Final Registration Research Articles

Depth-informed point cloud-to-BIM registration for construction inspection using augmented reality

Augmented reality (AR) is increasingly being used to assist construction inspection onsite. Underpinning this AR-assisted inspection is a technique called registration, which aims to align the physical world with a digital building information model (BIM) so that the as-built can be intuitively compared with the as-designed. Despite its importance, how to precisely and efficiently register BIM to the physical world still remains a challenge. This paper contributes to tackling the challenge by proposing a novel depth-informed point cloud-to-BIM registration (D-PC2BIM) algorithm. The idea is to enhance registration performance by estimating the depth of a sparse point cloud to inform interpolation of the missing points and to extract the endpoints that matter most in a registration. A novel integration algorithm is proposed to improve the success rate of final registration. Experiments demonstrate the effectiveness of the proposed algorithm, which outperformed existing approaches with higher accuracy and faster speed. The contribution of the study resides in the development of the D-PC2BIM algorithm and a demonstration of its applicability in enabling construction inspection using AR.

Poor registration and publication practices in clinical trials of targeted therapeutics for endocrine and metabolic diseases: an observational study

ObjectiveTo assess the completeness and concordance of reporting in registries and corresponding publications of interventional trials on targeted therapeutics for endocrine and metabolic disorders. Study Design and SettingWe searched clinical trial registries in September 2022 for completed interventional trials of target therapeutics for endocrine and metabolic disorders registered from 2005 onwards. We used ClinicalTrials.gov and the World Health Organization International Clinical Trial Registration Platform (WHO ICTRP) registration requirements to extract data and assess the completeness of initial entry and final updates to trial registration and concordance with their published journal articles. ResultsAmong 149 clinical trials included, 121 (81%) had corresponding publications. Missing mandatory registration data items were identified in 88 (67%) trials at the initial registration, 17 (13%) at the last registration, and in 85 (77%) corresponding publications. All trials showed changes between initial registration and final registration update, and 98% showed changes from the initial registration to publication. Changes between initial registration and final update were most common in the categories ‘Completion date’ (92%), ‘Key secondary outcomes’ (82%), and ‘Date of first enrolment’ (70%). Changes between initial registration and publication were most common in categories ‘Sample size’ (91%), ‘Key inclusion and exclusion criteria’ (81%), ‘Key secondary outcomes’ (84%), and ‘Completion date’ (83%). ConclusionDespite the legal and journal registration requirements, the completeness and consistency of reporting mandatory data items in registries and corresponding publications regarding targeted therapeutics for endocrine and metabolic disorders are inadequate. Our findings raise questions about the integrity and reliability of clinical trials focusing on targeted therapeutics.

Feature-consistent coplane-pair correspondence- and fusion-based point cloud registration

It is an important and challenging task to register two point clouds, and the estimated registration solution can be applied in 3D vision. In this paper, an outlier removal method is first proposed to delete redundant coplane-pair correspondences for constructing three feature-consistent coplane-pair correspondence subsets. Next, Rodrigues’ formula and a scoring-based method are adopted to solve the representative registration solution of each correspondence subset. Then, a robust fusion method is proposed to fuse the three representative solutions as the final registration solution. Based on typical testing datasets, comprehensive experimental results demonstrated that with good registration accuracy, our registration algorithm achieves significant execution time reduction effect when compared with the state-of-the-art methods.

Research on path planning for clear aligner flexible manufacturing

In recent years, clear aligner can enhance individual appearance with dental defects, so it used more and more widely. However, in manufacturing process, there are still some problems, such as low degree of automation and high equipment cost. The problem of coordinate system mismatch between gingival curve point cloud and dental CAD model is faced to. The PCA-ICP registration algorithm is proposed, which includes coarse match algorithm and improve-ICP registration algorithm. The principal component analysis (PCA) based method can roughly find the posture relationship between the two point clouds. Using z-level dynamic hierarchical, the ICP registration can accurately find the posture between these two clouds. The final registration maximum distance error is 0.03 mm, which is smaller than robot machining error. Secondly, the clear aligner machining process is conducted to verify the registration effectiveness. Before machining, the path is generated based on the well registered gingival curve. After full registration, the tool path is calculated by establishing a local coordinate system between the workpiece and the tool to avoid interference. This path is calculated and generated as an executable program for ABB industrial robots. Finally, the robot was used for flexible cutting of clear aligners and was able to extract products, ensuring the effectiveness of the proposed research. This method can effectively solve the limitations of traditional milling path planning under such complex conditions.

