Background Computed tomography(CT) and cone-beam computed tomography(CBCT) image registration play pivotal roles in computer-assisted navigation for orthopedic surgery. Traditional methods often apply uniform deformat...Background Computed tomography(CT) and cone-beam computed tomography(CBCT) image registration play pivotal roles in computer-assisted navigation for orthopedic surgery. Traditional methods often apply uniform deformation models, neglecting the biomechanical differences between rigid structures and soft tissues, which compromises registration accuracy, especially during significant bone displacements. Method To address this issue, we introduce RE-Reg, a rigid-elastic CT-CBCT image registration framework that jointly learns rigid bone motion and soft tissue deformation. RE-Reg incorporates a rigid alignment(RA) module to estimate global bone motion and an elastic deformation(ED) module to model soft tissue deformation, preserving bony structures through bone shape preservation(BSP) loss. Result Our comprehensive evaluation on publicly available datasets demonstrates that RE-Reg significantly outperforms existing methods in terms of registration accuracy and rigid bone structure preservation, achieving a 1.3% improvement in Dice similarity coefficient(DSC) and a 23% reduction in rigid bone deformation(%Δvol) compared with the best baseline. Conclusion This framework not only enhances anatomical fidelity but also ensures biomechanical plausibility and provides a valuable tool for image-guided orthopedic surgery. This code is available athttps://github.com/Zq-Huang/RE-Reg.展开更多
This study summarizes the examination data of registration labels for ordinary cosmetics in Beijing from May 2021 to April 2024.It analyzes and categorizes the issues identified during label evaluations,explores the u...This study summarizes the examination data of registration labels for ordinary cosmetics in Beijing from May 2021 to April 2024.It analyzes and categorizes the issues identified during label evaluations,explores the underlying causes,and proposes regulatory countermeasures and recommendations for registrants,regulatory authorities,and social organizations.The objective is to offer practical insights and regulatory guidance to support the enhancement of cosmetic registration and regulatory standards.展开更多
To provide reference for the prevention and control of diseases,pests,and weeds on Zanthoxylum bungeanum Maxim.and the research and development of new pesticide registrations,this paper analyzes the quantity,variety s...To provide reference for the prevention and control of diseases,pests,and weeds on Zanthoxylum bungeanum Maxim.and the research and development of new pesticide registrations,this paper analyzes the quantity,variety structure,dosage forms,and toxicity of pesticides registered on Z.bungeanum in China.The analysis reveals a relatively low quantity of pesticide registrations on Z.bungeanum,with no herbicide registrations;suspension concentrates dominate the dosage forms,and pesticide toxicity is classified as low-toxicity or micro-toxicity;registered pesticides target only rust,anthracnose,scale insects,aphids,and spider mites,while plant growth regulators solely involve growth regulation and shoot control.Given the current status of limited and incomplete pesticide registrations targeting major diseases,pests,and weeds on Z.bungeanum,severe product homogenization,and unknown maximum residue limits,it is recommended to intensify efforts in pesticide registration on Z.bungeanum,actively research and apply green control technologies,strengthen technical training guidance and pesticide supervision enforcement,to promote the healthy development of the industry.展开更多
The geolocation of ground targets by airborne image sensors is an important task for unmanned aerial vehicles or surveillance aircraft.This paper proposes an Iterative Geolocation based on Cross-view Image Registratio...The geolocation of ground targets by airborne image sensors is an important task for unmanned aerial vehicles or surveillance aircraft.This paper proposes an Iterative Geolocation based on Cross-view Image Registration(IGCIR)that can provide real-time target location results with high precision.The proposed method has two key features.First,a cross-view image registration process is introduced,including a projective transformation and a two-stage multi-sensor registration.This process utilizes both gradient information and phase information of cross-view images.This allows the registration process to reach a good balance between matching precision and computational efficiency.By matching the airborne camera view to the preloaded digital map,the geolocation accuracy can reach the accuracy level of the digital map for any ground target appearing in the airborne camera view.Second,the proposed method uses the registration results to perform an iteration process,which compensates for the bias of the strap-down initial navigation module online.Although it is challenging to provide cross-view registration results with high frequency,such an iteration process allows the method to generate real-time,highly accurate location results.The effectiveness of the proposed IGCIR method is verified by a series of flying-test experiments.The results show that the location accuracy of the method can reach 4.18 m(at 10 km standoff distance).展开更多
