction (from the CT scan and ‘segmentation’ performed by a dedicated software) was refined by a biomedical engineer under the supervision of the urologist to obtain a detailed 3D model of the organ and surrounding structures. Intraoperatively, the 3D virtual model was displayed and consulted during the intervention by the first surgeon in a cognitive manner aimed to maximize the benefits of real-time navigation. During the Techno Urology Meeting (TUM) of 2021 we offered this technology to two surgeons using the real-time connection provided by Zoom through the Tile-Pro software while an expert surgeon from Italy aided with intraoperative navigation. The patients were aged 49 and 58 years old, respectively, while tumor maximum diameters were 60 and 30 mm for the first case, and 46 mm for the second case. No major complications occurred in either case or blood transfusion was necessary intra or postoperatively. Telementoring provided the possibility to operate with the assistance of an expert surgeon who was not present in the operating room but could virtually supervise and help during critical steps. Keywords: Telesurgey, 3D models, robotics, kidney cancer
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Ackermann, Joëlle, Florentin Liebmann, Armando Hoch, Jess G. Snedeker, Mazda Farshad, Stefan Rahm, Patrick O. Zingg, and Philipp Fürnstahl. "Augmented Reality Based Surgical Navigation of Complex Pelvic Osteotomies—A Feasibility Study on Cadavers." Applied Sciences 11, no. 3 (January 29, 2021): 1228. http://dx.doi.org/10.3390/app11031228.
Анотація:
Augmented reality (AR)-based surgical navigation may offer new possibilities for safe and accurate surgical execution of complex osteotomies. In this study we investigated the feasibility of navigating the periacetabular osteotomy of Ganz (PAO), known as one of the most complex orthopedic interventions, on two cadaveric pelves under realistic operating room conditions. Preoperative planning was conducted on computed tomography (CT)-reconstructed 3D models using an in-house developed software, which allowed creating cutting plane objects for planning of the osteotomies and reorientation of the acetabular fragment. An AR application was developed comprising point-based registration, motion compensation and guidance for osteotomies as well as fragment reorientation. Navigation accuracy was evaluated on CT-reconstructed 3D models, resulting in an error of 10.8 mm for osteotomy starting points and 5.4° for osteotomy directions. The reorientation errors were 6.7°, 7.0° and 0.9° for the x-, y- and z-axis, respectively. Average postoperative error of LCE angle was 4.5°. Our study demonstrated that the AR-based execution of complex osteotomies is feasible. Fragment realignment navigation needs further improvement, although it is more accurate than the state of the art in PAO surgery.
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Bouzid, Y., H. Siguerdidjane, Y. Bestaoui, and M. Zareb. "Energy Based 3D Autopilot for VTOL UAV Under Guidance & Navigation Constraints." Journal of Intelligent & Robotic Systems 87, no. 2 (November 24, 2016): 341–62. http://dx.doi.org/10.1007/s10846-016-0441-1.
15
Ma, Feifei, Mingyue Liu, Xiaoqiang Liu, Tai Wei, Lilan Liu, and Feng Sun. "Proposal and Validation of a New Nonradiological Method for Postoperative Three-Dimensional Implant Position Analysis Based on the Dynamic Navigation System: An In Vitro Study." Journal of Personalized Medicine 13, no. 2 (February 18, 2023): 362. http://dx.doi.org/10.3390/jpm13020362.
Анотація:
Purpose: To propose a novel, radiation-free method for postoperative three-dimensional (3D) position analysis of dental implants based on the dynamic navigation system (DNS) and evaluate its accuracy in vitro. Methods: A total of 60 implants were digitally planned and then placed in the standardized plastic models with a single-tooth gap and a free-end gap under the guidance of the DNS. Postoperative 3D positions of the inserted implants were evaluated using specially designed navigation-based software, and its datasets were superimposed onto those of cone beam computed tomography (CBCT) for accuracy analyses. Deviations at the coronal, apical, and angular levels were measured and statistically analyzed. Results: The mean 3D deviation was 0.88 ± 0.37 mm at the entry point and 1.02 ± 0.35 mm at the apex point. The mean angular deviation was 1.83 ± 0.79 degrees. No significant differences were noted in the deviations between implants placed in the single-tooth gap and the free-end situation (p > 0.05) or between different tooth positions at distal extensions (p > 0.05). Conclusions: This non-radiographic method provides facile, efficient, and reliable postoperative implant position evaluation and may be a potential substitute for CBCT, particularly for implants placed under the guidance of dynamic navigation.
16
Moses, Ziev B., Rory R. Mayer, Benjamin A. Strickland, Ryan M. Kretzer, Jean-Paul Wolinsky, Ziya L. Gokaslan, and Ali A. Baaj. "Neuronavigation in minimally invasive spine surgery." Neurosurgical Focus 35, no. 2 (August 2013): E12. http://dx.doi.org/10.3171/2013.5.focus13150.
Анотація:
Object Parallel advancements in image guidance technology and minimal access techniques continue to push the frontiers of minimally invasive spine surgery (MISS). While traditional intraoperative imaging remains widely used, newer platforms, such as 3D-fluoroscopy, cone-beam CT, and intraoperative CT/MRI, have enabled safer, more accurate instrumentation placement with less radiation exposure to the surgeon. The goal of this work is to provide a review of the current uses of advanced image guidance in MISS. Methods The authors searched PubMed for relevant articles concerning MISS, with particular attention to the use of image-guidance platforms. Pertinent studies published in English were further compiled and characterized into relevant analyses of MISS of the cervical, thoracic, and lumbosacral regions. Results Fifty-two studies were included for review. These describe the use of the iso-C system for 3D navigation during C1–2 transarticular screw placement, the use of endoscopic techniques in the cervical spine, and the role of navigation guidance at the occipital-cervical junction. The authors discuss the evolving literature concerning neuronavigation during pedicle screw placement in the thoracic and lumbar spine in the setting of infection, trauma, and deformity surgery and review the use of image guidance in transsacral approaches. Conclusions Refinements in image-guidance technologies and minimal access techniques have converged on spinal pathology, affording patients the ability to undergo safe, accurate operations without the associated morbidities of conventional approaches. While percutaneous transpedicular screw placement is among the most common procedures to benefit from navigation, other areas of spine surgery can benefit from advances in neuronavigation and further growth in the field of image-guided MISS is anticipated.
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Jäckle, Sonja, Tim Eixmann, Florian Matysiak, Malte Maria Sieren, Marco Horn, Hinnerk Schulz-Hildebrandt, Gereon Hüttmann, and Torben Pätz. "3D Stent Graft Guidance based on Tracking Systems for Endovascular Aneurysm Repair." Current Directions in Biomedical Engineering 7, no. 1 (August 1, 2021): 17–20. http://dx.doi.org/10.1515/cdbme-2021-1004.
