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Gesture Recognition and Master-slave Control of a Manipulator Based On Semg and CNN-GRU 基于Semg和CNN-GRU的机械手手势识别与主从控制
Pub Date : 2022-10-30 DOI: 10.1115/1.4056325
Zhaojie Ge, Zhile Wu, Xu Han, Ping Zhao
Surface electromyography signal (sEMG) is the bioelectric signal accompanied by muscle contraction. For masterslave manipulation scenario such as patients with prosthetic hands, their upper limb sEMG signals can be collected and corresponded to the patient' s gesture intention. Therefore, using a slave manipulator that integrated with the sEMG signal recognition module, the master side could control it to make gestures and meet their needs of daily life. In this paper, gesture recognition is carried out based on sEMG and deep learning, and the master-slave control of manipulator is realized. According to the results of training, the network model with the highest accuracy of gesture classification and recognition can be obtained. Then, combined with the integrated manipulator, the control signal of the manipulator corresponding to the gesture is sent to the control module of the manipulator. In the end, a prototype system is built and the master-slave control of the manipulator using the sEMG signal is realized.
肌表电信号是伴随肌肉收缩的生物电信号。对于主从操作场景,如假手患者,可以收集其上肢肌电信号,并与患者的手势意图相对应。因此,使用与表面肌电信号识别模块集成的从机械手,主方可以控制其做出手势,满足其日常生活的需要。本文基于表面肌电信号和深度学习进行了手势识别,实现了机械手的主从控制。根据训练结果,可以得到具有最高准确率的手势分类识别网络模型。然后结合集成机械手,将手势所对应的机械手的控制信号发送到机械手的控制模块。最后搭建了一个原型系统,利用表面肌电信号实现了机械手的主从控制。
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引用次数: 3
Matrix-Patterned Micromarkers for Tracking Local Contractile Movements of Myotubes Cultured on Thin-Film Scaffold 基质模式微标记跟踪薄膜支架上肌管局部收缩运动
Pub Date : 2022-10-30 DOI: 10.1115/1.4056779
S. Hashimoto
To measure the distribution of local contractile movements in the layer of the myotubes, the movement of the matrix pattern of micro-markers placed on the back surface of the myotube-attached thin film has been tracked in vitro. A matrix pattern of micromarkers (diameter: 4 μm, height: 2 μm, interval: 30 μm) was fabricated on the back of a polydimethylsiloxane thin film (thickness: 6 μm) using photolithography. Mouse myoblasts were seeded on the front of the thin film and cultured for 10 days to differentiate into myotubes. Periodic electrical pulses (amplitude 2 V, pulse period 0.5 s, pulse width 1 ms) were applied between the electrodes of titanium wires immersed in the medium. Movements of both myotubes and markers were observed simultaneously with an optical microscope. Experimental results indicate that the motion distribution of each marker is related to the local periodic motion of the myotube layer. Thin films with matrix-patterned micromarkers fabricated on the back side allow in vitro analysis of the distribution of local repetitive contractile movements in the myotube layer.