무효등기유용의 효력 - 대전지방법원 2016. 12. 13. 선고 2016나105785 판결(대법원 2022. 7. 28. 선고 2017다204629 판결의 원심판결), 대법원 2009. 5. 28. 선고 2009다4787 판결 -

Traditional precedents and the prevailing view hold that regarding the usefulness of invalid registrations, if there is a third party with an interest in the registration before the agreement on its usefulness, the agreement is not effective in relation to that third party, and within that scope, the registration made useful is considered invalid as it does not correspond to the actual legal relationships.
 The decisions in question judged that in cases where a provisional registration, which is invalid, has been utilized to complete a final registration or a provisional transfer registration, (a) the utilization of the registration cannot be claimed against a third party with an interest in the registration, such as a provisional seizure creditor, but (b) among the parties to the agreement of utilization, the validity of the utilization agreement and the registration made useful can still be claimed. However, in the situations addressed by these decisions, the provisional seizure creditor, who is a third party with an interest in the registration, can only request the cancellation of such provisional registrations on behalf of the debtor (one of the parties to the utilization agreement) and therefore, cannot claim the invalidity of the utilization agreement and the registration made useful against the parties to the invalid registration utilization who cannot oppose them.
 However, the conclusion of (b) is incorrect, and therefore, the conclusions of the decisions in question cannot be considered correct. That is, the conclusion that in the presence of a third party with an interest in the registration, the agreement of utilization and the registration made useful are invalid only in relation to that third party, and the validity of the utilization agreement and the registration made useful can still be claimed among the parties to the utilization is not acceptable as it acknowledges the relative effect of real rights. When there is a third party with an interest in the registration, the utilization of an invalid registration should not be recognized. It is not that the validity of the agreement of utilization and the useful registration “cannot be claimed only against the third party with an interest in the registration” and “within that scope,” but rather, “in cases where there is a third party with an interest in the registration,” the agreement of utilization and the useful registration, not corresponding to the actual legal relationships, should be considered “invalid against everyone.” Here, “everyone” includes the parties to the agreement of utilization (the counterpart).

Overlap-Aware Hierarchical Decoder for point cloud registration

Extracting high-quality correspondences is a critical challenge in current feature-learning based point cloud registration methods. Recently, coarse-to-fine network structures have shown great potential in addressing this challenge. Inspired by such structures, we investigate the effectiveness of two-stage network optimization in matching and propose a non-keypoint registration model called Overlap-Aware Hierarchical Decoder (OAH-Net). The construction of this model focuses on reducing outliers in the matching results and improving the understanding of geometric transformation invariance. To achieve this goal, we propose a point-to-point perception module for encoding the paired point clouds and perceiving the overlapping regions, as well as a pyramid hierarchical decoder for decoding multi-level features. We design an optimal matching mechanism adapted to the pyramid structure to handle accurate correspondences from multi-level matching, thereby improving the accuracy of the final registration. Experimental evaluations conducted on indoor and outdoor benchmark tests validate the outstanding performance of OAH-Net, which not only ensures low parameter count and computational efficiency but also demonstrates accuracy and stability comparable to state-of-the-art models.

