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: 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: A method includes: A first apparatus receives a reference signal from a second apparatus. The first apparatus determines first indication information based on the reference signal, and sends the first indication information. The first indication information is for constructing a first covariance matrix corresponding to a channel matrix, and the channel matrix indicates channel state information of a channel between the first apparatus and the second apparatus.

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: This application relates to the field of communication technologies, and provides an information transmission method and an apparatus. In this method, a radio access network device sends, to a terminal device, first indication information indicating first information and second information and second indication information indicating a first quantity of DFT vectors, the first information indicates a first quantity of to-be-selected ports, and the second information indicates a first compression factor. The radio access network device further sends a reference signal to the terminal device. The terminal device sends downlink channel state information to the radio access network device based on the first indication information, the second indication information, and the reference signal. The compression factor is a compression factor of a complex coefficient matrix. There is a correspondence between the compression factor and a quantity of transport layers.

Abstract: This application provides a channel state information (CSI) feedback method including: a communication apparatus receives first indication information, wherein the first indication information is determined based on a received precoded reference signal corresponds to P reference signal ports; the first indication information indicates B complex coefficients determined from K complex coefficients according to a preset priority value, the K complex coefficients are determined from a complex coefficient set comprising U complex coefficients that are determined for an sth reference signal port in S reference signal ports at each transport layer of Z transport layers, the S reference signal ports are a part or all of the P reference signal ports, the U complex coefficients are a part or all of Ts complex coefficients corresponding to the sth reference signal port; and determines a precoding matrix based on the first indication information.

Abstract: Apparatuses (e.g., devices, systems, etc.) and methods that may provide access to one or more tools to a remote site in the body including expandable and external working channels that may be part of a tube that is coupled to an outer surface of an elongate medical device, such as an endoscope.

Abstract: Embodiments of this application provide a channel state information (CSI) reporting method and a communications apparatus. In the method, a receiving device obtains first CSI and second CSI, and determines reference information based on the first CSI and the second CSI. The first CSI is correlated with the second CSI, the reference information includes first quantization information including projection quantization information of a common subspace and second quantization information including projection quantization information of a first non-common subspace, the common subspace includes an intersection of a first space used to quantize the first CSI and a second space used to quantize the second CSI, and the first non-common subspace includes a subspace other than the common subspace in the first space. The receiving device sends the reference information to a sending device, and the sending device determines the first CSI based on the reference information and the second CSI.

Abstract: An identifier can indicate whether local protection is allowed is added to a packet. In a process in which a packet that carries a protection flag is transmitted along a primary path, if a node along the path determines that the primary path is faulty, but the protection flag indicates that local switching to a protection path is not allowed, the node along the path does not perform local protection, so that the packet is not switched by the node along the path to the protection path. This prevents the packet from passing through a protection path with the node along the path as an ingress when the primary path is faulty, helps traffic on the primary path to be switched to an end-to-end protection path in time, and helps a packet sending side to switch the traffic on the primary path to the end-to-end protection path in time.

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: A restructurable hybrid-wing VTOL aircraft includes a fuselage, two wings, two canard wings and a cabin door. The two wings are provided to opposite sides of the fuselage. Each the wing is provided vertically and symmetrically by two rotary wing modules, and thus an H configuration to the fuselage can be formed. While the lower rotary wing module rotates to align the corresponding wing, a change of relative position with respect to the upper rotary wing module can be generated. Through the rotation of the lower rotary wing module, the vertical surface thereof would be transformed into a lift surface for enlarging the aspect ratio of the wing to improve the corresponding lift-drag ratio. Thereupon, a disadvantage of hyper flight-directional stability to the H-configured tail seat-type aircraft caused by the vertical area of the aircraft can be reduced, and so the tail-seat type aircraft can slide to emergency land.

Abstract: This application provides a stiffener ring and a surface packaging assembly. The stiffener ring is configured to correct warpage of a substrate of the surface packaging assembly. The stiffener ring includes an annular stiffener ring body and an adjustment block that is disposed at a same layer as the stiffener ring body and that is fastened to at least one corner of the stiffener ring body. A coefficient of thermal expansion of the adjustment block is less than a coefficient of thermal expansion of the stiffener ring body. Coordination between the adjustment block and the stiffener ring body alleviates an “M-shape” overpressure phenomenon of a warpage deformation caused by the stiffener ring to the substrate at a high temperature, reduces warpage of the substrate, and improves flatness of the surface packaging assembly.

Abstract: This application provides a channel state information (CSI) feedback method including: a terminal device selects B complex coefficients from K complex coefficients according to a preset priority rule, and provides feedback, where K is a quantity of complex coefficients that the terminal device is allowed to feed back, and the preset priority rule is related to at least one of the following: an index value of each complex coefficient in the K complex coefficients, an index value of a reference signal port corresponding to each complex coefficient in the K complex coefficients in S reference signal ports, or an index value of each complex coefficient in the K complex coefficients in a plurality of complex coefficients that are allowed to be selected for a corresponding reference signal port, where S is a quantity of reference signal ports that the terminal device is allowed to select.

Abstract: A mask instrument includes a flexible mask and a controller. The flexible mask includes a first flexible layer, a second flexible layer, a plurality of functional layers located between the first flexible layer and the second flexible layer, and a plurality of electrodes electrically connected with the plurality of functional layers. The flexible mask is electrically coupled with the controller via the plurality of electrodes. The second flexible layer comprises at least one hole at a position corresponding to the plurality functional layers, and at least one portion of the plurality of functional layer is exposed out of the second flexible layer from the at least one hole. A method for using the mask instrument is further provided.

Abstract: In some implementations, an optical component includes a substrate component; and a plurality of mirrors disposed on a top surface of the substrate component in a single, horizontal plane, wherein each mirror, of the plurality of mirrors, is angled, non-orthogonally, with respect to the single, horizontal plane, such that each optical path associated with each mirror is disposed in a corresponding tilted plane that is non-parallel with the single, horizontal plane.

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 bispecific antibody targeting both CD40 and CLDN18.2, a pharmaceutical composition comprising same, an application thereof for treating related diseases, and a treatment method are provided. The bispecific antibody targeting both CD40 and CLDN18.2 comprises (i) an anti-CD40 antibody or a fragment thereof and (ii) an anti-CLDN18.2 antibody or a fragment thereof.