为了测量肌管层局部收缩运动的分布,我们在体外跟踪了放置在肌管附着薄膜背面的微标记物基质图案的运动。采用光刻技术在厚度为6 μm的聚二甲基硅氧烷薄膜背面制备了直径为4 μm、高度为2 μm、间距为30 μm的微标记基质图案。将小鼠成肌细胞播种于薄膜前部,培养10天分化成肌管。在浸泡在介质中的钛丝电极之间施加周期电脉冲(振幅2 V,脉冲周期0.5 s,脉冲宽度1 ms)。用光学显微镜同时观察肌管和标记物的运动。实验结果表明,各标记物的运动分布与肌管层的局部周期性运动有关。在背面制造的带有基质图案微标记的薄膜允许在体外分析肌管层局部重复收缩运动的分布。
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引用次数: 1
Molecular Mechanisms Underlying the Effect of Paeoniae Radix Rubra On Sepsis-Induced Coagulopathy: A Network Pharmacology and Molecular Docking Approach 赤芍抗脓毒症凝血功能的分子机制:网络药理学和分子对接方法
Pub Date : 2022-10-28 DOI: 10.1115/1.4056104
Shan Gao, Dongsheng Wang
To investigate the effective components and underlying mechanism of Paeoniae radix rubra (PRR) in treating sepsis-induced coagulopathy (SIC) on the basis of network pharmacology and molecular docking approaches. At present, no therapeutic agent has been approved for the treatment of SIC. Identifying drugs for SIC from Chinese medicine is an encouraging research direction. The predicted targets and effective components of PRR were identified by analysis of the TCMSP database. Bioinformatics databases were employed to identify the disease targets of SIC. These key targets were then uploaded to the STRING database to generate protein-protein interaction networks. The ORG package in R v4.1.2 software was applied for functional and pathway enrichment analyses of the key targets. Finally, discovery studio software was used to perform docking analyses of key targets and effective components. Nine chemically active components and eighty-four common targets associated with drugs and SIC were identified. PPI network analysis identified several key targets. Further analysis identified enrichment in several signaling pathways; these changes could exert influence on a number of biological processes, including responses to xenobiotic stimuli, oxidative stress, molecules of bacterial origin, thus playing an anti-SIC pharmacological role. According to molecular docking results, these key targets had strong binding affinity to the active components. PRR can contribute to SIC by medicating core target genes (e.g., CASP3, PTGS2, TP53, AKT1, MMP9, TNF, JUN, IL6, and CXCL8), and regulating multiple key pathways (e.g., the Lipid and atherosclerosis pathway).
基于网络药理学和分子对接方法,探讨丹芍治疗脓毒症致凝血病(SIC)的有效成分及其作用机制。目前,还没有药物被批准用于治疗SIC。从中药中鉴别SIC药物是一个令人鼓舞的研究方向。通过对TCMSP数据库的分析,确定了PRR的预测靶点和有效成分。利用生物信息学数据库确定SIC的疾病靶点。然后将这些关键靶点上传到STRING数据库,以生成蛋白质-蛋白质相互作用网络。使用R v4.1.2软件中的ORG包对关键靶点进行功能和途径富集分析。最后,利用discovery studio软件对关键目标和有效成分进行对接分析。鉴定出9种化学活性成分和84种与药物和SIC相关的共同靶点。PPI网络分析确定了几个关键目标。进一步分析发现了几个信号通路的富集;这些变化可能对许多生物过程产生影响,包括对外源刺激、氧化应激、细菌源分子的反应,从而发挥抗sic的药理作用。根据分子对接结果,这些关键靶点与活性成分具有较强的结合亲和力。PRR可通过给药核心靶基因(如CASP3、PTGS2、TP53、AKT1、MMP9、TNF、JUN、IL6、CXCL8)和调节多个关键通路(如脂质和动脉粥样硬化通路)来促进SIC。
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引用次数: 0
Obstacle Avoidance for Omnidirectional Mobile Robot Using SLAM 基于SLAM的全向移动机器人避障研究
Pub Date : 2022-09-21 DOI: 10.1115/1.4055689
V. Nandikolla, Bryan Ghoslin
In the field of mobile robotics, Simultaneous Localization and Mapping (SLAM) is an algorithmic approach to the computational problem of creating and updating a map of an environment while simultaneously keeping track of where the robot is within the environment. Applications of a SLAM algorithm are important for autonomous mobile systems to traverse an environment while avoiding obstacles and accurately achieving designated goal destinations. This paper presents the design of a SLAM-driven controller for a semi-autonomous omnidirectional mobile robot. Input to the system comes from a Brain Computer Interface in the form of simple driving commands or a goal destination as decided by the user. Due to latency issues of reacting and responding in real time, the system must safely navigate following the last given commands until it runs out of free space, reaches a goal designation, or receives a new command. The robotic system utilizes a three-wheeled robot kit with an upgraded sensor system. The Intel RealSense Depth Camera D435 and two lidar sensors are utilized to construct a full 360° field of view. The SLAM algorithm and system controllers are developed using the Robot Operating System (ROS). The controllers are developed and tested within Gazebo, which is a physics simulation engine utilized for rapid prototyping. Testing was performed to validate controller performance when given varying commands as well as performing long distance path planning and obstacle avoidance. The system was often capable of achieving its goal destinations with a small error of around 3% or less though the error was found to increase with the more commands the system processed.