This paper aims to develop a nonrigid registration method of preoperative and intraoperative thoracoabdominal CT images in computer-assisted interventional surgeries for accurate tumor localization and tissue visualiz...This paper aims to develop a nonrigid registration method of preoperative and intraoperative thoracoabdominal CT images in computer-assisted interventional surgeries for accurate tumor localization and tissue visualization enhancement.However,fine structure registration of complex thoracoabdominal organs and large deformation registration caused by respiratory motion is challenging.To deal with this problem,we propose a 3D multi-scale attention VoxelMorph(MAVoxelMorph)registration network.To alleviate the large deformation problem,a multi-scale axial attention mechanism is utilized by using a residual dilated pyramid pooling for multi-scale feature extraction,and position-aware axial attention for long-distance dependencies between pixels capture.To further improve the large deformation and fine structure registration results,a multi-scale context channel attention mechanism is employed utilizing content information via adjacent encoding layers.Our method was evaluated on four public lung datasets(DIR-Lab dataset,Creatis dataset,Learn2Reg dataset,OASIS dataset)and a local dataset.Results proved that the proposed method achieved better registration performance than current state-of-the-art methods,especially in handling the registration of large deformations and fine structures.It also proved to be fast in 3D image registration,using about 1.5 s,and faster than most methods.Qualitative and quantitative assessments proved that the proposed MA-VoxelMorph has the potential to realize precise and fast tumor localization in clinical interventional surgeries.展开更多
Objective To put forward some suggestions for improving the registration and regulation,the efficiency of evaluation,and approval of biosimilar in China so as to promote the development of biopharmaceutical industry a...Objective To put forward some suggestions for improving the registration and regulation,the efficiency of evaluation,and approval of biosimilar in China so as to promote the development of biopharmaceutical industry and increase the accessibility of therapeutic drugs in China.Methods Literature related to the registration and regulation,evaluation and approval of biosimilars were sorted out to analyze the differences in China and the USA.Results and Conclusion Based on the analysis of the current situation of registration and regulation of biosimilars between China and the USA,it is suggested to improve the registration and regulation of biosimilars in China from the following four aspects:Establishing a biosimilar regulatory department,expanding the professional evaluation personnel,scientifically simplifying the registration and approval procedures,and constantly refining the types of communication meetings.展开更多
Objective To provide a theoretical basis for the adjustment of the registration classification of China’s biological products,and to establish a continuously improved registration classification system.Methods Based ...Objective To provide a theoretical basis for the adjustment of the registration classification of China’s biological products,and to establish a continuously improved registration classification system.Methods Based on literature research,the specific classification methods,classification principles and considerations of biological registration in China,the United States and the European Union were studied to form a complete comparative analysis.Results and Conclusion It is recommended that the division between therapeutic and preventive use should be removed from the registration classification of biologics.The therapeutic,preventive and diagnostic use of the product should be limited as part of the product specification,and the registration should be classified according to the development of biotechnology,innovation,modification and bio-similar drugs.In addition,the supervision of registration of advanced therapeutic products should be different from that of traditional biologics.展开更多
Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prer...Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prerequisite for a comprehensive forest structure representation.Conventional registration methods based on geometric features(e.g.,points,lines,and planes)are likely to fail due to the irregular natural point distributions of forest point clouds.Currently,automatic registration methods for forest point clouds typically rely on tree attributes(such as tree position and stem diameter).However,these methods are often unsuitable for forests with diverse compositions,complex terrains,irregular tree layouts,and insufficient common trees.In this study,an automated method is proposed to register ULS and TLS forest point clouds using ground points as registration primitives,which operates independently of tree attribute extraction and is estimated to reduce processing time by over 50%.A new evaluation