Анотація:
Abstract In endovascular aneurysm repair (EVAR) procedures, the stent graft navigation and implantation is currently performed under a two-dimensional (2D) imaging based guidance requiring X-rays and contrast agent. In this work, a novel 3D stent graft guidance approach based on tracking systems is introduced. A calibration method and the visualization of the stent graft guidance are described. The tracking based stent graft guidance is evaluated by conducting an EVAR procedure on a torso phantom using a stent graft system equipped with an optical fiber and three EM sensors. The physicians were able to navigate the stent graft to the landing zone, and to place and implant it as intended using the introduced guidance. This showed that the application of the stent graft guidance is feasible in a clinical environment and promising for the reduction of radiation and contrast agent.
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Zhang, Lin, Bin Wang, Xue Yu Mi, and Li Fen Yi. "Lane-Level Positioning Method for 3D In-Vehicle Navigation System." Applied Mechanics and Materials 340 (July 2013): 767–72. http://dx.doi.org/10.4028/www.scientific.net/amm.340.767.
Анотація:
The objective of this study is to find an effective way to realize lane-level route guidance for vehicle navigation system. Based on the modeling of 3D map, a lane-level positioning method was presented by the way of combination of virtual differential GPS, height aiding, and collision detecting technique. GPS parameters were amended through virtual differential technology and height aiding technology by the way of elevation interpolation and least squares estimation in order to improve the output precision. Then a method of lane-level map matching was implemented in 3D digital map based on the collision detection technology. Tested by RTK technique, the method was proven to fulfill the demands of vehicle navigation systems.
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Dong, Bing Jiang, Jiang Lin, and Qian Chen. "Numerical Simulation of Ship Maneuvering on Bend Channel." Applied Mechanics and Materials 204-208 (October 2012): 4578–85. http://dx.doi.org/10.4028/www.scientific.net/amm.204-208.4578.
Анотація:
Bend channel is common seen in inland waterways. Due to the complex flow conditions, it’s often of great difficulty for ship maneuvering. To improve navigation conditions, usually the regulation is needed. In this paper, a 3D flow simulation model and ship maneuvering model are coupled. Based on the simulation results, the navigation conditions in Yiyang-Lulintan waterway project are evaluated. The simulation based evaluation provides a scientific basis and guidance for regulation projects in bend channel.
20
Wang, Weilin, and Xumin Song. "Nonlinear Augmented Proportional Navigation for Midrange Rendezvous Guidance and Performance Assessment." International Journal of Aerospace Engineering 2019 (July 24, 2019): 1–10. http://dx.doi.org/10.1155/2019/1725629.
Анотація:
Guidance systems are important to autonomous rendezvous with uncooperative targets such as an active debris removal (ADR) mission. A novel guidance frame is established in rotating line-of-sight (LOS) coordinates, which resolves the coupling effect between pitch and yaw planes in a general 3D scenario. The guidance law is named augmented proportional navigation (APN) by applying nonlinear control along LOS and classical proportional navigation normal to LOS. As saving time is a critical factor in space rescue and on-orbit service, the finite time convergence APN (FTCAPN) is further proposed which proves to possess convergence and high robustness. This paper builds on previous efforts in polynomial chaos expansion (PCE) to develop an efficient analysis technique for guidance algorithms. A large scope of uncertainty sources are considered to make state evaluation trustworthy and provide precise prediction of trajectory bias. The simulation results show that the accuracy of the proposed method is compatible with Monte Carlo simulation which requires extensive computational effort.
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Díaz-Vilariño, Lucía, Pawel Boguslawski, Kourosh Khoshelham, and Henrique Lorenzo. "Obstacle-Aware Indoor Pathfinding Using Point Clouds." ISPRS International Journal of Geo-Information 8, no. 5 (May 19, 2019): 233. http://dx.doi.org/10.3390/ijgi8050233.
Анотація:
With the rise of urban population, updated spatial information of indoor environments is needed in a growing number of applications. Navigational assistance for disabled or aged people, guidance for robots, augmented reality for gaming, and tourism or training emergency assistance units are just a few examples of the emerging applications requiring real three-dimensional (3D) spatial data of indoor scenes. This work proposes the use of point clouds for obstacle-aware indoor pathfinding. Point clouds are firstly used for reconstructing semantically rich 3D models of building structural elements in order to extract initial navigational information. Potential obstacles to navigation are classified in the point cloud and directly used to correct the path according to the mobility skills of different users. The methodology is tested in several real case studies for wheelchair and ordinary users. Experiments show that, after several iterations, paths are readapted to avoid obstacles.
22
Abe, Yuichiro, Manabu Ito, Kuniyoshi Abumi, Yoshihisa Kotani, Hideki Sudo, and Akio Minami. "A novel cost-effective computer-assisted imaging technology for accurate placement of thoracic pedicle screws." Journal of Neurosurgery: Spine 15, no. 5 (November 2011): 479–85. http://dx.doi.org/10.3171/2011.6.spine10721.
Анотація:
Object Use of computer-assisted spine surgery (CASS) technologies, such as navigation systems, to improve the accuracy of pedicle screw (PS) placement is increasingly popular. Despite of their benefits, previous CASS systems are too expensive to be ubiquitously employed, and more affordable and portable systems are desirable. The aim of this study was to introduce a novel and affordable computer-assisted technique that 3-dimensionally visualizes anatomical features of the pedicles and assists in PS insertion. The authors have termed this the 3D-visual guidance technique for inserting pedicle screws (3D-VG TIPS). Methods The 3D-VG technique for placing PSs requires only a consumer-class computer with an inexpensive 3D DICOM viewer; other special equipment is unnecessary. Preoperative CT data of the spine were collected for each patient using the 3D-VG TIPS. In this technique, the anatomical axis of each pedicle can be analyzed by volume-rendered 3D models, as with existing navigation systems, and both the ideal entry point and the trajectory of each PS can be visualized on the surface of 3D-rendered images. Intraoperative guidance slides are made from these images and displayed on a TV monitor in the operating room. The surgeon can insert PSs according to these guidance slides. The authors enrolled 30 patients with adolescent idiopathic scoliosis (AIS) who underwent posterior fusion with segmental screw fixation for validation of this technique. Results The novel technique allowed surgeons, from office or home, to evaluate the precise anatomy of each pedicle and the risks of screw misplacement, and to perform 3D preoperative planning for screw placement on their own computer. Looking at both 3D guidance images on a TV monitor and the bony structures of the posterior elements in each patient in the operating theater, surgeons were able to determine the best entry point for each PS with ease and confidence. Using the current technique, the screw malposition rate was 4.5% in the thoracic region in corrective surgery for AIS. Conclusions The authors found that 3D-VG TIPS worked on a consumer-class computer and easily visualized the ideal entry point and trajectory of PSs in any operating theater without costly special equipment. This new technique is suitable for preoperative planning and intraoperative guidance when performing reconstructive surgery with PSs.
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Moreta-Martinez, Rafael, José Antonio Calvo-Haro, Rubén Pérez-Mañanes, Mónica García-Sevilla, Lydia Mediavilla-Santos, and Javier Pascau. "Desktop 3D Printing: Key for Surgical Navigation in Acral Tumors?" Applied Sciences 10, no. 24 (December 16, 2020): 8984. http://dx.doi.org/10.3390/app10248984.