在移动机器人领域,同时定位和映射(SLAM)是一种算法方法,用于创建和更新环境地图,同时跟踪机器人在环境中的位置。SLAM算法的应用对于自主移动系统在穿越环境的同时避开障碍物并准确到达指定的目标目的地非常重要。介绍了一种半自主全向移动机器人slam驱动控制器的设计。系统的输入来自脑机接口,以简单的驾驶命令或用户决定的目标目的地的形式。由于实时反应和响应的延迟问题,系统必须按照最后给定的命令安全地导航,直到耗尽可用空间、达到目标指定或接收到新命令。该机器人系统利用一个带有升级传感器系统的三轮机器人套件。英特尔RealSense深度相机D435和两个激光雷达传感器被用来构建一个完整的360°视野。利用机器人操作系统(ROS)开发了SLAM算法和系统控制器。控制器是在Gazebo中开发和测试的,Gazebo是一个用于快速原型设计的物理模拟引擎。测试是为了验证控制器在给定不同命令时的性能,以及执行长距离路径规划和避障。系统通常能够以大约3%或更小的误差实现其目标目的地,尽管发现错误随着系统处理的命令越多而增加。
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引用次数: 0
Relations of Radial Vibration of the Arterial Wall to Pulsatile Parameters in Blood Flow for Extraction of Arterial Indices 动脉壁径向振动与血流脉动参数的关系,用于提取动脉指标
Pub Date : 2022-08-30 DOI: 10.1115/1.4055390
Z. Hao
Given the wide utility of radial vibration of the arterial wall for clinical values, this paper presents a theoretical study on the relations of radial vibration of the arterial wall to pulsatile parameters in blood flow. Pulse wave propagation in an artery is formulated as a combination of the governing equations of blood flow and the arterial wall and no-slip conditions at the blood-wall interface, and is analyzed to obtain the wave velocity and the theoretical expressions for blood flow rate and radial wall displacement in terms of pulsatile pressure. With the harmonics of a pulse signal, theoretical relations of radial vibration of the arterial wall to pulsatile parameters in blood flow are derived under two conditions: without and with wave reflection. These theoretical relations identify the assumptions for the simplified relations employed in the utility of radial vibration of the arterial wall for clinical values. With the arterial wall treated as a unit-mass vibration system, these simplified relations are utilized for extraction of arterial indices from radial vibration of the arterial wall. Other applications of such relations for clinical values are discussed, and the interaction between the arterial wall and blood flow is further revealed from the perspective of energy and 1D wave equations. With harmonics and wave reflection considered, the derived theoretical expressions for radial wall vibration, pulsatile parameters in blood flow, and the relations between them provide a theoretical guidance for improving their interpretation for clinical values with clearly-defined physiological implications and assumptions.
鉴于动脉壁径向振动在临床上的广泛应用,本文对动脉壁径向振动与血流脉动参数的关系进行了理论研究。将脉搏波在动脉内的传播表述为血流与动脉壁的控制方程和血壁交界面无滑移条件的组合,并对其进行了分析,得到了脉搏波在动脉内的传播速度以及脉搏压力对血流速率和径向壁位移的理论表达式。利用脉冲信号的谐波,导出了无波反射和有波反射两种情况下动脉壁径向振动与血流中脉动参数的理论关系。这些理论关系确定了简化关系的假设,应用于动脉壁径向振动的临床价值。将动脉壁视为一个单位质量振动系统,利用这些简化关系从动脉壁径向振动中提取动脉指标。讨论了该关系在临床价值中的其他应用,并从能量和一维波动方程的角度进一步揭示了动脉壁与血流的相互作用。在考虑了谐波和波反射的情况下,推导出的径向壁振动、血流脉动参数及其相互关系的理论表达式,为提高对临床价值的解释提供了理论指导,具有明确的生理意义和假设。
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引用次数: 1
Numerical Modelling of Conical-Shaped Bone Marrow Biopsy Needle Into Multilayer Iliac Crest Model 锥形骨髓活检针在多层髂骨模型中的数值模拟
Pub Date : 2022-08-12 DOI: 10.1115/1.4055221
R. Nadda, R. Repaka, A. Sahani
Bone marrow biopsy (BMB) is a standard technique used in various therapies, research, diagnosis, and prognosis. The extensive forces during biopsy result in unnecessary stress concentrations that are primarily hazardous to weak end bones. To enhance protection and to better identify the risks of bone biopsy, it is essential to understand and predict the interaction of needles with multiple layers of skin and bone. The present investigation aimed to find out the numerical evaluation of forces involved in the insertion and extraction of the needle into multilayer iliac crest model. The insertion and extraction forces have been studied at different diameters of biopsy needles up to a depth of 15.35 mm and insertion speeds in the range of 1 mm/sec - 10 mm/sec. The results showed that the insertion and extraction forces vary according to the needle diameter and relative velocity among the needle and tissue layers. A linear force vs. depth relationship has been obtained in the preliminary phase, and as the depth of insertion increases, the forces increase non-linearly. At the end phase of penetration, the forces augmented more rapidly at a low insertion rate compared to the high insertion rate.