method for registration accuracy evaluation is proposed,where transformation parameters from each TLS scan to the ULS obtained by the proposed registration algorithm are used to derive transformation parameters between TLS scans,which are then compared to reference parameters obtained using artificial spherical targets.Conventional ULS-TLS registration evaluation methods mostly rely on the manual corresponding points selection that is subject to inherent subjective errors,or control points in both TLS and ULS data that are difficult to collect.The proposed method presents an objective and accurate solution for ULS-TLS registration accuracy evaluation that effectively eliminates these limitations.The proposed method was tested on 12 plots with diverse stem densities,tree species,and altitudes located in a mountain forest.A total of 124 TLS scans were successfully registered to ULS data.The registration accuracy was assessed using both the conventional evaluation method and the proposed new evaluation method,with average rotation errors of 2.03 and 2.06 mrad,and average translation errors of 7.63 and 6.51 cm,respectively.The registration accuracies demonstrate that the proposed algorithm effectively and accurately registers TLS to ULS point clouds.展开更多
Multi-instance registration is a challenging problem in computer vision and robotics,where multiple instances of an object need to be registered in a standard coordinate system.Pioneers followed a non-extensible one-s...Multi-instance registration is a challenging problem in computer vision and robotics,where multiple instances of an object need to be registered in a standard coordinate system.Pioneers followed a non-extensible one-shot framework,which prioritizes the registration of simple and isolated instances,often struggling to accurately register challenging or occluded instances.To address these challenges,we propose the first iterative framework for multi-instance 3D registration(MI-3DReg)in this work,termed instance-by-instance(IBI).It successively registers instances while systematically reducing outliers,starting from the easiest and progressing to more challenging ones.This enhances the likelihood of effectively registering instances that may have been initially overlooked,allowing for successful registration in subsequent iterations.Under the IBI framework,we further propose a sparse-to-dense correspondence-based multi-instance registration method(IBI-S2DC)to enhance the robustness of MI-3DReg.Experiments on both synthetic and real datasets have demonstrated the effectiveness of IBI and suggested the new state-of-the-art performance with IBI-S2DC,e.g.,our mean registration F1 score is 12.02%/12.35%higher than the existing state-of-the-art on the synthetic/real datasets.The source codes are available online at https://github.com/caoxy01/IBI.展开更多
Robot-assisted surgery has become an indispensable component in modern neurosurgical procedures.However,existing registration methods for neurosurgical robots often rely on high-end hardware and involve prolonged or u...Robot-assisted surgery has become an indispensable component in modern neurosurgical procedures.However,existing registration methods for neurosurgical robots often rely on high-end hardware and involve prolonged or unstable registration times,limiting their applicability in dynamic and time-sensitive intraoperative settings.This paper proposes a novel fully automatic monocular-based registration and real-time tracking method.First,dedicated fiducials are designed,and an automatic preoperative and intraoperative detection method for these fiducials is introduced.Second,a geometric representation of the fiducials is constructed based on a 2D KD-Tree.Through a two-stage optimization process,the depth of 2D fiducials is estimated,and 2D-3D correspondences are established to achieve monocular registration.This approach enables fully automatic intraoperative registration using only a single optical camera.Finally,a six-degree-of-freedom visual servo control strategy inspired by the mass-spring-damper system is proposed.By integrating artificial potential field and admittance control,the strategy ensures real-time responsiveness and stable tracking.Experimental results demonstrate that the proposed method achieves a registration time of 0.23 s per instance with an average error of 0.58 mm.Additionally,the motion performance of the control strategy has been validated.Preliminary experiments verify the effectiveness of MonoTracker in dynamic tracking scenarios.This method holds promise for enhancing the adaptability of neurosurgical robots and offers significant clinical application potential.展开更多
