Abstract: According to one embodiment, a medical information processing apparatus includes processing circuitry configured to derive an index value with respect to noise included in data associated with magnetic resonance signals collected by each of a plurality of reception coils, adjust a degree to which noise is removed from the data associated with the magnetic resonance signals based on the derived index value, remove noise from the data associated with the magnetic resonance signals based on the adjusted degree, and perform compositing of the data associated with the magnetic resonance signals from which noise has been removed.

Abstract: The present disclosure is directed to systems and methods of multiphase pseudo-continuous arterial spin labeling.

Abstract: A system having a scope with a longitudinal length extending between a proximal end and a distal end includes a plurality of markers spaced along the longitudinal length. The system also includes a disassociation and positioning device that is configured to enhance unsedated transnasal endoscopic procedures by at least partially occluding the vision of a patient while enabling body cavity access, and optionally record and sense body functions such as temperature, heart rate and oxygenation of the blood stream. The system further includes a sensor integrated into the distraction device, wherein the sensor is configured to detect the markers on the longitudinal length of the scope.

Abstract: The systems and methods can provide continuous, efficient, accurate, non-contact, monitoring of one or more cardiorespiratory and/or behavior parameters associated with a subject in a defined environment using at least non-contact sensor data and provide feedback based on the determined parameters. The system can include one or more sensor modules disposed within defined environment(s). The system may further include one or more sensors disposed at a specific spatial location in the defined environment. The sensor(s) may include non-contact electric field sensor(s) configured to record non-contact sensor data related to one or more periods of stillness and/or movement of the subject. The system may further include one or more processors configured to determine cardiorespiratory respiratory parameters and/or behavior parameters using the non-contact sensor data.

Abstract: An electric current imaging system, device, and method includes an array of vector magnetometers that senses one or more magnetic fields in three directions produced by a flow of electric current. Such a system (and devices and methods thereof) can further include a display that displays a visual reconstruction of the original electric current that produced the magnetic field(s). The disclosed embodiments image electric current flow (both magnitude and direction) without the need for rastering or relative motion between the sensors and the conductor/device being viewed. Such embodiments can be scaled to fit both large and small applications by using discreet devices or manufacturing a single, miniaturized array with MEMS technologies.

Abstract: A system comprising an assessment engine configured to asynchronously transmit assessment questions to a user and, in response, receive a plurality of personal data from a user. A behavior module communicatively coupled to the assessment engine and operable to generate a behavior profile associated with the user based, at least in part, on the plurality of personal data. The behavior profile configured to identify one or more addiction habits of the user and respective one or more triggers operable to induce the user to desire the one or more addiction habits. A plurality of sensors positioned proximate the user to provide real-time measurements of one or more biological conditions of the user body. A prediction module communicatively coupled to the plurality of sensors, the prediction module operable to predict occurrence of the one or more triggers based on the behavioral profile and the real-time measurements of the one or more biological conditions of the user body.

Abstract: Segmentation of bony regions in MRI images of joints is automated using a two-stage process. In a first stage, a machine-learning image-slice categorizer is used to categorize image slices of the MRI image data as belonging to one of a set of image-slice categories, depending on presence or absence of bone and/or tendon in the image slice. In a second stage, a first instance of a machine-learning segmentation classifier is used to segment image slices that contain both bone and tendon into bone and non-bone regions, and a second instance of a machine-learning segmentation classifier is used to segment image slices that contain bone but not tendon into bone regions and non-bone regions. Results from the two segmentation classifiers can be combined across image slices to provide a final segmentation of the bony structures, including inflammatory regions, in the image data.

Abstract: A communication system includes a headset, which is configured to output sound waves to an ear of a user based on an audio signal, as well as a microphone, which is configured to output a microphone signal based on ambient sound. The communication system further contains a processing circuit, which is configured to generate, based on the microphone signal, a signal component of the audio signal, which signal component includes information about the generation of sound waves which interfere destructively with a component of the ambient sound occurring at the ear of the user. In addition, the communication system contains a wireless interface and a control circuit, which is configured to activate the processing circuit as a function of an operating state of the wireless interface.

Abstract: The invention provides various methods for imaging a subject's cardiovascular system. The imaging method may be used to provide a diagnosis or prognosis of various cardiovascular diseases in the subject, without contrast agents or radioactive tracers, and further generating a Gaussian Mixture Model to obtain a reference value of a normal myocardium.

