Abstract: The present teaching relates to method, system, medium, and implementations for region boundary identification and overlay display. An input associated with a 3D object is received. A 3D volumetric model is obtained for the 3D object with multiple regions, each of which includes multiple labeled voxels. A mesh representation is generated for the surface of the 3D object. Region boundaries on surface of the 3D object are identified based on the 3D volumetric model and the mesh representation. The 3D object is rendered, and the region boundaries are overlaid on the rendered 3D object.

Abstract: The present teaching relates to generating a point cloud of a target organ using a camera and a laser emitter inserted into a patient's body near the target organ and tracked by a tracker. The laser emitter emits, at tracked moving locations, laser beams that hit the target organ at multiple points which are captured by the camera in an image. A three-dimensional (3D) coordinate for each point is determined based on a laser line equation, connecting the laser emitter and the point, and an image line equation, connecting the camera and the point. The 3D coordinates for the multiple points are used to generate the point cloud.

Abstract: The present teaching relates to estimating 3D pose of an ultrasound probe. An ultrasound image is acquired by an ultrasound probe deployed at a three-dimensional (3D) probe pose during a medical procedure directed to a target organ. A mask for each two-dimensional (2D) anatomical structure is identified and a corresponding label is estimated from the ultrasound image to generate an ASM/label pair. If a sequence of prior 3D probe poses does not exist, an ASM/label representation for the ultrasound image is generated based on the ASM/label pairs from the ultrasound image and used to estimate the 3D pose of the probe via an ASM-pose mapping model. If the sequence of prior 3D probe poses exists, the 3D probe pose is predicted based on the sequence of prior 3D probe poses and an ASM/label representation is accordingly generated based on a virtual ultrasound image created based on the predicted 3D probe pose.

Abstract: An outlet structure for an encoder includes: an encoder case, a metal ring, a fixing member, and two O-shaped rings. A first cable through-hole is disposed in the encoder case. The metal ring is disposed in the first cable through-hole to clasp a shielding layer of a cable. The fixing member includes a second cable through-hole, and the fixing member fits with interference into the first cable through-hole from an outer side of the encoder case. The first O-shaped ring fits onto the fixing member to seal a slit between the fixing member and the encoder case. The second O-shaped ring in the second cable through hole seals a slit between the fixing member and the cable, and the second O-shaped ring applies an elastic force to the metal ring such that the metal ring remains abutting against the encoder case.

Abstract: Provided herein are compositions comprising borate-acid buffers, as well as methods of using these compositions in oil and gas operations, including enhanced oil recovery (EOR) operations, fracturing operations, stimulation operations, etc.

Abstract: The present teaching relates to a method and system for path planning. A target is tracked via one or more sensors. Information of a desired pose of an end-effector with respect to the target and a current pose of the end-effector is obtained. Also, a minimum distance permitted between an arm including the end-effector and each of at least one obstacle identified between the current pose of the end-effector and the target is obtained. A weighting factor previously learned is retrieved and a cost based on a cost function is computed in accordance with a weighted smallest distance between the arm including the end-effector and the at least one obstacle, wherein the smallest distance is weighted by the weighting factor. A trajectory is computed from the current pose to the desired pose by minimizing the cost function.

Abstract: The present teaching is directed to estimating 3D camera pose based on 2D features detected from a 2D image. Virtual 3D camera poses are generated with respect to a 3D model for a target organ and associated anatomical structures. Virtual 2D images are created by projecting the 3D model from perspectives determined based on the virtual 3D camera poses. Each virtual 2D image includes 2D projected target organ and/or 2D structures of some 3D anatomical structures visible from a corresponding perspective. 2D feature/camera pose mapping models are then accordingly obtained based on 2D features extracted from the virtual 2D images and the corresponding virtual 3D camera poses, where the 2D features include a 2D ridge line projected from a 3D ridge on the target organ represented in the 3D model.

Abstract: The present teaching relates to determining an optimal robot base location that maximizes robot manipulability. A trocar location is determined for inserting a surgical instrument manipulated by a robot to reach a target organ. With respect to the trocar location, candidate base locations are generated, each of which is a location to deploy the robot for manipulating the surgical instrument through the trocar location. Each candidate base location is evaluated based on criteria indicative of the robot's manipulability of the surgical instrument with respect to the target organ. An optimal base location is selected from the candidate base locations based on the evaluation result.

Abstract: System, method, medium, and implementation of registering an ultrasound probe in a laparoscopic ultrasound procedure and application thereof is disclosed. The two-dimensional (2D) location of the ultrasound probe in a 2D laparoscopic (LP) image is detected, where the LP camera is previously calibrated in a three-dimensional (3D) space. The 3D pose of the ultrasound probe as deployed is estimated and registered in the 3D space based on the detected 2D location of the ultrasound probe and an ultrasound model for the ultrasound probe.