Airborne LiDAR(Light Detection and Ranging)is an evolving high-tech active remote sensing technology that has the capability to acquire large-area topographic data and can quickly generate DEM(Digital Elevation Model)...Airborne LiDAR(Light Detection and Ranging)is an evolving high-tech active remote sensing technology that has the capability to acquire large-area topographic data and can quickly generate DEM(Digital Elevation Model)products.Combined with image data,this technology can further enrich and extract spatial geographic information.However,practically,due to the limited operating range of airborne LiDAR and the large area of task,it would be necessary to perform registration and stitching process on point clouds of adjacent flight strips.By eliminating grow errors,the systematic errors in the data need to be effectively reduced.Thus,this paper conducts research on point cloud registration methods in urban building areas,aiming to improve the accuracy and processing efficiency of airborne LiDAR data.Meanwhile,an improved post-ICP(Iterative Closest Point)point cloud registration method was proposed in this study to determine the accurate registration and efficient stitching of point clouds,which capable to provide a potential technical support for applicants in related field.展开更多
Background:Modern acupuncture anesthesia is a combination of Chinese and Western medicine that integrates the theories of acupuncture with anesthesia.However,some clinical studies of acupuncture anesthesia lack specif...Background:Modern acupuncture anesthesia is a combination of Chinese and Western medicine that integrates the theories of acupuncture with anesthesia.However,some clinical studies of acupuncture anesthesia lack specific descriptions of randomization,allocation concealment,and blinding processes,with subsequent systematic reviews indicating a risk of bias.Objective:Clinical trial registration is essential for the enhancement of the quality of clinical trials.This study aims to summarize the status of clinical trial registrations for acupuncture anesthesia listed on the World Health Organization International Clinical Trials Registry Platform(ICTRP).Search strategy:We searched the ICTRP for clinical trials related to acupuncture anesthesia registered between January 1,2001 and May 31,2023.Additionally,related publications were retrieved from PubMed,Cochrane Library,Embase,China National Knowledge Infrastructure,China Science and Technology Journal Database,and Wanfang Data.Registrations and publications were analyzed for consistency in trial design characteristics.Inclusion criteria:Clinical trials that utilized one of several acupuncture-related therapies in combination with pharmacological anesthesia during the perioperative period were eligible for this review.Data extraction and analysis:Data extracted from articles included type of surgical procedure,perioperative symptoms,study methodology,type of intervention,trial recruitment information,and publication information related to clinical enrollment.Results:A total of 166 trials related to acupuncture anesthesia from 21 countries were included in the analysis.The commonly reported symptoms in the included studies were postoperative nausea and vomiting(19.9%)and postoperative pain(13.3%).The concordance between the publications and the trial protocols in the clinical registry records was poor,with only 31.7%of the studies being fully compatible.Inconsistency rates were high for sample size(39.0%,16/41),blinding(36.6%,15/41),and secondary outcome indicators(24.4%,10/41).Conclusion:The volume of acupuncture anesthesia clinical trials registered in international trial registries over the last 20 years is low,with insufficient disclosure of results.Postoperative nausea and vomiting as well as postoperative pain,are the most investigated for acupuncture intervention.展开更多
Objective To study the inheritance and innovation of traditional Chinese medicine,and to offer an insight for the public.Methods Literature review,data retrieval and systematic analysis were used to elaborate and summ...Objective To study the inheritance and innovation of traditional Chinese medicine,and to offer an insight for the public.Methods Literature review,data retrieval and systematic analysis were used to elaborate and summarize the influence of changes in related classification and policy reform of traditional Chinese medicine(TCM)registration on its inheritance and innovation.The study was carried out in the context of the TCM registration related classification and policy reform and evolution on TCM inheritance and innovation.Results and Conclusion TCM registration plays an important role in the inheritance and innovation of TCM,which greatly influences on its inheritance and innovation.The reform of new registration classification respects the law of TCM research and development,reflecting the establishment of the review and approval system in line with the characteristics of TCM inheritance,which promotes the research and development of new drugs.The establishment of the review and approval system also accelerates the marketing transformation of new traditional Chinese medicine.TCM innovation should attach importance to clinical value orientation and improve the scientific connotation of TCM.Meanwhile,the advantage of China’s accession to ICH,PIC/S and other international drug certification organizations should be taken to speed up the construction of international mutual recognition of TCM standardization system,which can provide a broader path for the inheritance and innovation of TCM in the new era.展开更多
基金Supported by the National Natural Science Foundation of China(Grant Nos.62025104,62331005,and U22A2052)the Beijing Natural Science Foundation(Grant No.L242100).