Coarse–Fine Registration of Point Cloud Based on New Improved Whale Optimization Algorithm and Iterative Closest Point Algorithm

In this paper, a point cloud coarse–fine registration method based on a new improved version of the whale optimization algorithm (NIWOA) and iterative closest point (ICP) algorithm is proposed; we use three strategies to improve the whale optimization algorithm (WOA). Firstly, circle chaotic mapping is used to initialize the whale population to increase the diversity of the population and make the search space more comprehensively explored. In addition, a Newton inertia weight is proposed to flexibly adjust the proportion of global exploration and local optimization in order to achieve the balance between the exploitation performance and exploration ability of the algorithm. At the same time, we introduce the nonlinear convergence factor that can adjust the size adaptively so that the algorithm can find the global optimal solution faster and more accurately, allowing it to avoid falling into the local optimal solution to a certain extent. The NIWOA algorithm is used to optimize the objective function of point cloud coarse registration to obtain the optimal coordinate transformation, and the rotation and translation operation is carried out on the registered point cloud. The obtained position is used as the initial pose of the ICP fine registration, and the final registration is achieved through ICP iteration. We conduct coarse registration experiments on multiple model point clouds and scene point clouds using the Stanford 3D Scanning Repository dataset and Princeton 3Dmatch dataset, respectively. The experimental results confirm that the NIWOA algorithm can not only find the initial position that is closer to the target point cloud, but also provide reliable initial values for the ICP algorithm. Meanwhile, the NIWOA algorithm combined with ICP experiment results show that the method has a higher registration accuracy and operation efficiency.

Ассоциация медико-гуманитарного развития БРИКС (АМЕГРА БРИКС): рождение и первые шаги

The BRICS Medical and Humanitarian Development Association (AMEGRA BRICS) was established on January 17, 2023,receiving final registration as a legal entity on May 11, 2023. One of the central tasks of the Association is the creation of an Interna-tional University of Integrative Medicine on the basis of one of the medical universities in Russia.

Safety of omalizumab in children

The purpose of the review is to analyze Russian and foreign literature sources on safety of using omalizumab in the treatment of moderate to severe bronchial asthma and chronic idiopathic urticaria in children. Omalizumab is one of the longest used monoclonal antibodies and the first available treatment option for severe atopic asthma in patients aged 6 years and older. Its efficacy and safety have been established in several randomized controlled trials, leading to its final registration over 15 years ago. In most cases, long-term treatment with omalizumab is safe and does not increase the risk of adverse reactions. However, over the years, there has been a trend towards an increase in the number of registrations of adverse reactions associated with the use of omalizumab. Long-term adverse reactions with omalizumab therapy are not sufficiently studied and require more detailed analysis, despite reports of an association between omalizumab and some adverse events. There are very few reports of adverse reactions when taking omalizumab in children in the Russian Federation. Further study of the safety of omalizumab and monitoring of its delayed adverse reactions is required.

Optical and SAR Image Registration Based on Pseudo-SAR Image Generation Strategy

The registration of optical and SAR images has always been a challenging task due to the different imaging mechanisms of the corresponding sensors. To mitigate this difference, this paper proposes a registration algorithm based on a pseudo-SAR image generation strategy and an improved deep learning-based network. The method consists of two stages: a pseudo-SAR image generation strategy and an image registration network. In the pseudo-SAR image generation section, an improved Restormer network is used to convert optical images into pseudo-SAR images. An L2 loss function is adopted in the network, and the loss function fluctuates less at the optimal point, making it easier for the model to reach the fitting state. In the registration part, the ROEWA operator is used to construct the Harris scale space for pseudo-SAR and real SAR images, respectively, and each extreme point in the scale space is extracted and added to the keypoint set. The image patches around the keypoints are selected and fed into the network to obtain the feature descriptor. The pseudo-SAR and real SAR images are matched according to the descriptors, and outliers are removed by the RANSAC algorithm to obtain the final registration result. The proposed method is tested on a public dataset. The experimental analysis shows that the average value of NCM surpasses similar methods over 30%, and the average value of RMSE is lower than similar methods by more than 0.04. The results demonstrate that the proposed strategy is more robust than other state-of-the-art methods.