骨髓活检(BMB)是一项标准技术,用于各种治疗、研究、诊断和预后。活组织检查过程中广泛的作用力导致不必要的应力集中,这主要对弱端骨有害。为了加强保护和更好地识别骨活检的风险,了解和预测针与多层皮肤和骨骼的相互作用是至关重要的。本研究旨在对多层髂骨模型中针的插拔力进行数值计算。研究了不同直径的活检针的插入和拔出力,深度为15.35 mm,插入速度为1 mm/秒- 10 mm/秒。结果表明,针的直径和针与组织层之间的相对速度不同,针的插拔力也不同。在初始阶段,力与深度呈线性关系,随着插入深度的增加,力呈非线性增加。在穿透的最后阶段,与高插入率相比,低插入率下的力增强更快。
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引用次数: 3
Optimization of Synthetic Vocal Fold Models for Glottal Closure. 声门闭合合成声带模型的优化。
Pub Date : 2022-08-01 Epub Date: 2022-04-27 DOI: 10.1115/1.4054194
Cassandra J Taylor, Scott L Thomson

Synthetic, self-oscillating models of the human vocal folds are used to study the complex and inter-related flow, structure, and acoustical aspects of voice production. The vocal folds typically collide during each cycle, thereby creating a brief period of glottal closure that has important implications for flow, acoustic, and motion-related outcomes. Many previous synthetic models, however, have been limited by incomplete glottal closure during vibration. In this study, a low-fidelity, two-dimensional, multilayer finite element model of vocal fold flow-induced vibration was coupled with a custom genetic algorithm optimization code to determine geometric and material characteristics that would be expected to yield physiologically-realistic frequency and closed quotient values. The optimization process yielded computational models that vibrated with favorable frequency and closed quotient characteristics. A tradeoff was observed between frequency and closed quotient. A synthetic, self-oscillating vocal fold model with geometric and material properties informed by the simulation outcomes was fabricated and tested for onset pressure, oscillation frequency, and closed quotient. The synthetic model successfully vibrated at a realistic frequency and exhibited a nonzero closed quotient. The methodology described in this study provides potential direction for fabricating synthetic models using isotropic silicone materials that can be designed to vibrate with physiologically-realistic frequencies and closed quotient values. The results also show the potential for a low-fidelity model optimization approach to be used to tune synthetic vocal fold model characteristics for specific vibratory outcomes.