Abstract: A method for automated segmentation of a bone in an image dataset of a region of a human body, wherein said region comprises at least two adjacent bones, and wherein one of the bones comprises a shaft region and a head region, the method comprising identifying in the image dataset voxels belonging to a contiguous volume comprising both bones based on a density threshold; extracting a subset comprising the head region of the first bone, based on a boundary image slice; and applying a trained machine learning classifier to said subset, to generate a classification of each of voxel as belonging to one of the bones or a none-bone tissue.

Abstract: A medical image processing apparatus having a processor configured to: acquire a plurality of medical images each including a subject image; detect a region of interest for each medical image; determine whether or not a plurality of the regions of interest detected for each medical image are regions including the same target; and count the number of the regions of interest excluding an overlap of the regions determined to include the same target among the plurality of the regions of interest.

Abstract: The present invention discloses a ViBe-based three-dimensional sonar point cloud image segmentation method, characterized by including: (1) acquiring sonar data, and converting three-dimensional sonar depth image data corresponding to each frame of the sonar data to point cloud data under an orthogonal coordinate system; (2) sampling the point cloud data, and down-sampling the point cloud data to a plurality of adjacent voxels with side length being R by taking a variable resolution R as a function; (3) carrying out image segmentation on the down-sampled point cloud data by a ViBe algorithm; (4) carrying out accumulative scoring on each voxel according to an image segmentation result, and sorting foreground data and background data according to accumulative score; and (5) clustering the foreground data, and then carrying out expansion operation on the foreground data by taking an original point in the voxel as a center to obtain final foreground point cloud data.

Abstract: The invention provides methods for diagnosing coronary heart disease in a subject in need thereof comprising administering an admixture comprising CO2 to a subject to reach a predetermined PaCO2 in the subject to induce hyperemia, monitoring vascular reactivity in the subject and diagnosing the presence or absence of coronary heart disease in the subject, wherein decreased vascular reactivity in the subject compared to a control subject is indicative of coronary heart disease. The invention also provides methods for increasing sensitivity and specificity of BOLD MRI.

Abstract: The present invention relates to intravaginal devices, systems including the devices, and methods of using the devices to train an individual in the performance of exercises (e.g., pelvic floor lifts (PFLs) and pelvic floor relaxations (PFRs)) that strengthen the individual's pelvic floor muscles in order to treat or prevent pelvic floor disorders (e.g., pelvic organ prolapse and incontinence) and their accompanying symptoms.

Abstract: Systems and methods are described for computing a quantitative index that characterizes Alzheimer's disease (“AD”) risk events based on a temporally ordered sequence of biomarker events. In general, the systems and methods described here implement a modified event-based probabilistic (“EBP”) model to calculate the risk index from biomarker data.

Abstract: An endoscope system includes an imaging sensor that images a sutured portion, a display device, and a processor configured to generate an oxygen saturation image imaging an oxygen saturation of the sutured portion based on image information obtained by the imaging sensor, determine a fusion state of the sutured portion, and display the oxygen saturation image and a determination result obtained by determining the fusion state of the sutured portion.

Abstract: An animation system wherein a machine learning model is adopted to generate animated facial actions based on parameters obtained from a live actor. Specifically, the anatomical structure such as a facial muscle topology and a skull surface topology that are specific to the live actor may be used. A skull surface that is specific to a live actor based on facial scans of the live actor and generic tissue depth data. For example, the facial scans of the live actor may provide a skin surface topology of the live actor, based on which the skull surface underneath the skin surface can be derived by “offsetting” the skin surface with corresponding soft tissue depth at different sampled points on the skin surface.

Abstract: A cleaner system for an MRI magnet room. The system includes a base vacuum and/or steam unit configured to supply vacuum and/or steam, the unit disposed outside the MRI magnet room. A hand-held or portable dispensing unit is substantially free of magnetic material so that it is safe to use inside the magnet room. A tubing system for conveying vacuum and/or steam from the base unit to the handheld unit, the tubing system including a magnet room portion configured for disposition inside the magnet room and free of magnetic material. A communication link is configured to communicate control signals generated by user manipulation of a control panel to the base unit.