Анотація:
Surgical navigation techniques have shown potential benefits in orthopedic oncologic surgery. However, the translation of these results to acral tumor resection surgeries is challenging due to the large number of joints with complex movements of the affected areas (located in distal extremities). This study proposes a surgical workflow that combines an intraoperative open-source navigation software, based on a multi-camera tracking, with desktop three-dimensional (3D) printing for accurate navigation of these tumors. Desktop 3D printing was used to fabricate patient-specific 3D printed molds to ensure that the distal extremity is in the same position both in preoperative images and during image-guided surgery (IGS). The feasibility of the proposed workflow was evaluated in two clinical cases (soft-tissue sarcomas in hand and foot). The validation involved deformation analysis of the 3D-printed mold after sterilization, accuracy of the system in patient-specific 3D-printed phantoms, and feasibility of the workflow during the surgical intervention. The sterilization process did not lead to significant deformations of the mold (mean error below 0.20 mm). The overall accuracy of the system was 1.88 mm evaluated on the phantoms. IGS guidance was feasible during both surgeries, allowing surgeons to verify enough margin during tumor resection. The results obtained have demonstrated the viability of combining open-source navigation and desktop 3D printing for acral tumor surgeries. The suggested framework can be easily personalized to any patient and could be adapted to other surgical scenarios.
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Liao, Hongen, Hirotaka Ishihara, Huy Hoang Tran, Ken Masamune, Ichiro Sakuma, and Takeyoshi Dohi. "Precision-guided surgical navigation system using laser guidance and 3D autostereoscopic image overlay." Computerized Medical Imaging and Graphics 34, no. 1 (January 2010): 46–54. http://dx.doi.org/10.1016/j.compmedimag.2009.07.003.
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Ujiie, Hideki, Ryohei Chiba, Aogu Yamaguchi, Shunsuke Nomura, Haruhiko Shiiya, Aki Fujiwara-Kuroda, Kichizo Kaga, Chad Eitel, Tod R. Clapp, and Tatsuya Kato. "Developing a Virtual Reality Simulation System for Preoperative Planning of Robotic-Assisted Thoracic Surgery." Journal of Clinical Medicine 13, no. 2 (January 21, 2024): 611. http://dx.doi.org/10.3390/jcm13020611.
Анотація:
Background. Robotic-assisted thoracic surgery (RATS) is now standard for lung cancer treatment, offering advantages over traditional methods. However, RATS’s minimally invasive approach poses challenges like limited visibility and tactile feedback, affecting surgeons’ navigation through com-plex anatomy. To enhance preoperative familiarization with patient-specific anatomy, we devel-oped a virtual reality (VR) surgical navigation system. Using head-mounted displays (HMDs), this system provides a comprehensive, interactive view of the patient’s anatomy pre-surgery, aiming to improve preoperative simulation and intraoperative navigation. Methods. We integrated 3D data from preoperative CT scans into Perspectus VR Education software, displayed via HMDs for in-teractive 3D reconstruction of pulmonary structures. This detailed visualization aids in tailored preoperative resection simulations. During RATS, surgeons access these 3D images through Tile-ProTM multi-display for real-time guidance. Results. The VR system enabled precise visualization of pulmonary structures and lesion relations, enhancing surgical safety and accuracy. The HMDs offered true 3D interaction with patient data, facilitating surgical planning. Conclusions. VR sim-ulation with HMDs, akin to a robotic 3D viewer, offers a novel approach to developing robotic surgical skills. Integrated with routine imaging, it improves preoperative planning, safety, and accuracy of anatomical resections. This technology particularly aids in lesion identification in RATS, optimizing surgical outcomes.
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Tran, H., K. Khoshelham, A. Kealy, and L. Díaz-Vilariño. "EXTRACTING TOPOLOGICAL RELATIONS BETWEEN INDOOR SPACES FROM POINT CLOUDS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W4 (September 14, 2017): 401–6. http://dx.doi.org/10.5194/isprs-annals-iv-2-w4-401-2017.
Анотація:
3D models of indoor environments are essential for many application domains such as navigation guidance, emergency management and a range of indoor location-based services. The principal components defined in different BIM standards contain not only building elements, such as floors, walls and doors, but also navigable spaces and their topological relations, which are essential for path planning and navigation. We present an approach to automatically reconstruct topological relations between navigable spaces from point clouds. Three types of topological relations, namely containment, adjacency and connectivity of the spaces are modelled. The results of initial experiments demonstrate the potential of the method in supporting indoor navigation.
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Liu, Xiao, Shengjing Tang, Jie Guo, Yuhang Yun, and Zhe Chen. "Midcourse Guidance Law Based on High Target Acquisition Probability Considering Angular Constraint and Line-of-Sight Angle Rate Control." International Journal of Aerospace Engineering 2016 (2016): 1–20. http://dx.doi.org/10.1155/2016/7634847.
Анотація:
Random disturbance factors would lead to the variation of target acquisition point during the long distance flight. To acquire a high target acquisition probability and improve the impact precision, missiles should be guided to an appropriate target acquisition position with certain attitude angles and line-of-sight (LOS) angle rate. This paper has presented a new midcourse guidance law considering the influences of random disturbances, detection distance restraint, and target acquisition probability with Monte Carlo simulation. Detailed analyses of the impact points on the ground and the random distribution of the target acquisition position in the 3D space are given to get the appropriate attitude angles and the end position for the midcourse guidance. Then, a new formulation biased proportional navigation (BPN) guidance law with angular constraint and LOS angle rate control has been derived to ensure the tracking ability when attacking the maneuvering target. Numerical simulations demonstrates that, compared with the proportional navigation guidance (PNG) law and the near-optimal spatial midcourse guidance (NSMG) law, BPN guidance law demonstrates satisfactory performances and can meet both the midcourse terminal angular constraint and the LOS angle rate requirement.
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Gutnik, Yevgeni, and Morel Groper. "Terminal Phase Navigation for AUV Docking: An Innovative Electromagnetic Approach." Journal of Marine Science and Engineering 12, no. 1 (January 21, 2024): 192. http://dx.doi.org/10.3390/jmse12010192.
Анотація:
This study introduces a groundbreaking approach for real-time 3D localization, specifically focusing on achieving seamless and precise localization during the terminal guidance phase of an autonomous underwater vehicle (AUV) as it approaches an omnidirectional docking component in an automated deployable launch and recovery system (LARS). Using the AUV’s magnetometer, an economical electromagnetic beacon embedded in the docking component, and an advanced signal processing algorithm, this novel approach ensures the accurate localization of the docking component in three dimensions without the need for direct line-of-sight contact. The method’s real-time capabilities were rigorously evaluated via simulations, prototype experiments in a controlled lab setting, and extensive full-scale pool experiments. These assessments consistently demonstrated an exceptional average positioning accuracy of under 3 cm, marking a significant advancement in AUV guidance systems.
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Edström, Erik, Gustav Burström, Rami Nachabe, Paul Gerdhem, and Adrian Elmi Terander. "A Novel Augmented-Reality-Based Surgical Navigation System for Spine Surgery in a Hybrid Operating Room: Design, Workflow, and Clinical Applications." Operative Neurosurgery 18, no. 5 (August 27, 2019): 496–502. http://dx.doi.org/10.1093/ons/opz236.