合成的,人类声带的自振荡模型被用来研究复杂的和相互关联的流动,结构,以及声音产生的声学方面。在每个周期中,声带通常会发生碰撞,从而造成短暂的声门关闭,这对流动、声学和运动相关的结果具有重要意义。然而,许多先前的合成模型受到振动时声门关闭不完全的限制。在这项研究中,将低保真度、二维、多层声带流诱发振动的有限元模型与定制的遗传算法优化代码相结合,以确定几何和材料特征,这些特征将产生生理上真实的频率和闭合商值。优化过程得到的计算模型具有良好的频率和闭商特性。在频率和闭商之间观察到一种权衡。根据模拟结果,合成了具有几何和材料特性的自振荡声带模型,并对其启动压力、振荡频率和闭合商进行了测试。该模型成功地在真实频率下振动,并表现出非零闭商。本研究中描述的方法为使用各向同性硅树脂材料制造合成模型提供了潜在的方向,这些材料可以设计成以生理真实的频率和封闭商值振动。结果还显示了一种低保真模型优化方法的潜力,可用于调整合成声带模型的特定振动结果特征。
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引用次数: 2
Computational Modeling of Nasal Drug Delivery Using Different Intranasal Corticosteroid Sprays for the Treatment of Eustachian Tube Dysfunction. 不同鼻内皮质类固醇喷雾剂治疗咽鼓管功能障碍的鼻腔给药计算模型。
Pub Date : 2022-08-01 Epub Date: 2022-03-11 DOI: 10.1115/1.4053907
Elias Sundström, Rehab Talat, Ahmad R Sedaghat, Sid Khosla, Liran Oren

Eustachian tube dysfunction (ETD) is a common otolaryngologic condition associated with decreased quality of life. The first-line treatment of ETD is intranasal corticosteroid sprays (INCS). Computational fluid dynamics (CFD) was used to study particle deposition on the Eustachian tube (ET) using two commercial INCS (Flonase and Sensimist). Simulations also considered the effects of nostril side, insertion depth, insertion angle, cone spray angle, inhaling rates, wall impingement treatment, and fluid film. Flonase and Sensimist produced different particle size distributions and sizes. Sensimist droplets are smaller, less sensitive to asymmetry in nostrils anatomy and variation in insertion angle, and therefore can reach the posterior nasopharynx more readily. Flonase produces larger particles with greater inertia. Its particles deposition is more sensitive to intrasubject variation in nasal anatomy and insertion angles. The particle deposition on the ET was sensitive to the wall impingement model. The deposition on the ET was insignificant with adherence only <0.15% but increased up to 1-4% when including additional outcomes rebound and splash effects when droplets impact with the wall. The dose redistribution with the fluid film is significant but plays a secondary effect on the ET deposition. Flonase aligned parallel with the hard palate produced 4% deposition efficiency on the ET, but this decreased <0.14% at the higher insertion angle. INCS with larger droplet sizes with a small insertion angle may be more effective at targeting droplet deposition on the ET opening.

耳咽管功能障碍(ETD)是一种常见的耳鼻喉疾病,与生活质量下降有关。ETD的一线治疗是鼻内皮质类固醇喷雾剂(INCS)。利用Flonase和Sensimist两种商用INCS,采用计算流体力学(CFD)研究了颗粒在耳咽管(ET)上的沉积。模拟还考虑了鼻孔侧面、插入深度、插入角度、锥形喷射角度、吸入速率、壁面撞击处理和流体膜的影响。Flonase和Sensimist产生不同的粒度分布和大小。敏感液滴体积小,对鼻孔解剖的不对称性和插入角度的变化不太敏感,因此更容易到达鼻咽后端。氟化酶产生的颗粒更大,惯性更大。其颗粒沉积对主体内鼻腔解剖结构和插入角度的变化更为敏感。颗粒沉积对壁面撞击模型较为敏感。ET上的沉积不显著,仅粘附
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引用次数: 1
Effectiveness of an Intelligent Foot Orthosis in Lateral Fall Prevention 智能足部矫形器预防侧跌倒的有效性
Pub Date : 2022-07-22 DOI: 10.1115/1.4055040
Rieko Yamamoto, S. Itami, Masashi Kawabata, T. Shiraishi
The aim of this study was to validate the effectiveness of the newly developed Intelligent Foot Orthosis (IFO) at preventing lateral falls. The IFO is a wearable fall prevention system based on using a small magnetorheological brake to control the height of the lateral sole. Experiments were performed to compare the walking motions on a lateral slope under four conditions: without IFO, with IFO current-OFF, with IFO current-ON, and with IFO control-ON. The mediolateral center of gravity and center of pressure horizontal distance (ML COG-COP HD) was measured in three-dimensional motion analysis to represent the change in posture on the frontal plane. To observe the corresponding muscular activity, surface electromyography (EMG) was performed to obtain the mean and peak root mean square (RMS) for the tibia anterior (TA) and peroneus longus (PL) in the first half of the stance phase when the IFO applied control. In the results, ML COG-COP HD increased significantly under the "with IFO control-ON" compared to the "without IFO" and "with IFO current-ON" condition. The mean RMS of the TA was significantly decreased under the "with IFO current-ON" and "with IFO control-ON" conditions compared to the "without IFO" condition. These results demonstrate that the posture moved away from the lateral fall direction primarily due to IFO assistance rather than muscular activity, which would be a consequence of human postural control. Thus, the IFO does appear to help prevent lateral falls.