Abstract: The present invention relates to a method for registering a first anatomical structure (1) which is articulately coupled to a second anatomical structure (2), the method being constituted to be executed by a computer and comprising the steps of: acquiring second structure correlation data describing the spatial position of at least one correlation feature (3) relative to the second anatomical structure (2): acquiring coupling data describing a positional fixation (6) of the first anatomical structure (1) relative to the second anatomical structure (2), which is set by the articulated coupling (4) between the first anatomical structure (1) and the second anatomical structure (2); determining, based on the second structure correlation data and the coupling data, first structure correlation data describing the spatial position of the at least one correlation feature (3) relative to the first anatomical structure (1). The present invention further relates to a corresponding computer program and system.

Abstract: Embodiments discussed herein facilitate employing a pretrained model to determine risk(s) of adverse event(s) based on Computed Tomography (CT) image volume(s) of an artery and/or training a model to determine such risk(s). Example embodiments can determine risk based on territory-specific calcium score(s) and/or intensity/morphological/location features discussed herein. Various embodiments can determine risk(s) based on a single CT image volume and/or change(s) in CT image volumes taken over a series of time points.

Abstract: It is an integrative platform for visualization, preprocessing and quantitation of MRS data acquired using single voxel, multi voxel magnetic resonance spectroscopy imaging (MRSI) and MEshcher-GArwood Point-RESolved Spectroscopy (MEGA-PRESS) acquisition methods. The method integrates both time- and frequency-domain signal processing methods on a single platform. The method is optimized for proton (1H) and phosphorous (31P) MRS data. It employs the use of iterative baseline estimation and fitting procedure to provide improved quantitation accuracy. The method can be used in both interactive and automatic mode to cater to the needs of researchers and clinicians.

Abstract: Metabolite profiles are generated from magnetic resonance images. These metabolite profiles indicate a topography of the metabolites in one or more anatomical regions. The magnetic resonance images can be metabolite images, such as those obtained using hyperpolarized 13C-MRI. The metabolite profiles can be generated by parcellating the magnetic resonance images into different regions, computing z-scores for those regions, and generating the metabolite profile based on the computed z-scores.

Abstract: A control device establishes a change in a main magnetic field expected for a respective time instant and based on the established expected change in the main magnetic field, correctively adjusts the main magnetic field and/or a nominal receive frequency of the RF receive coil and/or a transmit frequency for subsequent RF transmit pulses and/or takes the expected change in the main magnetic field into account in the evaluation of the received MR signals. At least for some of the RF transmit pulses, the control device acquires, via a sensor device, a portion of the respective radiofrequency wave supplied to the RF transmit coil. The controller extracts therefrom an oscillation corresponding to a respiratory motion of the patient and based on the variation with time of the extracted oscillation, establishes the change in the main magnetic field expected for the respective time instant.

Abstract: This disclosure provides methods, reagents, and diagnostic and prognostic markers useful for non-invasive identification, diagnosis, and therapeutic intervention in individuals with epilepsy. More particularly, the disclosure uses specific metabolites measured by magnetic resonance spectroscopy in brain tissue to detect epileptic brain regions.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for filtering a set of tracts that are predicted to be included in a selected neuro-network. In one aspect, a method comprises: receiving selection data selecting a network of a brain, processing magnetic resonance image data of the brain to identify a set of tracts that are predicted to be included in the selected network, determining a blocking surface for the selected network, comprising: obtaining a set of parcellations for the selected network and determining, based on a respective position in the brain of each parcellation in the set of parcellations, a set of parameters defining the blocking surface, and generating filtered tract data by filtering the set of tracts that are predicted to be included in the selected network to remove tracts that intersect the blocking surface.

Abstract: Systems and methods obtain functional connectivity data in the whole brain to detect and predict brain disorders. This whole brain data is regionalized and then manipulated to derive functional connectivity data sets that can be used to show measured functional connectivity changes. This whole brain data may also be analyzed to determine changes in functional activity in both increased and decreased neural network connectivity. By identifying and then quantifying the functional connectivity differences between healthy and diseased subjects, a classification for individual subjects can be made.

Abstract: The present invention provides a method of computer analysis of a data set representing an image to extract a texture based measure therefrom, said image including a multiplicative bias in intensity within the image of unknown magnitude, the method comprising applying to said data set a bank of texture extracting filters, such that said filters are chosen from filters that are invariant to the presence of a multiplicative bias field. By providing such a method, rather than attempting to correct the bias field before extraction of a texture based-biomarker, a texture-based biomarker that is bias field invariant is extracted. This makes correction of the bias field unnecessary.