Анотація:
Abstract BACKGROUND Treatment of several spine disorders requires placement of pedicle screws. Detailed 3-dimensional (3D) anatomic information facilitates this process and improves accuracy. OBJECTIVE To present a workflow for a novel augmented-reality-based surgical navigation (ARSN) system installed in a hybrid operating room for anatomy visualization and instrument guidance during pedicle screw placement. METHODS The workflow includes surgical exposure, imaging, automatic creation of a 3D model, and pedicle screw path planning for instrument guidance during surgery as well as the actual screw placement, spinal fixation, and wound closure and intraoperative verification of the treatment results. Special focus was given to process integration and minimization of overhead time. Efforts were made to manage staff radiation exposure avoiding the need for lead aprons. Time was kept throughout the procedure and subdivided to reflect key steps. The navigation workflow was validated in a trial with 20 cases requiring pedicle screw placement (13/20 scoliosis). RESULTS Navigated interventions were performed with a median total time of 379 min per procedure (range 232-548 min for 4-24 implanted pedicle screws). The total procedure time was subdivided into surgical exposure (28%), cone beam computed tomography imaging and 3D segmentation (2%), software planning (6%), navigated surgery for screw placement (17%) and non-navigated instrumentation, wound closure, etc (47%). CONCLUSION Intraoperative imaging and preparation for surgical navigation totaled 8% of the surgical time. Consequently, ARSN can routinely be used to perform highly accurate surgery potentially decreasing the risk for complications and revision surgery while minimizing radiation exposure to the staff.
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Huang, Kang, Xingtian Qu, Shouqian Chen, Zhen Chen, Wang Zhang, Haogang Qi, and Fengshang Zhao. "Superb Monocular Depth Estimation Based on Transfer Learning and Surface Normal Guidance." Sensors 20, no. 17 (August 27, 2020): 4856. http://dx.doi.org/10.3390/s20174856.
Анотація:
Accurately sensing the surrounding 3D scene is indispensable for drones or robots to execute path planning and navigation. In this paper, a novel monocular depth estimation method was proposed that primarily utilizes a lighter-weight Convolutional Neural Network (CNN) structure for coarse depth prediction and then refines the coarse depth images by combining surface normal guidance. Specifically, the coarse depth prediction network is designed as pre-trained encoder–decoder architecture for describing the 3D structure. When it comes to surface normal estimation, the deep learning network was designed as a two-stream encoder–decoder structure, which hierarchically merges red-green-blue-depth (RGB-D) images for capturing more accurate geometric boundaries. Relying on fewer network parameters and simpler learning structure, better detailed depth maps are produced than the existing states. Moreover, 3D point cloud maps reconstructed from depth prediction images confirm that our framework can be conveniently adopted as components of a monocular simultaneous localization and mapping (SLAM) paradigm.
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West, Karl, Sara Al-Nimer, Vikash R. Goel, Jeffrey H. Yanof, Aydan T. Hanlon, Crew J. Weunski, Jackie Kattar, and Behzad S. Farivar. "Three-Dimensional Holographic Guidance, Navigation, and Control (3D-GNC) for Endograft Positioning in Porcine Aorta: Feasibility Comparison With 2-Dimensional X-Ray Fluoroscopy." Journal of Endovascular Therapy 28, no. 5 (June 18, 2021): 796–803. http://dx.doi.org/10.1177/15266028211025026.
Анотація:
Objectives Intraprocedural deployment of endovascular devices during complex aortic repair with 2-dimensional (2D) x-ray fluoroscopic guidance poses challenges in terms of accurate delivery system positioning and increased risk of x-ray radiation exposure with prolonged fluoroscopy times, particularly in unfavorable anatomy. The objective of this study was to assess feasibility of using an augmented reality (AR) system to position and orient a modified aortic endograft delivery system in comparison with standard fluoroscopy. Materials and Methods The 3-dimensional guidance, navigation, and control (3D-GNC) prototype system was developed for eventual integration with the Intra-Operative Positioning System (IOPS, Centerline Biomedical, Cleveland, OH) to project spatially registered 3D holographic representations of the subject-specific aorta for intraoperative guidance and coupled with an electromagnetically (EM) tracked delivery system for intravascular navigation. Numerical feedback for controlling the endograft landing zone distance and ostial alignment was holographically projected on the operative field. Visualization of the holograms was provided via a commercially available AR headset. A Zenith Spiral-Z AAA limb stent-graft was modified with a scallop, 6 degree-of-freedom EM sensor for tracking, and radiopaque markers for fluoroscopic visualization. In vivo, 10 interventionalists independently positioned and oriented the delivery system to the ostia of renal or visceral branch vessels in anesthetized swine via open femoral artery access using 3D-GNC and standard fluoroscopic guidance. Procedure time, fluoroscopy time, cumulative air kerma, and contrast material volume were recorded for each technique. Positioning and orientation accuracy was determined by measuring the target landing-zone distance error (δLZE) and the scallop-ostium angular alignment error (θSOE) using contrast-enhanced cone beam computed tomography imaging after each positioning for each technique. Mean, standard deviation, and standard error are reported for the performance variables, and Student’s t tests were used to evaluate statistically significant differences in performance mean values of 3D-GNC and fluoroscopy. Results Technical success for the use of 3D-GNC to orient and position the endovascular device at each renal-visceral branch ostium was 100%. 3D-GNC resulted in 56% decrease in procedure time in comparison with standard fluoroscopic guidance (p<0.001). The 3D-GNC system was used without fluoroscopy or contrast-dye administration. Positioning accuracy was comparable for both techniques (p=0.86), while overall orientation accuracy was improved with the 3D-GNC system by 41.5% (p=0.008). Conclusions The holographic 3D-GNC system demonstrated improved accuracy of aortic stent-graft positioning with significant reductions in fluoroscopy time, contrast-dye administration, and procedure time.
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Fox-Ivey, Richard, John Laurent, and Benoit Petitclerc. "Enriching Existing 3D Pavement Condition Survey Datasets to Support Paving Project Cost Estimates, Project Planning, Designs, and Automated Machine Guidance." Transportation Research Record: Journal of the Transportation Research Board 2676, no. 4 (December 27, 2021): 637–48. http://dx.doi.org/10.1177/03611981211064280.
Анотація:
State departments of transportation (DOTs) typically perform annual pavement condition inspections, which serve as an important input into pavement management systems (PMS) software. Road surface defects (cracking, rutting, smoothness, etc.) are analyzed by PMS software to model the deterioration of pavements and to make budget and performance-based recommendations about which roads to maintain and how and when to maintain them. Increasingly at the state DOT level, these data are captured using high-speed 3D lasers (laser triangulation systems) that acquire the 3D shape of the road surface to evaluate its condition. Traditionally the capture of road elevation data relied entirely on the use of survey crews. Although accuracy can be quite high, the process of capturing elevations can require a lot of manpower, is time-consuming, requires lane closures, and results in a relatively small number of points per kilometer of road with which to perform all of the tasks from early project planning through construction. This paper explores an alternate approach that leverages existing 3D laser technology utilized by DOTs to measure the condition of in-service pavements. Typically, these laser systems capture “relatively referenced” 3D profiles of the roadway to evaluate pavement condition based on surface distortion. However, there is often no connection between these “relative” 3D profiles and real-world locations. This new approach involves the addition of high-accuracy blended global navigation satellite system + inertial navigation system positioning systems, as well as specialized software, to map the absolute position of 3D profiles in real-world coordinates.