本研究的目的是验证新开发的智能足矫形器(IFO)在防止侧跌倒方面的有效性。IFO是一种可穿戴防摔系统,它使用一个小型磁流变制动器来控制外侧鞋底的高度。实验比较了无IFO、关闭IFO电流、打开IFO电流和打开IFO控制四种情况下在侧坡上行走的运动。在三维运动分析中测量中外侧重心和压力中心水平距离(ML COG-COP HD),以反映前平面姿态的变化。为了观察相应的肌肉活动,采用表面肌电图(EMG)获得站立前半期胫骨前肌(TA)和腓骨长肌(PL)在IFO施加控制时的均方根(RMS)均值和峰值。结果显示,与“无IFO”和“有IFO电流”条件相比,“有IFO控制”条件下的ML COG-COP HD显著增加。与“无IFO”条件相比,“有IFO电流打开”和“有IFO控制打开”条件下TA的平均均方根显著降低。这些结果表明,姿势偏离侧落方向主要是由于IFO辅助,而不是肌肉活动,这将是人类姿势控制的结果。因此,IFO似乎确实有助于防止横向坠落。
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引用次数: 0
Laser Ablation Tomography for Rapid 3D Tissue Imaging and Analysis 用于快速三维组织成像和分析的激光消融断层扫描
Pub Date : 2022-06-27 DOI: 10.1115/1.4054882
Asheesh Lanba, B. Hall, W. Huff
Laser ablation tomography (LATscan) produces 3D tissue models at micron-scale resolution within a few minutes, being amenable to high-throughput applications. RGB images obtained from LATscan allow for enhanced and accurate feature segmentation and quantification. The technology uses an ultrafast, ultraviolet pulsed laser to continually ablate a sample as it is fed into the laser ablation plane. The ultrafast nature of the laser pushes the process into being athermal, minimizing structural damage to the material being imaged. The surfaces are imaged at the ablation plane. Precise motion control allows for sub-micron separation between consecutive images. The ablation results in color images due to the ultraviolet laser inducing multi-spectral fluorescence. The LATscan system can also be programmed to allow for co-registration of cross-sections under different lighting conditions. The images are then stacked, further processed and reconstructed into volume renderings with a voxel size that can go down to 0.2 µm3 for further analysis and virtual dissection. Image processing allows for the 3D visualization and quantification of desired anatomy. LATscan has been successfully applied in the fields of plant science, entomology and materials science. It shows great promise for biomedical imaging and tissue analysis, and this paper presents a few results from the LATscan imaging of murine tissue. Various murine organs have been imaged, including the gut, kidney, and brain (inside the skull). The imaging and analysis combined have the potential to provide pathologists, researchers and diagnosticians with insights and solutions not available to them before.
激光消融断层扫描(LATscan)可以在几分钟内产生微米级分辨率的3D组织模型,适用于高通量应用。从LATscan获得的RGB图像允许增强和准确的特征分割和量化。该技术使用超快的紫外脉冲激光,在将样品送入激光烧蚀平面时持续烧蚀样品。激光的超快特性使该过程成为无热的,最大限度地减少了对被成像材料的结构破坏。表面在烧蚀面成像。精确的运动控制允许在连续图像之间进行亚微米级的分离。由于紫外激光诱导多光谱荧光,烧蚀产生彩色图像。还可以对LATscan系统进行编程,以允许在不同的照明条件下对截面进行共同注册。然后将图像堆叠,进一步处理并重建为体素大小可降至0.2 μ m3的体效果图,以进行进一步分析和虚拟解剖。图像处理允许所需解剖的三维可视化和量化。LATscan在植物科学、昆虫学和材料科学等领域得到了成功的应用。它在生物医学成像和组织分析方面显示出巨大的前景,本文介绍了一些小鼠组织的LATscan成像结果。各种各样的小鼠器官已经被成像,包括肠道、肾脏和大脑(在颅骨内)。成像和分析相结合有可能为病理学家、研究人员和诊断医生提供以前无法获得的见解和解决方案。
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引用次数: 0
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Journal of engineering and science in medical diagnostics and therapy
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