Abstract: The invention provides for a magnetic resonance imaging system (100, 300, 500). The magnetic resonance imaging system comprises a video system (122, 122?, 122?) configured for providing video images (146) of a facial region (119) of a subject (118) during acquisition of the magnetic resonance imaging data (144). The magnetic resonance imaging system further comprises a memory (134) for storing machine executable instructions (140) and pulse sequence commands (142).

Abstract: An embodiment in accordance with the present invention includes a novel informatics method for the integration of different variables or ontologies using an advanced unsupervised machine learning method which will be used to visualize factors not visible to the human observer. These factors can be unknown characteristics between imaging datasets and other factors which will provide insights into the structure of the data. This invention is called the Informatics Radiomics Integration System (IRIS), For example, using clinical data and radiological images, the present invention can determine the relationship between, the structure, clinical variables, histological variables and “distance or relationship” between each input parameter. This integration of information can be used to determine the association between the variables and the relationship to each other for improved diagnosis or for treatment response.

Abstract: A method can include receiving (1) images of at least one subject and (2) at least one total mass value for the at least one subject. The method can further include executing a first machine learning model to identify joints of the at least one subject. The method can further include executing a second machine learning model to determine limbs of the at least one subject based on the joints and the images. The method can further include generating three-dimensional (3D) representations of a skeleton based on the joints and the limbs. The method can further include determining a torque value for each limb, based on at least one of a mass value and a linear acceleration value, or a torque inertia and an angular acceleration value. The method can further include generating a risk assessment report based on at least one torque value being above a predetermined threshold.

Abstract: The invention relates to a method of Dixon-type MR imaging. It is an object of the invention to provide a method that enables efficient and reliable water/fat separation. The method of the invention comprises the following steps: subjecting an object (10) to an imaging sequence, which comprises at least one excitation RF pulse and switched magnetic field gradients, wherein two echo signals, a first echo signal and a second echo signal, are generated at different echo times (TE1, TE2), acquiring the echo signals from the object (10), reconstructing a water image and/or a fat image from the echo signals, wherein contributions from water and fat to the echo signals are separated using a two-point Dixon technique in a first region of k-space and a single-point Dixon technique in a second region of k-space, wherein the first region is different from the second region.

Abstract: A stereotactic frame includes a vertical column that extends up from a base. A first laterally extending support arm extends from a first side of the column and a second laterally extending support arm extends from a second side of the column. One of the first or second support arms may include a transducer assembly. The transducer assembly may move a focal point of the transducer in different lateral and longitudinal horizontal positions and different vertical positions. The transducer assembly also may move the focal point of the transducer beam into different pivoting angled positions. The stereotactic frame applies repeatable ultrasonic energy to targets inside a patient without using invasive attachment procedures and without having to repeatedly use expensive magnetic resonance imaging (MRI) machines.

Abstract: Techniques are described for generating setting parameters for an MRI sequence to be performed, wherein a conditional generative artificial neural network is used that has been trained as part of a conditional generative adversarial net. The techniques also include establishing a conditional generative artificial neural network. The conditioning of the conditional generative artificial neural network can be used to specify a specific medical application or question to obtain setting parameters for an MRI apparatus that are optimized with respect to said application or question.

Abstract: This invention concerns an automated registration method and device for a surgical robot enabling registration between a first three-dimensional location system comprising an optical distance sensor and a second three-dimensional location system comprising optical acquisition means. The method comprises:—a first step of intraoperative registration between the first location system and data recorded on an anatomical surface of a patient and;—a second step of intraoperative registration of two three-dimensional location systems. The second registration step is performed at the same time as the first registration step by detection, by the optical acquisition means, of at least one point of a point cloud acquired by the optical sensor during the first intraoperative registration.

Abstract: Methods of segmenting an abdominal image, computer apparatuses and storage mediums. The method includes acquiring an abdominal image to be examined; and classifying pixels in the abdominal image to be examined based on a trained full convolution neural network, and determining a segmented image corresponding to the abdominal image to be examined, wherein the trained full convolution neural network is trained and determined based on a first training set and a second training set, the first training set includes first sample abdominal images and pixel classification label images corresponding to the first sample abdominal images, the second training set includes second sample abdominal images and the number of pixels of second sample abdominal images correspondingly belong to each class. Through the methods herein, the accuracy of the segmentation can be improved.