文摘Background Computed tomography(CT) and cone-beam computed tomography(CBCT) image registration play pivotal roles in computer-assisted navigation for orthopedic surgery. Traditional methods often apply uniform deformation models, neglecting the biomechanical differences between rigid structures and soft tissues, which compromises registration accuracy, especially during significant bone displacements. Method To address this issue, we introduce RE-Reg, a rigid-elastic CT-CBCT image registration framework that jointly learns rigid bone motion and soft tissue deformation. RE-Reg incorporates a rigid alignment(RA) module to estimate global bone motion and an elastic deformation(ED) module to model soft tissue deformation, preserving bony structures through bone shape preservation(BSP) loss. Result Our comprehensive evaluation on publicly available datasets demonstrates that RE-Reg significantly outperforms existing methods in terms of registration accuracy and rigid bone structure preservation, achieving a 1.3% improvement in Dice similarity coefficient(DSC) and a 23% reduction in rigid bone deformation(%Δvol) compared with the best baseline. Conclusion This framework not only enhances anatomical fidelity but also ensures biomechanical plausibility and provides a valuable tool for image-guided orthopedic surgery. This code is available athttps://github.com/Zq-Huang/RE-Reg.
文摘This study summarizes the examination data of registration labels for ordinary cosmetics in Beijing from May 2021 to April 2024.It analyzes and categorizes the issues identified during label evaluations,explores the underlying causes,and proposes regulatory countermeasures and recommendations for registrants,regulatory authorities,and social organizations.The objective is to offer practical insights and regulatory guidance to support the enhancement of cosmetic registration and regulatory standards.
基金Supported by Sichuan Province Zanthoxylum bungeanum Maxim.Innovation Team Project"Green Control of Diseases and Weeds on Zanthoxylum bungeanum Maxim."Institute-Local Cooperation Project"Demonstration of Chemical Fertilizer and Pesticide Reduction Techniques in Hongya County(2024-2026)".
文摘To provide reference for the prevention and control of diseases,pests,and weeds on Zanthoxylum bungeanum Maxim.and the research and development of new pesticide registrations,this paper analyzes the quantity,variety structure,dosage forms,and toxicity of pesticides registered on Z.bungeanum in China.The analysis reveals a relatively low quantity of pesticide registrations on Z.bungeanum,with no herbicide registrations;suspension concentrates dominate the dosage forms,and pesticide toxicity is classified as low-toxicity or micro-toxicity;registered pesticides target only rust,anthracnose,scale insects,aphids,and spider mites,while plant growth regulators solely involve growth regulation and shoot control.Given the current status of limited and incomplete pesticide registrations targeting major diseases,pests,and weeds on Z.bungeanum,severe product homogenization,and unknown maximum residue limits,it is recommended to intensify efforts in pesticide registration on Z.bungeanum,actively research and apply green control technologies,strengthen technical training guidance and pesticide supervision enforcement,to promote the healthy development of the industry.
基金supported by the National Level Project of China(No.52-L0D01-0613-20/22)。
文摘The geolocation of ground targets by airborne image sensors is an important task for unmanned aerial vehicles or surveillance aircraft.This paper proposes an Iterative Geolocation based on Cross-view Image Registration(IGCIR)that can provide real-time target location results with high precision.The proposed method has two key features.First,a cross-view image registration process is introduced,including a projective transformation and a two-stage multi-sensor registration.This process utilizes both gradient information and phase information of cross-view images.This allows the registration process to reach a good balance between matching precision and computational efficiency.By matching the airborne camera view to the preloaded digital map,the geolocation accuracy can reach the accuracy level of the digital map for any ground target appearing in the airborne camera view.Second,the proposed method uses the registration results to perform an iteration process,which compensates for the bias of the strap-down initial navigation module online.Although it is challenging to provide cross-view registration results with high frequency,such an iteration process allows the method to generate real-time,highly accurate location results.The effectiveness of the proposed IGCIR method is verified by a series of flying-test experiments.The results show that the location accuracy of the method can reach 4.18 m(at 10 km standoff distance).
