Abstract: A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.

Abstract: A therapeutic device, therapeutic system and therapeutic method for myocardium repair, wherein the therapeutic device comprises a treatment needle for piercing the heart to release a therapeutant. The treatment needle includes a needle body (5a), the interior of the needle body (5) has a therapeutant conveying cavity, an end of the needle body (5a) is a needle (5b) which can pierce the myocardium and guide the needle body (5a) to pass through the myocardium, and the needle (5b) has a therapeutant output port which is connected to the therapeutant conveying cavity. The therapeutic device enters into the myocardium in a minimally invasive manner to release the therapeutant to the vicinity of the lesion to improve myocardial function or activity and prevent further deterioration of the disease.