Intraoperative suggestions to prevent postoperative delirium in patients undergoing transaortic valvular replacement: a randomized placebo-controlled trial

BackgroundPostoperative delirium (POD) is a serious complication following anaesthesia and surgery and significantly influences postoperative outcome especially in the elderly population. Intraoperative music and positive suggestions influence postoperative outcomes by attenuating analgesic demand and increasing patient satisfaction.AimsHere, we examined the effect of intraoperative music and positive suggestions on the development of POD in aged patients undergoing transcatheter aortic valve replacement (TAVR) procedure under general anaesthesia.MethodsFor this randomized placebo-controlled study, eligible patients without cognitive deficit, indicated by a MMSE < 10 points, were anesthetized using remifentanil and sevoflurane. Anaesthetic depth was guide with bispectral index. An audiotape with positive suggestions was applied from a MP3 player via headphones. POD, pain and PONV was assessed. CAM-ICU and Nu-DESC were done twice daily for the first 5 days.ResultsOf 140 patients 118 patients could be analysed (57 male, 80.6 ± 5.1 years). POD was diagnosed in 16 patients (12.7%). POD was significantly more often observed in male (12, 21.1%) than in female (4, 6.6%, p = 0.02) and in patients with a low MMSE (23.6 ± 4.5 vs. 26.8 ± 2.8, p = 0.001). Anaesthetic depth did not influence the incidence of POD. Intraoperative music and suggestions did not affect the rate of POD, pain, analgesic requirement or PONV.DiscussionIn patients undergoing TAVR male sex and low MMSE scoring are associated with an increase in POD.ConclusionsIntraoperative music and positive suggestions do not influence the incidence of POD in this patient group.Study registrationDRKS: 00024444, start of registration: 4.02.202, final registration: 17.09.2021

MULTIMODAL MICROSCOPY IMAGE ALIGNMENT USING SPATIAL AND SHAPE INFORMATION AND A BRANCH-AND-BOUND ALGORITHM.

Multimodal microscopy experiments that image the same population of cells under different experimental conditions have become a widely used approach in systems and molecular neuroscience. The main obstacle is to align the different imaging modalities to obtain complementary information about the observed cell population (e.g., gene expression and calcium signal). Traditional image registration methods perform poorly when only a small subset of cells are present in both images, as is common in multimodal experiments. We cast multimodal microscopy alignment as a cell subset matching problem. To solve this non-convex problem, we introduce an efficient and globally optimal branch-and-bound algorithm to find subsets of point clouds that are in rotational alignment with each other. In addition, we use complementary information about cell shape and location to compute the matching likelihood of cell pairs in two imaging modalities to further prune the optimization search tree. Finally, we use the maximal set of cells in rigid rotational alignment to seed image deformation fields to obtain a final registration result. Our framework performs better than the state-of-the-art histology alignment approaches regarding matching quality and is faster than manual alignment, providing a viable solution to improve the throughput of multimodal microscopy experiments.

Object pose estimation based on stereo vision with improvedK‐DtreeICPalgorithm

SummaryWith the wide application of stereovision in SLAM, object pose estimation has gradually become one of the research hotspots. This article proposes an object pose estimation for robotic grasping based on stereo vision with improved K‐D tree ICP algorithm. The feature points and feature descriptors of the point cloud of the object to be captured are extracted, and the feature template set is established. The SAC‐IA algorithm is used to carry out initial registration of the point cloud of the target, and the ICP algorithm based on K‐D tree is used for fine registration. The experimental results show that the average coincidence degree of the final registration of the proposed object pose estimation method reaches 94.1%, and the accurate 6D pose of the object to be grasped is obtained.