基金supported in part by the National Natural Science Foundation of China[62301374]Hubei Provincial Natural Science Foundation of China[2022CFB804]+2 种基金Hubei Provincial Education Research Project[B2022057]the Youths Science Foundation of Wuhan Institute of Technology[K202240]the 15th Graduate Education Innovation Fund of Wuhan Institute of Technology[CX2023295].
文摘This paper aims to develop a nonrigid registration method of preoperative and intraoperative thoracoabdominal CT images in computer-assisted interventional surgeries for accurate tumor localization and tissue visualization enhancement.However,fine structure registration of complex thoracoabdominal organs and large deformation registration caused by respiratory motion is challenging.To deal with this problem,we propose a 3D multi-scale attention VoxelMorph(MAVoxelMorph)registration network.To alleviate the large deformation problem,a multi-scale axial attention mechanism is utilized by using a residual dilated pyramid pooling for multi-scale feature extraction,and position-aware axial attention for long-distance dependencies between pixels capture.To further improve the large deformation and fine structure registration results,a multi-scale context channel attention mechanism is employed utilizing content information via adjacent encoding layers.Our method was evaluated on four public lung datasets(DIR-Lab dataset,Creatis dataset,Learn2Reg dataset,OASIS dataset)and a local dataset.Results proved that the proposed method achieved better registration performance than current state-of-the-art methods,especially in handling the registration of large deformations and fine structures.It also proved to be fast in 3D image registration,using about 1.5 s,and faster than most methods.Qualitative and quantitative assessments proved that the proposed MA-VoxelMorph has the potential to realize precise and fast tumor localization in clinical interventional surgeries.
文摘Objective To put forward some suggestions for improving the registration and regulation,the efficiency of evaluation,and approval of biosimilar in China so as to promote the development of biopharmaceutical industry and increase the accessibility of therapeutic drugs in China.Methods Literature related to the registration and regulation,evaluation and approval of biosimilars were sorted out to analyze the differences in China and the USA.Results and Conclusion Based on the analysis of the current situation of registration and regulation of biosimilars between China and the USA,it is suggested to improve the registration and regulation of biosimilars in China from the following four aspects:Establishing a biosimilar regulatory department,expanding the professional evaluation personnel,scientifically simplifying the registration and approval procedures,and constantly refining the types of communication meetings.
文摘Objective To provide a theoretical basis for the adjustment of the registration classification of China’s biological products,and to establish a continuously improved registration classification system.Methods Based on literature research,the specific classification methods,classification principles and considerations of biological registration in China,the United States and the European Union were studied to form a complete comparative analysis.Results and Conclusion It is recommended that the division between therapeutic and preventive use should be removed from the registration classification of biologics.The therapeutic,preventive and diagnostic use of the product should be limited as part of the product specification,and the registration should be classified according to the development of biotechnology,innovation,modification and bio-similar drugs.In addition,the supervision of registration of advanced therapeutic products should be different from that of traditional biologics.
基金supported partially by the National Key Research and Development Program of China(No.2023YFF1303901)the National Natural Science Foundation of China(Nos.32171789,12411530088,and 32371654)the Joint Open Funded Project of State Key Laboratory of Geo-Information Engineering and Key Laboratory of the Ministry of Natural Resources for Surveying and Mapping Science and Geo-spatial Information Technology(No.2022-02-02).