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Fox, W. Christopher, Scott Wawrzyniak, and William F. Chandler. "Intraoperative acquisition of three-dimensional imaging for frameless stereotactic guidance during transsphenoidal pituitary surgery using the Arcadis Orbic System." Journal of Neurosurgery 108, no. 4 (April 2008): 746–50. http://dx.doi.org/10.3171/jns/2008/108/4/0746.
Анотація:
Object Intraoperative fluoroscopy has long been used for anatomical localization in transsphenoidal pituitary surgery. More recently, frameless stereotaxy has been used to supplement 2D sagittal radiographs with 3D multiplanar reconstructions. Use of Arcadis Orbic allows both conventional fluoroscopic views and multiplanar reconstructions to be acquired intraoperatively without need for preoperative planning studies. The authors report their initial experience using Arcadis Orbic during transsphenoidal pituitary surgery. Methods To test the system, the authors placed a dehydrated human skull in a radiolucent head holder, and obtained standard 2D fluoroscopic images of the skull base and sella turcica. Arcadis Orbic was then used with frameless stereotaxy to register 3D multiplanar reconstructed images of skull base anatomy. The authors then used Arcadis Orbic in 26 transsphenoidal pituitary tumor resections and compared image quality, accuracy, and ease-of-use to standard techniques. Results Arcadis Orbic 2D fluoroscopic images matched or exceeded the quality of images acquired by standard C-arm machines. Arcadis Orbic multiplanar reconstructions provided excellent images of the skull base when compared with preoperative Stealth computed tomography (CT) studies. Intraoperative frameless stereotactic navigation using Arcadis Orbic was highly accurate and more reliable than registering preoperative CT images. Conclusions Arcadis Orbic provides excellent quality 2- and 3D images during transsphenoidal pituitary surgery, and intraoperative frameless navigation using these images is highly accurate. Arcadis Orbic is easy to use, even in patients with large body habitus, and image acquisition takes no longer than registration during a frameless stereotactic case. Based upon our preliminary experience, Arcadis Orbic precludes the need for preoperative CT studies in patients with pituitary lesions requiring frameless stereotactic navigation.
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Jiao, Dechao, Na Xie, Gang Wu, JianZhuang Ren, and Xinwei Han. "C-arm cone-beam computed tomography with stereotactic needle guidance for percutaneous adrenal biopsy: initial experience." Acta Radiologica 58, no. 5 (September 30, 2016): 617–24. http://dx.doi.org/10.1177/0284185116661882.
Анотація:
Background Metastasis to the adrenal glands is frequent in patients with various cancers and adrenal gland biopsy is routinely performed using ultrasound or computed tomographic (CT) guidance. However, this method is technically challenging, especially in the case of small masses. Purpose To determine whether the new real-time stereotactic needle guidance technique C-arm cone-beam CT (CBCT) allows safe and accurate biopsy of adrenal gland masses, especially those in hard-to-reach anatomical locations. Material and Methods CBCT guidance was used to perform 60 stereotactic biopsy procedures of lesions that were inaccessible with ultrasound or CT guidance. The needle path was carefully planned and calculated on the CBCT virtual navigation guidance system, which acquired 3D CT-like cross-sectional images. The adrenal biopsy procedures were performed with fluoroscopic feedback. Technical success rate, sensitivity, specificity, accuracy, and complications were investigated. Results The technical success rate of adrenal biopsy under CBCT virtual navigation was 100%, with a mean total procedure time of 14.6 ± 3.6 min. Of the 60 lesions, 46 were malignant, 11 were benign, and three were non-diagnostic. The three non-diagnostic lesions proved to be malignant. Thus, the sensitivity, specificity, and accuracy were 93.8%, 100%, and 95.0%, respectively. Minor bleeding occurred in two (3.3%) cases. Conclusion CBCT guidance allows safe and accurate biopsy of adrenal gland masses and may be especially useful for hard-to-reach anatomical locations.
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Goto, Tetsuya, Yosuke Hara, Kazuhiro Hongo, and Toshihiro Ogiwara. "Real-Time Navigation-Guided Drilling Technique for Skull Base Surgery in the Middle and Posterior Fossae." Journal of Neurological Surgery Part B: Skull Base 79, S 04 (July 17, 2018): S334—S339. http://dx.doi.org/10.1055/s-0038-1667044.
Анотація:
Objective The usefulness of the bony surface registration method for navigation system image-guided surgery in the lateral or prone position has been reported. This study was performed to evaluate the efficacy of our new real-time navigation-guided drilling technique with bony surface registration for skull base surgery in the middle and posterior fossae. Methods The study included 29 surgeries for skull base tumors that required drilling of the petrous bone between January 2015 and December 2017 in Shinshu University Hospital. A navigation system was used for drilling of the petrous bone as follows: (1) some labyrinthine structures were marked by color in the source image and superimposed on the navigation image on the workstation preoperatively; (2) bony surface registration was performed with a three-dimensional (3D) skull reconstruction model in the operating room; (3) the petrous bone was drilled under navigation guidance with real-time view-through confirmation of 3D color-marked labyrinthine structures with observation under a microscopic operative view. Results Real-time identification of some structures in the petrous bone was performed, and adequate and precise drilling of the petrous bone was achieved without the risk of labyrinthine perforation or stress. Using this method, surgeons do not need to alternate their gaze between the surgical field and the navigation screen. Conclusions Due to the development of bony surface registration, this new technique is useful for drilling petrous bone in the middle and posterior fossa skull base surgeries.
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Kocer, Naci, Osman Kizilkilic, Drazenko Babic, Danny Ruijters, and Civan Islak. "Fused magnetic resonance angiography and 2D fluoroscopic visualization for endovascular intracranial neuronavigation." Journal of Neurosurgery 118, no. 5 (May 2013): 1000–1002. http://dx.doi.org/10.3171/2012.11.jns111355.
Анотація:
Advanced transluminal neurovascular navigation is an indispensable image-guided method that allows for real-time navigation of endovascular material in critical neurovascular settings. Thus far, it has been primarily based on 2D and 3D angiography, burdening the patient with a relatively high level of iodinated contrast. However, in the patients with renal insufficiency, this method is no longer tolerable due to the contrast load. The authors present a novel image guidance technique based on periprocedural fluoroscopic images fused with a preinterventionally acquired MRI data set. The technique is illustrated in a case in which the fused image combination was used for endovascular treatment of a giant cerebral aneurysm.
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Miller, Dorothea, Ludwig Benes, and Ulrich Sure. "Stand-alone 3D-ultrasound navigation after failure of conventional image guidance for deep-seated lesions." Neurosurgical Review 34, no. 3 (May 17, 2011): 381–88. http://dx.doi.org/10.1007/s10143-011-0314-9.
