Breast cancer is the most common malignancy in women worldwide. Recent developments in minimally invasive interventional radiology techniques have significantly improved breast cancer treatment. This ...study aimed to develop a novel technique for the local management of breast cancers using radiofrequency heat (RFH). We performed both in vitro experiments using human breast cancer cells and in vivo validation in xenograft animal models with magnetic resonance imaging (MRI) and pathological correlation to investigate the feasibility of our approach. Four treatment groups, including (1) no treatment (control), (2) RFH-only, (3) chemo (doxorubicin)-only, and (4) combination therapy with both doxorubicin and RFH, were conducted in each experiment. In vitro combination therapy significantly decreased breast cancer cell proliferation while increased their apoptosis index compared to the other three groups. MRI demonstrated a significant tumor size reduction in animals treated with combination therapy compared to those receiving other treatments in vivo. Such result was further confirmed by pathological examination. In conclusion, our findings suggests that RFH can enhance the therapeutic efficiency of doxorubicin on breast cancers, thus establishing the basis for future development of interventional molecular image-guided local chemotherapy for breast malignancies.
A novel structured light based omnidirectional 3D camera was developed, which consists of a projector, a camera, and two hyperbolic mirrors. Compared with traditional single-directional 3D sensors, ...such as kinect, the developed sensor could scan fully 360 degree in its surrounding without any blind area. A panoramic view was fused with dense 3D information could be provided to the operator. Furthermore, A single-shot surface coding method was also developed for such a sensor. Real-time 3D perception for moving objects could be achieved by the proposed coding method. Light rings embedded with different angular frequencies and intensities are emitted from the projector to environment through the hyperbolic mirror. Taking advantage of the epipolar constraints, the invariance of the phase angle is utilized to establish the correspondence and then trangulized to obtain depths information. Compared with existing omnidirectional 3D sensors, the proposed method remained real-time sensing and also obtained dense 3D samples. The proposed 3D camera has been implemented and the experimental results have been analyzed and discussed.
The hyperspectrum images from across the spectrum collect object characteristics and are capable of performing target recognition in the environments and target localization autonomously. In this ...paper, hyperspectrum image fusion for mobile manipulation is proposed. The fusion sensor including a single camera and an IR projector runs in two spectral bands (visible and IR) alternatively. After color images of the environments are captured from visible light, the region of interest (ROI) of the target will be recognized. Then in the ROI the target will be localized with the one-shot images of the pattern from IR light. A stereo fusion vision model of the fusion sensor and its calibration algorithm with a high precision are also presented. The localization is performed by 3D reconstruction based on the calibrated system. The calibration precision of the fusion sensor is 0.40, 0.24, 1.39mm in x, y, z direction respectively. A manipulation experiment of grasping a handcream tub is carried out on the mobile platform and the experiment results verify the effectiveness of the hyperspectrum image fusion.
Traditional image based visual servoing approaches require feature extraction and tracking during the servoing process. Feature extraction and tracking, however, can be quite difficult in some cases. ...To eliminate these requirements, this paper presents a visual servoing approach which performs control directly using the intensity information in the image. Considering the image as a set, the approach formulates the servoing problem in the space of sets, which is called non-vector space in this paper. The control theory in this non-vector space is used to formulate the stabilization problem. A controller is designed to stabilize the system around a desired image set. Three types of experiments are carried out on a redundant robotic manipulator to validate the controller. The experimental results verify the correctness of the controller. The approach presented in this paper can be applied to robotic manipulation and navigation.