文摘Unmanned aerial vehicle laser scanning(ULS)and terrestrial laser scanning(TLS)systems are effective ways to capture forest structures from top and side views,respectively.The registration of TLS and ULS data is a prerequisite for a comprehensive forest structure representation.Conventional registration methods based on geometric features(e.g.,points,lines,and planes)are likely to fail due to the irregular natural point distributions of forest point clouds.Currently,automatic registration methods for forest point clouds typically rely on tree attributes(such as tree position and stem diameter).However,these methods are often unsuitable for forests with diverse compositions,complex terrains,irregular tree layouts,and insufficient common trees.In this study,an automated method is proposed to register ULS and TLS forest point clouds using ground points as registration primitives,which operates independently of tree attribute extraction and is estimated to reduce processing time by over 50%.A new evaluation method for registration accuracy evaluation is proposed,where transformation parameters from each TLS scan to the ULS obtained by the proposed registration algorithm are used to derive transformation parameters between TLS scans,which are then compared to reference parameters obtained using artificial spherical targets.Conventional ULS-TLS registration evaluation methods mostly rely on the manual corresponding points selection that is subject to inherent subjective errors,or control points in both TLS and ULS data that are difficult to collect.The proposed method presents an objective and accurate solution for ULS-TLS registration accuracy evaluation that effectively eliminates these limitations.The proposed method was tested on 12 plots with diverse stem densities,tree species,and altitudes located in a mountain forest.A total of 124 TLS scans were successfully registered to ULS data.The registration accuracy was assessed using both the conventional evaluation method and the proposed new evaluation method,with average rotation errors of 2.03 and 2.06 mrad,and average translation errors of 7.63 and 6.51 cm,respectively.The registration accuracies demonstrate that the proposed algorithm effectively and accurately registers TLS to ULS point clouds.
基金supported in part by the National Natural Science Foundation of China(62372377).
文摘Multi-instance registration is a challenging problem in computer vision and robotics,where multiple instances of an object need to be registered in a standard coordinate system.Pioneers followed a non-extensible one-shot framework,which prioritizes the registration of simple and isolated instances,often struggling to accurately register challenging or occluded instances.To address these challenges,we propose the first iterative framework for multi-instance 3D registration(MI-3DReg)in this work,termed instance-by-instance(IBI).It successively registers instances while systematically reducing outliers,starting from the easiest and progressing to more challenging ones.This enhances the likelihood of effectively registering instances that may have been initially overlooked,allowing for successful registration in subsequent iterations.Under the IBI framework,we further propose a sparse-to-dense correspondence-based multi-instance registration method(IBI-S2DC)to enhance the robustness of MI-3DReg.Experiments on both synthetic and real datasets have demonstrated the effectiveness of IBI and suggested the new state-of-the-art performance with IBI-S2DC,e.g.,our mean registration F1 score is 12.02%/12.35%higher than the existing state-of-the-art on the synthetic/real datasets.The source codes are available online at https://github.com/caoxy01/IBI.
基金Supported by National Natural Science Foundation of China(Grant No.92148206).
文摘Robot-assisted surgery has become an indispensable component in modern neurosurgical procedures.However,existing registration methods for neurosurgical robots often rely on high-end hardware and involve prolonged or unstable registration times,limiting their applicability in dynamic and time-sensitive intraoperative settings.This paper proposes a novel fully automatic monocular-based registration and real-time tracking method.First,dedicated fiducials are designed,and an automatic preoperative and intraoperative detection method for these fiducials is introduced.Second,a geometric representation of the fiducials is constructed based on a 2D KD-Tree.Through a two-stage optimization process,the depth of 2D fiducials is estimated,and 2D-3D correspondences are established to achieve monocular registration.This approach enables fully automatic intraoperative registration using only a single optical camera.Finally,a six-degree-of-freedom visual servo control strategy inspired by the mass-spring-damper system is proposed.By integrating artificial potential field and admittance control,the strategy ensures real-time responsiveness and stable tracking.Experimental results demonstrate that the proposed method achieves a registration time of 0.23 s per instance with an average error of 0.58 mm.Additionally,the motion performance of the control strategy has been validated.Preliminary experiments verify the effectiveness of MonoTracker in dynamic tracking scenarios.This method holds promise for enhancing the adaptability of neurosurgical robots and offers significant clinical application potential.
基金Guangxi Key Laboratory of Spatial Information and Geomatics(21-238-21-12)Guangxi Young and Middle-aged Teachers’Research Fundamental Ability Enhancement Project(2023KY1196).