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Tang, Jin, Zhihui Bai, Yangang Liang, Fan Zheng, and Kebo Li. "An Exoatmospheric Homing Guidance Law Based on Deep Q Network." International Journal of Aerospace Engineering 2022 (August 22, 2022): 1–13. http://dx.doi.org/10.1155/2022/1544670.
Анотація:
A homing guidance law for exoatmospheric interceptor based on the Deep Q Network (DQN) algorithm is proposed in this paper. Aiming at the exoatmospheric interception problem, the guidance agent is built with the help of the deep reinforcement learning theory, and the action command is given according to the measurement information of the exoatmospheric interceptor for the accurate interception of the target. The homing guidance problem is first transformed into a Markov decision process, and a three-dimensional (3D) interception scenario is established. Then, the reward function considering the line-of-sight (LOS) rate and the final zero-effort-miss (ZEM) is designed, and the homing guidance problem is transferred to the reinforcement learning framework. After that, DQN is utilized to solve the exoatmospheric interception problem, and the guidance agent is obtained through a large amount of training. Finally, the guidance performance of DQN homing guidance law is verified by numerical simulation examples and compared with the classical true proportional navigation (TPN) guidance law. The results show that the guidance performance of the homing guidance law is better than that of TPN.
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Paczesny, Łukasz, Matthias Lorkowski, Tomasz Pielak, Rafał Wójcicki, Gazi Huri, and Jan Zabrzyński. "The Role of Ultrasound Guidance in Mini-Invasive Musculoskeletal Surgery—A Pictorial Essay." Applied Sciences 13, no. 19 (September 30, 2023): 10900. http://dx.doi.org/10.3390/app131910900.
Анотація:
In this article, the authors review the role of ultrasound guidance in MSK mini-invasive surgery. Ultrasound imaging has become an important tool in the field of musculoskeletal examination and has advantages over the X-ray guidance traditionally used by orthopaedic surgeons. Ultrasound provides the 3D localization of the area where the instruments are being used, does not require X-ray’s certified personnel, and poses less of a health risk to the patient and the medical staff. This article explores the development and application of ultrasound navigation in mini-invasive surgery, including the use of ultrasound during different stages of arthroscopic procedures or for the entire operation. Ultrasounds can assist in setting access points around the joint, localize the pathology and assure its complete resection, identify vessels and nerves, establish access to and constant control of difficult operating areas with a high potential for neurovascular complications. In this paper, the authors also acknowledge that there are some disadvantages, including the need for additional equipment and personnel, a long learning curve, and the potential elongation of the procedure. To identify all of the essential studies that report relevant information and data concerning the ultrasounds navigation in mini-invasive MSK surgery, an extensive search of the major and significant electronic databases was performed by two authors. An investigation was conducted in January 2023 using the following key terms: ultrasounds navigation, ultrasounds in arthroscopy, ultrasounds in MSK, with no limits regarding the year of publication. The authors focused both on the advantages and disadvantages of ultrasound navigation in MSK mini-invasive surgery, and also on particular techniques in mini-invasive and arthroscopic surgeries. The described techniques are the application of ultrasound in arthroscopy (knee, hip, and shoulder), hallux rigidus surgery, mini-invasive Achilles tendon surgery, gastrocnemius recession, carpal tunnel release, and hematoma evacuation.
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Burston, Martin T., Roberto Sabatini, Reece Clothier, Alessandro Gardi, and Subramanian Ramasamy. "Reverse Engineering of a Fixed Wing Unmanned Aircraft 6-DoF Model for Navigation and Guidance Applications." Applied Mechanics and Materials 629 (October 2014): 164–69. http://dx.doi.org/10.4028/www.scientific.net/amm.629.164.
Анотація:
A method for deriving the parameters of a six-degree-of-freedom (6-DoF) aircraft dynamics model by adopting reverse engineering techniques is presented. The novelty of the paper is the adaption of the 6-DoF Aircraft Dynamics Model (ADM) as a virtual sensor integrated in a low-cost navigation and guidance system designed for small Unmanned Aircraft (UA). The mass and aerodynamic properties of the JAVELIN UA are determined with the aid of an accurate 3D scanning and CAD processing. For qualitatively assessing the calculated ADM, a trajectory with high dynamics is simulated for the JAVELIN UA and compared with that of a published 6-DoF model of the AEROSONDE UA. Additionally, to confirm the validity of the approach, reverse engineering procedures are applied to a published CAD model of the AEROSONDE UA aiding to the calculation of the associated 6-DoF model parameters. A spiral descent trajectory is generated using both the published and calculated parameters of the AEROSONDE UA and a comparative analysis is performed that validates the methodology. The accurate knowledge of the ADM is then utilized in the development of a virtual sensor to augment the UA navigation and guidance system in case of primary navigation sensor outages.
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Geng, Jun Hao, Xi Tian Tian, and Xiang Wei Liu. "3D MRO Job Card Publishing Method for Aircraft." Advanced Materials Research 680 (April 2013): 345–50. http://dx.doi.org/10.4028/www.scientific.net/amr.680.345.
Анотація:
In order to improve the accuracy of maintenance, repair and overhaul (MRO) description and the clarity of on-site guidance for aircraft MRO job card, a publishing method for aircraft 3D MRO job card based on aircraft 3D model was proposed. This method can show the disassembly and assembly simulation process with dynamic viewpoint navigation technology to conform to the observation habit of human, and separately show technical requirements from different MRO disciplines and operation tasks with multi-view 3D annotation method, and finally, transforms the MRO order into 3D portable job card file based on lightweight model and releases it to MRO site. The MRO instance of aircraft right wing shows that this method can generate intuitive, accurate and non-ambiguous MRO process description, improve the quality and efficiency of aircraft MRO.
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Li, Shuo, Tiancheng Guo, Ran Mo, Xiaoshuai Zhao, Feng Zhou, Weirong Liu, and Jun Peng. "A Rescue-Assistance Navigation Method by Using the Underground Location of WSN after Disasters." Sensors 20, no. 8 (April 11, 2020): 2173. http://dx.doi.org/10.3390/s20082173.
Анотація:
A challenging rescue task for the underground disaster is to guide survivors in getting away from the dangerous area quickly. To address the issue, an escape guidance path developing method is proposed based on anisotropic underground wireless sensor networks under the condition of sparse anchor nodes. Firstly, a hybrid channel model was constructed to reflect the relationship between distance and receiving signal strength, which incorporates the underground complex communication characteristics, including the analytical ray wave guide model, the Shadowing effect, the tunnel size, and the penetration effect of obstacles. Secondly, a trustable anchor node selection algorithm with node movement detection is proposed, which solves the problem of high-precision node location in anisotropic networks with sparse anchor nodes after the disaster. Consequently, according to the node location and the obstacles, the optimal guidance path is developed by using the modified minimum spanning tree algorithm. Finally, the simulations in the 3D scene are conducted to verify the performance of the proposed method on the localization accuracy, guidance path effectiveness, and scalability.
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Kovanda, Timothy J., Shaheryar F. Ansari, Rabia Qaiser, and Daniel H. Fulkerson. "Feasibility of CT-based intraoperative 3D stereotactic image-guided navigation in the upper cervical spine of children 10 years of age or younger: initial experience." Journal of Neurosurgery: Pediatrics 16, no. 5 (November 2015): 590–98. http://dx.doi.org/10.3171/2015.2.peds14556.