Abstract: A test server includes: a communication unit that communicates with a plurality of communication terminals via a network, the plurality of communication terminals each being connectable to a test device capable of executing a test on the presence or absence of a disease, the diagnosis being related to the test and made by a doctor; and a control unit that acquires at least one of a result of the test and the diagnosis as a test information item from each of the plurality of communication terminals via the communication unit, causes a storage unit to store the plurality of acquired test information items, performs statistical processing on the plurality of stored test information items, and causes the communication unit to return a result of the statistical processing according to a demand given from each of the communication terminals before the doctor makes a diagnosis.

Abstract: A method for ascertaining pulmonary fibrosis disease progression or treatment response includes obtaining a first set of computed tomography (CT) images of a lung and determining a first Pulmonary Surface Index (PSI) score for the lung by detecting a first actual lung boundary of the lung within the first set of CT images, determining a first approximated lung boundary within the first set of CT images, and determining the PSI score using inputs based on the first actual lung boundary and the first approximated lung boundary. The method also includes obtaining a second set of CT images of the lung and determining a second PSI score for the lung using inputs based on a second actual lung boundary and a second approximated lung boundary. The method also includes assessing pulmonary fibrosis treatment response or disease progression based on the first PSI score and the second PSI score.

Abstract: Reference data relating to a portion of a patient anatomy during patient motion can be acquired from a magnetic resonance imaging system (MRI) to develop a patient motion library. During a time of interest, tracking data is acquired that can be related to the reference data. Partial volumetric data is acquired during the time of interest and at approximately the same time as the acquisition of the tracking data. A volumetric image of patient anatomy that represents a particular motion state can be constructed from the acquired partial volumetric data and acquired tracking data.

Abstract: Systems, computer-readable media, and methods are described for assessing physiological condition of spinal intervertebral discs in a quantitative manner using magnetic resonance imaging (MRI) data A simple, objective, continuous measurement of disc health or degeneration/pathology is provided, using routinely acquired or other digital magnetic resonance imaging (MRI) sequences. The measurement includes calculation of a value based on one or more ratios from signal-based measurements of spinal disc structures or regions, which can be obtained either through manual tracing or automated through programming of image analysis software. The measurement can be implemented by a computer and/or stored on a computer readable storage medium.

Abstract: The present disclosure describes a method comprising: obtaining one or more first images of a region of interest of an anatomy from an image source; obtaining at least one of a text input, and one or more physiological signals of a patient; automatically segmenting one or more second images of at least one structure that resides within the one or more first images; extracting one or more volumes of the at least one structure from the one or more first images of the region of interest; determining a feature associated with the at least one structure based on the one or more volumes and one or more inputs, and rendering the feature in at least one of a two-dimensional (2D) format, a three-dimensional (3D) format, and at least one anatomical plane.

Abstract: Insertable imaging devices and use methods thereof in minimally invasive medical procedures. Some insertable imaging devices are introduced and removed from an access port without disturbing or risking damage to internal tissue. Some insertable imaging devices are integrated with an access port, thereby allowing imaging of internal tissues within a vicinity of the access port, while enabling manipulation of surgical tools in the surgical field of interest. Some insertable imaging devices are integrated into an imaging sleeve that is insertable into an access port. Some insertable imaging devices perform imaging within an access port, wherein the imaging is based on one or more imaging modalities, including, but are not limited to, magnetic resonance imaging, ultrasound, optical imaging, such as hyperspectral imaging and optical coherence tomography, and electrical conductive measurements.

Abstract: A insertion apparatus includes a flexible tube, a detection section that detects state information of the tube, a calculation section that calculates, based on the state information, shape information of the tube, and an input section that inputs characteristic information of the tube. The apparatus also includes a calculation section that calculates, based on the characteristic information, an operation state of a distal end of the tube, an calculation section that calculates an insertion state of the tube at a specific point closer to a proximal end than the distal end, based on the shape information, characteristic information, and operation state, and a measurement section that measures an actual operation state of the tube at the specific point.