Abstract: Method, system, medium, and implementation for robot-guided instrument insertion. A preplanned path between a three-dimensional (3D) entry pose on skin of a patient to a 3D pose of a target is generated for a surgery with a target inside the patient. The preplanned path is used by a robot as guidance to insert a surgical instrument from the 3D entry pose to reach the 3D pose of the target. During the surgery, a next pose is determined based on a current pose of the surgical instrument and the preplanned path as well as spatial relationship to surrounding anatomical structures and is used to move the surgical instrument thereto. An updated current pose of the instrument is then obtained via tracking when the robot is advancing the surgical instrument to the next pose. The process repeats until the instrument reaches the target pose.

Abstract: The present teaching relates to automated trocar/robot base location determination. An input related to a surgical operation includes a three-dimensional (3D) model for an organ with cut points on the organ forming a surgical trajectory. A surgical instrument is controlled by a robot to reach the cut points to carry out the operation. An insertion location for inserting the surgical instrument is identified. Based on the identified insertion location, a robot base location is determined with respect to the identified insertion location to deploy the robot for controlling the surgical instrument to reach the cut points. Signals for configuring the surgical setting are then generated based on the insertion location for the surgical instrument and the base location for the robot.

Abstract: The present invention provides polypeptide modulators of complement activity, including cyclic polypeptide modulators. Also provided are methods of utilizing such modulators as therapeutics.

Abstract: Method and system for estimating 3D camera pose based on 2D features. 3D virtual camera poses are generated, each of which is used to determine a perspective to project a 3D model of a target organ to create a 2D image of the target organ. 2D features are extracted from each 2D image and paired with the corresponding 3D virtual camera pose to represent a mapping. A 2D feature-camera pose mapping model is obtained based on the pairs. Input 2D features extracted from a real-time 2D image of the target organ are used to map, via the 2D feature-camera pose mapping model, to a 3D pose estimate of a laparoscopic camera, which is then refined to derive an estimated 3D camera pose of the laparoscopic camera via differential rendering of the 3D model with respect to the 3D pose estimate.

Abstract: A correction method for a scatter signal caused by a wedge filter includes: S10: performing an air scan by using CT equipment, and calculating a relative intensity Wair of a scatter signal caused by a wedge filter in the air scan according to an air scan result, S20: performing an object scan on a plurality of experimental objects by using the CT equipment, and calculating theoretical scatter signal intensities Wtheo of the experimental objects in the object scan in combination with the result of S10, S30: fitting Wtheo of the experimental objects in the object scan and scatter signal intensity estimations Wact of the experimental objects in the object scan, and S40: correcting the scan results according to a difference between a scatter signal intensity estimation Wact of an actual object in the object scan and a theoretical scatter signal intensity Wtheo of the actual object in the object scan.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises a surfactant and optionally one or more secondary surfactants. Also provided are methods of using the stabilized injection fluids in stimulation operations.

Abstract: An outlet structure for an encoder includes: an encoder case, a metal ring, a fixing member, and two O-shaped rings. A first cable through-hole is disposed in the encoder case. The metal ring is disposed in the first cable through-hole to clasp a shielding layer of a cable. The fixing member includes a second cable through-hole, and the fixing member fits with interference into the first cable through-hole from an outer side of the encoder case. The first O-shaped ring fits onto the fixing member to seal a slit between the fixing member and the encoder case. The second O-shaped ring in the second cable through hole seals a slit between the fixing member and the cable, and the second O-shaped ring applies an elastic force to the metal ring such that the metal ring remains abutting against the encoder case.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises a non-ionic surfactant and optionally one or more secondary surfactants.

Abstract: The present teaching relates to automated generation of a surgical tool-based visual guide. Two-dimensional (2D) images capturing anatomical structures and a surgical instrument therein are provided during a surgery. The type and pose of a tool attached to the surgical instrument are detected based on the 2D images. Focused information is determined based on the type and pose of the detected tool and is used to generate a visual guide to assist a user to perform a surgical task using the tool.

Abstract: The present teaching relates to automatic surgical tool based model fusion. Two-dimensional (2D) images are received, capturing a surgical instrument. A 2D location of a surgical tool attached to the instrument is detected. Specific type of focused information for is determined based on the surgical tool for assisting a surgical task using the surgical tool. 2D/3D corresponding focused regions are identified via model fusion. A visual guide is created based on the type of focused information from the 3D focused region of a 3D model for an organ and surrounding anatomical structures by projecting it onto the 2D focused region.

Abstract: Embodiments of the disclosure include compositions and methods that stabilize a injection fluid when exposed to reservoir conditions, reducing formation damage and increasing the amount of hydrocarbon recovered. Specifically, the formulation is a single-phase liquid surfactant package which comprises an anionic surfactant and optionally one or more secondary surfactants.