Анотація:
OBJECT Rigid screw fixation may be technically difficult in the upper cervical spine of young children. Intraoperative stereotactic navigation may potentially assist a surgeon in precise placement of screws in anatomically challenging locations. Navigation may also assist in defining abnormal anatomy. The object of this study was to evaluate the authors’ initial experience with the feasibility and accuracy of this technique, both for resection and for screw placement in the upper cervical spine in younger children. METHODS Eight consecutive pediatric patients 10 years of age or younger underwent upper cervical spine surgery aided by image-guided navigation. The demographic, surgical, and clinical data were recorded. Screw position was evaluated with either an intraoperative or immediately postoperative CT scan. RESULTS One patient underwent navigation purely for guidance of bony resection. A total of 14 navigated screws were placed in the other 7 patients, including 5 C-2 pedicle screws. All 14 screws were properly positioned, defined as the screw completely contained within the cortical bone in the expected trajectory. There were no immediate complications associated with navigation. CONCLUSIONS Image-guided navigation is feasible within the pediatric cervical spine and may be a useful surgical tool for placing screws in a patient with small, often difficult bony anatomy. The authors describe their experience with their first 8 pediatric patients who underwent navigation in cervical spine surgery. The authors highlight differences in technique compared with similar navigation in adults.
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Moiyadi, Aliasgar V., and Prakash Shetty. "Direct navigated 3D ultrasound for resection of brain tumors: a useful tool for intraoperative image guidance." Neurosurgical Focus 40, no. 3 (March 2016): E5. http://dx.doi.org/10.3171/2015.12.focus15529.
Анотація:
OBJECTIVE Navigated 3D ultrasound is a novel intraoperative imaging adjunct permitting quick real-time updates to facilitate tumor resection. Image quality continues to improve and is currently sufficient to allow use of navigated ultrasound (NUS) as a stand-alone modality for intraoperative guidance without the need for preoperative MRI. METHODS The authors retrospectively analyzed cases involving operations performed at their institution in which a 3D ultrasound navigation system was used for control of resection of brain tumors in a “direct” 3D ultrasound mode, without preoperative MRI guidance. The usefulness of the ultrasound and its correlation with postoperative imaging were evaluated. RESULTS Ultrasound was used for resection control in 81 cases. In 53 of these 81 cases, at least 1 intermediate scan (range 1–3 intermediate scans) was obtained during the course of the resection, and in 50 of these 53 cases, the result prompted further resection. In the remaining 28 cases, intermediate scans were not performed either because the first ultrasound scan performed after resection was interpreted as showing no residual tumor (n = 18) and resection was terminated or because the surgeon intentionally terminated the resection prematurely due to the infiltrative nature of the tumor and extension of disease into eloquent areas (n = 10) and the final ultrasound scan was interpreted as showing residual disease. In an additional 20 cases, ultrasound navigation was used primarily for localization and not for resection control, making the total number of NUS cases where radical resection was planned 101. Gross-total resection (GTR) was planned in 68 of these 101 cases and cytoreduction in 33. Ultrasound-defined GTR was achieved in 51 (75%) of the cases in which GTR was planned. In the remaining 17, further resection had to be terminated (despite evidence of residual tumor on ultrasound) because of diffuse infiltration or proximity to eloquent areas. Of the 33 cases planned for cytoreduction, NUS guidance facilitated ultrasound-defined GTR in 4 cases. Overall, ultrasound-defined GTR was achieved in 50% of cases (55 of 111). Based on the postoperative imaging (MRI in most cases), GTR was achieved in 58 cases (53%). Final (postresection) ultrasonography was documented in 78 cases. The findings were compared with the postoperative imaging to ascertain concordance in detecting residual tumor. Overall concordance was seen in 64 cases (82.5%), positive concordance was seen in 33 (42.5%), and negative in 31 (40%). Discordance was seen in 14 cases—with ultrasound yielding false-positive results in 7 cases and false-negative results in 7 cases. Postoperative neurological worsening occurred in 15 cases (13.5%), and in most of these cases, it was reversible by the time of discharge. CONCLUSIONS The results of this study demonstrate that 3D ultrasound can be effectively used as a stand-alone navigation modality during the resection of brain tumors. The ability to provide repeated, high-quality intraoperative updates is useful for guiding resection. Attention to image acquisition technique and experience can significantly increase the quality of images, thereby improving the overall utility of this modality.
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Rahmathulla, Gazanfar, Eric W. Nottmeier, Stephen M. Pirris, H. Gordon Deen, and Mark A. Pichelmann. "Intraoperative image-guided spinal navigation: technical pitfalls and their avoidance." Neurosurgical Focus 36, no. 3 (March 2014): E3. http://dx.doi.org/10.3171/2014.1.focus13516.
Анотація:
Spinal instrumentation has made significant advances in the last two decades, with transpedicular constructs now widely used in spinal fixation. Pedicle screw constructs are routinely used in thoracolumbar-instrumented fusions, and in recent years, the cervical spine as well. Three-column fixations with pedicle screws provide the most rigid form of posterior stabilization. Surgical landmarks and fluoroscopy have been used routinely for pedicle screw insertion, but a number of studies reveal inaccuracies in placement using these conventional techniques (ranging from 10% to 50%). The ability to combine 3D imaging with intraoperative navigation systems has improved the accuracy and safety of pedicle screw placement, especially in more complex spinal deformities. However, in the authors' experience with image guidance in more than 1500 cases, several potential pitfalls have been identified while using intraoperative spinal navigation that could lead to suboptimal results. This article summarizes the authors' experience with these various pitfalls using spinal navigation, and gives practical tips on their avoidance and management.
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Xiao, Roy, Jacob A. Miller, Navin C. Sabharwal, Daniel Lubelski, Vincent J. Alentado, Andrew T. Healy, Thomas E. Mroz, and Edward C. Benzel. "Clinical outcomes following spinal fusion using an intraoperative computed tomographic 3D imaging system." Journal of Neurosurgery: Spine 26, no. 5 (May 2017): 628–37. http://dx.doi.org/10.3171/2016.10.spine16373.