Abstract: According to one embodiment, a magnetic resonance imaging apparatus includes processing circuitry. The processing circuitry calculates power of a first RF magnetic field required for excitation at a first flip angle in a first target slice, acquires information on inhomogeneity of a transmission RF magnetic field for a cross section crossing the first target slice, and calculate power of a second RF magnetic field required for excitation at a second flip angle in a second target slice different from the first target slice for the cross section by using the information and the first RF magnetic field power.

Abstract: A system and method are provided for operating a magnetic resonance tomograph. A transmitter of the magnetic resonance tomograph transmits a predetermined test pulse with a reduced power. The magnetic resonance tomograph receives the test pulse with the local coil. A controller compares the received test pulse with a predetermined pulse response and emits a warning signal when the received test signal differs from the predetermined pulse response.

Abstract: A system can have an x-ray source that generates a series of individual x-ray pulses for multi-energy imaging. A first x-ray pulse can have a first energy level and a subsequent second x-ray pulse in the series can have a second energy level different from the first energy level. An x-ray imager can receive the x-rays from the x-ray source and can detect the received x-rays for image generation. A generator interface box (GIB) controls the x-ray source to provide the series of individual x-ray pulses and synchronizes detection by the x-ray imager with generation of the individual x-ray pulses. The GIB can control x-ray pulse generation and synchronization to optimize image generation while minimizing unnecessary x-ray irradiation.

Abstract: In one aspect, a method comprises: receiving data indicative of at least one phase image captured using a magnetic resonance imaging (MRI) device during delivery of thermal therapy by a thermal therapy applicator to a target volume within a patient's body; and processing said at least one phase image; wherein said processing said at least one phase image comprises: applying a first mask; applying phase unwrap; and applying a second mask.

Abstract: Disclosed are a method of detecting a neuron resonance signal and an MRI signal processing apparatus. The method of detecting a neuron resonance signal includes acquiring a plurality of different digital sequences respectively corresponding to a plurality of different repetition periods by sampling a magnetic resonance signal of a neuron resonance signal according to each of the plurality of different repetition periods and calculating correlation between the plurality of different digital sequences in a frequency band based on the plurality of different digital sequences.

Abstract: In a method for determining a normalized MR relaxation parameter for an object using an imaging sequence where the MR signal of the object under examination is detected at a first echo time and at a second echo time, a first MR signal for the object under examination obtained at the first echo time is determined, a second MR signal for the object under examination obtained at the second echo time is determined, a first reference MR signal obtained at the first echo time from a reference tissue having a known value for the MR relaxation parameter is determined, a second reference MR signal obtained at the second echo time from the reference tissue is determined, and the normalized MR relaxation parameter is calculated based on the first MR signal, the second MR signal, the first echo time, the second echo time, and the first and second reference MR signal.

Abstract: The present invention includes a computerized method of detecting fluid flow in a vessel, the method comprising: obtaining at least one non-contrast enhanced magnetic resonance image from a magnetic resonance imager; performing a phase sensitive reconstruction of the at least one non-contrast enhanced magnetic resonance image using a processor; combining the phase sensitive reconstruction with a velocity selective preparation of the non-contrast enhanced magnetic resonance image, to determine using the processor, in a single acquisition, at least one of: a flow direction of a fluid in the vessel, a reduction or elimination of a background signal, body fat, water/fat separation, or differentiation of a fast moving flow signal from a slow moving flow signal in an opposite direction with suppression of the background signal; and storing or displaying at least one of flow direction or flow strength of the fluid flow in the vessel obtained from the single acquisition.

Abstract: Techniques for determining motion states of at least two bodies by an MR-device are provided, wherein the bodies each have a respective target region which is in an anatomic motion comprising a repetitive motion pattern with a motion repetition rate, and in particular, for cardiac and/or respiratory motion. A sequence of individual MR-measurements are performed on the bodies at a MR-repetition rate higher than the motion-repetition rate, wherein nuclear spins of the at least two bodies are excited during the sequence of individual MR-measurements either simultaneously or alternately at navigator times. With the individual MR-measurements, navigator signals are determined, each respective navigator signal indicative of the motion state of at least one of the motion patterns at the navigator time of the navigator signal. These techniques allow simultaneously determining motion states for imaging more than one body with a repetitive motion pattern with reduced preparation time.