Abstract: It discloses an atmospheric polarized light orientation method using a solar azimuth region, provides an angle of polarization (AOP) vision-modulated model in a pixel frame, and gives an orientation strategy utilizing the solar azimuth region; a horizontal attitude angle is introduced into the AOP in the pixel frame, and orientation is implemented by utilizing a separation point and a principal point of photograph; specifically, a seed line extraction algorithm is given to update the solar azimuth in real time, a morphological expression and an AOP expression of the solar azimuth are fused for an optimum estimation to the solar azimuth, and ultimately the orientation is achieved by using an external sensor such as an inertial navigation system to input the horizontal attitude angle.

Abstract: An access assembly for a surgical tool, including a housing member, arranged at a proximal end of the access assembly and including a longitudinal channel for accessing a surgical tool; a tube member, arranged at a distal end of the access assembly, extending along a longitudinal axis of the access assembly, and configured to receive the surgical tool; a proximal sealing device arranged inside the housing member and configured to connect the proximal end of the housing member with the received surgical tool in a sealed manner; a distal sealing device connected with a distal end of the tube member in a sealed manner; a fluid supply channel including a mixing component and a first fluid supply channel for inputting a first fluid. The mixing component includes a first passage for introducing a second fluid, and a second passage for mixing and delivering the first fluid and the second fluid.