Анотація:
OBJECTIVEImprovements in imaging technology have steadily advanced surgical approaches. Within the field of spine surgery, assistance from the O-arm Multidimensional Surgical Imaging System has been established to yield superior accuracy of pedicle screw insertion compared with freehand and fluoroscopic approaches. Despite this evidence, no studies have investigated the clinical relevance associated with increased accuracy. Accordingly, the objective of this study was to investigate the clinical outcomes following thoracolumbar spinal fusion associated with O-arm–assisted navigation. The authors hypothesized that increased accuracy achieved with O-arm–assisted navigation decreases the rate of reoperation secondary to reduced hardware failure and screw misplacement.METHODSA consecutive retrospective review of all patients who underwent open thoracolumbar spinal fusion at a single tertiary-care institution between December 2012 and December 2014 was conducted. Outcomes assessed included operative time, length of hospital stay, and rates of readmission and reoperation. Mixed-effects Cox proportional hazards modeling, with surgeon as a random effect, was used to investigate the association between O-arm–assisted navigation and postoperative outcomes.RESULTSAmong 1208 procedures, 614 were performed with O-arm–assisted navigation, 356 using freehand techniques, and 238 using fluoroscopic guidance. The most common indication for surgery was spondylolisthesis (56.2%), and most patients underwent a posterolateral fusion only (59.4%). Although O-arm procedures involved more vertebral levels compared with the combined freehand/fluoroscopy cohort (4.79 vs 4.26 vertebral levels; p < 0.01), no significant differences in operative time were observed (4.40 vs 4.30 hours; p = 0.38). Patients who underwent an O-arm procedure experienced shorter hospital stays (4.72 vs 5.43 days; p < 0.01). O-arm–assisted navigation trended toward predicting decreased risk of spine-related readmission (0.8% vs 2.2%, risk ratio [RR] 0.37; p = 0.05) and overall readmissions (4.9% vs 7.4%, RR 0.66; p = 0.07). The O-arm was significantly associated with decreased risk of reoperation for hardware failure (2.9% vs 5.9%, RR 0.50; p = 0.01), screw misplacement (1.6% vs 4.2%, RR 0.39; p < 0.01), and all-cause reoperation (5.2% vs 10.9%, RR 0.48; p < 0.01). Mixed-effects Cox proportional hazards modeling revealed that O-arm–assisted navigation was a significant predictor of decreased risk of reoperation (HR 0.49; p < 0.01). The protective effect of O-arm–assisted navigation against reoperation was durable in subset analysis of procedures involving < 5 vertebral levels (HR 0.44; p = 0.01) and ≥ 5 levels (HR 0.48; p = 0.03). Further subset analysis demonstrated that O-arm–assisted navigation predicted decreased risk of reoperation among patients undergoing posterolateral fusion only (HR 0.39; p < 0.01) and anterior lumbar interbody fusion (HR 0.22; p = 0.03), but not posterior/transforaminal lumbar interbody fusion.CONCLUSIONSTo the authors' knowledge, the present study is the first to investigate clinical outcomes associated with O-arm–assisted navigation following thoracolumbar spinal fusion. O-arm–assisted navigation decreased the risk of reoperation to less than half the risk associated with freehand and fluoroscopic approaches. Future randomized controlled trials to corroborate the findings of the present study are warranted.
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Nasser, Rani, Doniel Drazin, Jonathan Nakhla, Lutfi Al-Khouja, Earl Brien, Eli M. Baron, Terrence T. Kim, J. Patrick Johnson, and Reza Yassari. "Resection of spinal column tumors utilizing image-guided navigation: a multicenter analysis." Neurosurgical Focus 41, no. 2 (August 2016): E15. http://dx.doi.org/10.3171/2016.5.focus16136.
Анотація:
OBJECTIVE The use of intraoperative stereotactic navigation has become more available in spine surgery. The authors undertook this study to assess the utility of intraoperative CT navigation in the localization of spinal lesions and as an intraoperative tool to guide resection in patients with spinal lesions. METHODS This was a retrospective multicenter study including 50 patients from 2 different institutions who underwent biopsy and/or resection of spinal column tumors using image-guided navigation. Of the 50 cases reviewed, 4 illustrative cases are presented. In addition, the authors provide a description of surgical technique with image guidance. RESULTS The patient group included 27 male patients and 23 female patients. Their average age was 61 ± 17 years (range 14–87 years). The average operative time (incision to closure) was 311 ± 188 minutes (range 62–865 minutes). The average intraoperative blood loss was 882 ± 1194 ml (range 5–7000 ml). The average length of hospitalization was 10 ± 8.9 days (range 1–36 days). The postoperative complications included 2 deaths (4.0%) and 4 radiculopathies (8%) secondary to tumor burden. CONCLUSIONS O-arm 3D imaging with stereotactic navigation may be used to localize lesions intraoperatively with real-time dynamic feedback of tumor resection. Stereotactic guidance may augment resection or biopsy of primary and metastatic spinal tumors. It offers reduced radiation exposure to operating room personnel and the ability to use minimally invasive approaches that limit tissue injury. In addition, acquisition of intraoperative CT scans with real-time tracking allows for precise targeting of spinal lesions with minimal dissection.
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Cattari, Nadia, Sara Condino, Fabrizio Cutolo, Mauro Ferrari, and Vincenzo Ferrari. "In Situ Visualization for 3D Ultrasound-Guided Interventions with Augmented Reality Headset." Bioengineering 8, no. 10 (September 25, 2021): 131. http://dx.doi.org/10.3390/bioengineering8100131.
Анотація:
Augmented Reality (AR) headsets have become the most ergonomic and efficient visualization devices to support complex manual tasks performed under direct vision. Their ability to provide hands-free interaction with the augmented scene makes them perfect for manual procedures such as surgery. This study demonstrates the reliability of an AR head-mounted display (HMD), conceived for surgical guidance, in navigating in-depth high-precision manual tasks guided by a 3D ultrasound imaging system. The integration between the AR visualization system and the ultrasound imaging system provides the surgeon with real-time intra-operative information on unexposed soft tissues that are spatially registered with the surrounding anatomic structures. The efficacy of the AR guiding system was quantitatively assessed with an in vitro study simulating a biopsy intervention aimed at determining the level of accuracy achievable. In the experiments, 10 subjects were asked to perform the biopsy on four spherical lesions of decreasing sizes (10, 7, 5, and 3 mm). The experimental results showed that 80% of the subjects were able to successfully perform the biopsy on the 5 mm lesion, with a 2.5 mm system accuracy. The results confirmed that the proposed integrated system can be used for navigation during in-depth high-precision manual tasks.
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Sinarna, Ganda, and Enny Itje Sela. "Pemanfaatan Teknologi Augmented Reality Sebagai Media Navigasi Berbasis Aplikasi Android." Journal of Information System Research (JOSH) 5, no. 1 (October 28, 2023): 224–33. http://dx.doi.org/10.47065/josh.v5i1.4406.
Анотація:
The navigation media on the Universitas Teknologi Yogyakarta campus environment currently still uses conventional guidance media in the form of printed pictures and mock-up plans, so it is considered ineffective and inefficient in providing directions for students, staff, or campus visitors, especially in the outdoor areas where signage is rarely installed. This research aims to assist 3D virtual navigation services by utilizing augmented reality technology based on longitude and latitude coordinate point data of an area, which is implemented in the form of an Android mobile application. The research method used is the case study method, with a qualitative approach. This application development model uses the waterfall model. The stages used in this research include planning, data collection, analysis, design, implementation, and application testing using Black box testing with the test case method, which produces application testing that descriptively explains the application work process. Application test results show that route search navigation, information features, and application menus work well. The combination of augmented reality technology and a global positioning system can be implemented to recognize various navigation routes based on longitude and latitude numerical values very well.
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Milosevic, Zorana, Ramon A. Suarez Fernandez, Sergio Dominguez, and Claudio Rossi. "Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments." Sensors 20, no. 24 (December 17, 2020): 7237. http://dx.doi.org/10.3390/s20247237.
Анотація:
In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system’s validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.