Abstract: A computer readable storage medium is provided. When contents of the computer readable storage medium are executed by a processor, multi-photon imaging may be performed on a histopathological section containing tumor environment information, and pathological partitioning of a tumor microenvironment may be further performed through image processing. A value of each collagen feature parameters, such as a morphological feature parameter, an energy feature parameter and a texture feature parameter, may be extracted from a tumor tissue region, an invasive margin (IM) region and a normal tissue (N) region. An inter-region difference and a variation may be calculated according to feature parameters of regions. A collagen feature scoring model may be established. A collagen feature score may be calculated with the collagen feature parameters input to the model.

Abstract: A computer readable storage medium is provided. When contents of the computer readable storage medium are executed by a processor, multi-photon imaging may be performed on a histopathological section containing tumor environment information, and pathological partitioning of a tumor microenvironment may be further performed through image processing. A value of each collagen feature parameters, such as a morphological feature parameter, an energy feature parameter and a texture feature parameter, may be extracted from a tumor tissue region, an invasive margin (IM) region and a normal tissue (N) region. An inter-region difference and a variation may be calculated according to feature parameters of regions. A collagen feature scoring model may be established. A collagen feature score may be calculated with the collagen feature parameters input to the model.

Abstract: A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.

Abstract: A sensing assembly includes a magnet assembly configured to be coupled to a first component and a pair of hall-effect sensors configured to be coupled to a second component. The pair of hall-effect sensors are configured to generate substantially identical signal changes in response to a first relative motion in a first direction between the magnet assembly and the pair of hall-effect sensors, and to generate substantially equal but opposite signal changes in response to a second relative motion in a second direction between the magnet assembly and the pair of sensors. The first direction is perpendicular to the second direction.

Abstract: A multi-degree of freedom (DOF) force and torque sensor is provided. The multi-DOF force and torque sensor includes a first rigid plate, a second rigid plate, multiple elastic elements connected between the first and second rigid plates, and multiple signal pairs connected between the first and second rigid plates. The signal pairs are used for detecting relative displacements of the first and second rigid plates in multiple directions.