文摘Airborne LiDAR(Light Detection and Ranging)is an evolving high-tech active remote sensing technology that has the capability to acquire large-area topographic data and can quickly generate DEM(Digital Elevation Model)products.Combined with image data,this technology can further enrich and extract spatial geographic information.However,practically,due to the limited operating range of airborne LiDAR and the large area of task,it would be necessary to perform registration and stitching process on point clouds of adjacent flight strips.By eliminating grow errors,the systematic errors in the data need to be effectively reduced.Thus,this paper conducts research on point cloud registration methods in urban building areas,aiming to improve the accuracy and processing efficiency of airborne LiDAR data.Meanwhile,an improved post-ICP(Iterative Closest Point)point cloud registration method was proposed in this study to determine the accurate registration and efficient stitching of point clouds,which capable to provide a potential technical support for applicants in related field.
基金supported by grants from Shanghai Municipal Health Commission and Shanghai Municipal Administration of TCM—Standardization of TCM in 2023“Clinical Practice Guide for Combined Acupuncture-Drug Anesthesia”(No.2023JS05)Shanghai Clinical Medical Research Center of Acupuncture and Moxibustion(No.20MC1920500)+1 种基金Shanghai master Chinese medicine practitioners academic experience research studio construction project(No.SHGZS-202212)Shanghai Key Clinical Specialties 2019 Accreditation Program(No.shslczdzk04701)。
文摘Background:Modern acupuncture anesthesia is a combination of Chinese and Western medicine that integrates the theories of acupuncture with anesthesia.However,some clinical studies of acupuncture anesthesia lack specific descriptions of randomization,allocation concealment,and blinding processes,with subsequent systematic reviews indicating a risk of bias.Objective:Clinical trial registration is essential for the enhancement of the quality of clinical trials.This study aims to summarize the status of clinical trial registrations for acupuncture anesthesia listed on the World Health Organization International Clinical Trials Registry Platform(ICTRP).Search strategy:We searched the ICTRP for clinical trials related to acupuncture anesthesia registered between January 1,2001 and May 31,2023.Additionally,related publications were retrieved from PubMed,Cochrane Library,Embase,China National Knowledge Infrastructure,China Science and Technology Journal Database,and Wanfang Data.Registrations and publications were analyzed for consistency in trial design characteristics.Inclusion criteria:Clinical trials that utilized one of several acupuncture-related therapies in combination with pharmacological anesthesia during the perioperative period were eligible for this review.Data extraction and analysis:Data extracted from articles included type of surgical procedure,perioperative symptoms,study methodology,type of intervention,trial recruitment information,and publication information related to clinical enrollment.Results:A total of 166 trials related to acupuncture anesthesia from 21 countries were included in the analysis.The commonly reported symptoms in the included studies were postoperative nausea and vomiting(19.9%)and postoperative pain(13.3%).The concordance between the publications and the trial protocols in the clinical registry records was poor,with only 31.7%of the studies being fully compatible.Inconsistency rates were high for sample size(39.0%,16/41),blinding(36.6%,15/41),and secondary outcome indicators(24.4%,10/41).Conclusion:The volume of acupuncture anesthesia clinical trials registered in international trial registries over the last 20 years is low,with insufficient disclosure of results.Postoperative nausea and vomiting as well as postoperative pain,are the most investigated for acupuncture intervention.
文摘Objective To study the inheritance and innovation of traditional Chinese medicine,and to offer an insight for the public.Methods Literature review,data retrieval and systematic analysis were used to elaborate and summarize the influence of changes in related classification and policy reform of traditional Chinese medicine(TCM)registration on its inheritance and innovation.The study was carried out in the context of the TCM registration related classification and policy reform and evolution on TCM inheritance and innovation.Results and Conclusion TCM registration plays an important role in the inheritance and innovation of TCM,which greatly influences on its inheritance and innovation.The reform of new registration classification respects the law of TCM research and development,reflecting the establishment of the review and approval system in line with the characteristics of TCM inheritance,which promotes the research and development of new drugs.The establishment of the review and approval system also accelerates the marketing transformation of new traditional Chinese medicine.TCM innovation should attach importance to clinical value orientation and improve the scientific connotation of TCM.Meanwhile,the advantage of China’s accession to ICH,PIC/S and other international drug certification organizations should be taken to speed up the construction of international mutual recognition of TCM standardization system,which can provide a broader path for the inheritance and innovation of TCM in the new era.