Efficient co-registration of UAV and ground LiDAR forest point clouds based on canopy shapes

• Time-efficient co-registration of UAV and ground LiDAR data is proposed for plantation forests. • Coarse alignment of forest point clouds is divided into ground alignment and canopy image matching. • Canopy images are matched by two pairs of canopy corner points and the canopy overlap rate. • The runtime of coarse alignment is less than 1 s for millions of forest points. Registration of unmanned aerial vehicle laser scanning (ULS) and ground light detection and ranging (LiDAR) point clouds in forests is critical to create a detailed representation of a forest structure and an accurate retrieval of forest parameters. However, tree occlusion poses challenges for those registration methods used artificial markers, and some automated registration methods have low time-efficiency due to the process of object (e.g., tree, crown) segmentation. In this study, we propose an automated and time-efficient method to register ULS and ground LiDAR (including terrestrial and backpack laser scanning) forest point clouds. Registration involves coarse alignment and fine registration, where the coarse alignment is divided into vertical and horizontal alignment. The vertical alignment is implemented by rotating grounds to the horizontal plane, and the horizontal alignment is achieved by canopy image matching. During image matching, vegetation points are projected onto the horizontal plane to obtain two binary images, and then, canopy shape feature, which is described by a two-point congruent set and canopy overlap, is used to match the binary images. Finally, we implement coarse alignment of ULS and ground LiDAR datasets by combining the results of ground alignment and image matching and finish fine registration in six plantation forest plots with sizes of 0.03 ha to 0.25 ha. Experimental results show that the ULS and ground LiDAR data in different plots are registered, of which the coarse alignment errors are less than 0.20 m in the horizontal direction, the final registration accuracy is less than 0.15 m, and the average runtime is less than 1 s. Our study demonstrates the effectiveness of the proposed strategy and has able to perform accurate and quick registration of ULS and ground LiDAR data from plantation forests with different attributes.

Reconstruction of Dentomaxillofacial Deformity Secondary to Mandibular Defect Using Concomitant Orthognathic Surgery and Fibula Free Flap.

The reconstruction of mandibular defects may be delayed or compromised for many reasons, especially in pediatric patients. With the growth of the remaining mandible and the maxilla in the malocclusion status, secondary dentomaxillofacial deformity is plausible. To treat the concomitant mandibular defect and secondary dentomaxillofacial deformity, a hierarchical algorithm using orthodontics, orthognathic surgery, and fibula free flap was developed. This retrospective case series included six patients with long-term mandibular defects caused by tumor resection without repair or with compromised costochondral reconstruction. All patients were treated using the same staged protocol, but with minor changes: (1) presurgical orthodontics, (2) virtual surgical planning, (3) fabrication of the guides and splints, (4) sequenced operations, and (5) postoperative care. The sequence of surgery included the Le Fort I osteotomy, mandibular sagittal split ramus osteotomy of the remaining ramus, final occlusion registration, repositioning of the distal segment of the mandible, segmented fibula reconstruction, and finally, the fixation of mandibular sagittal split ramus osteotomy. The operations and wound healing were uneventful in all patients, and no flap failure or severe complications were detected. Also, the patients exhibited no signs of temporomandibular joint ankylosis during the follow-up. The subspinale-nasion-supramental angle was significantly reduced after surgery. A significant improvement was detected in the facial contour symmetry measurements postoperatively. This proposed workflow of concomitant orthognathic surgery and the fibula free flap is effective and reliable for the reconstruction of dentomaxillofacial deformity secondary to the long-term mandibular defect.

Final Project Registration Management System (SIMANTA) [Case Study : University of Muhammadiyah Sidoarjo

Muhammadiyah University of Sidoarjo is one of the private universities that provides final assignments and theses as one of the graduation requirements for obtaining Diploma and Bachelor degrees. The Final Assignment Registration Management System (SIMANTA) makes it easy for lecturers, students and admins to manage thesis data and provide information about the stages of the final project and thesis procedure for students. The development of this system was carried out to evaluate the existing system, namely SIMS UMSIDA. The previous system was still less than optimal in the procedures carried out in the implementation of the thesis because it was only used for the informatics study program. Therefore, with SIMANTA it can be used for all study programs and can distinguish data from each study program. The system design method in this study uses the prototype method and the data collection stage uses observation and interview techniques. The technology used for the SIMANTA design uses the Codeigniter version 4 framework, the PHP programming language version 7.4 and Bootstrap version 4x. So that the results of this study, the final assignment registration management system (SIMANTA) aims to provide convenience, manage data and provide information about thesis for lecturers, admins, and students at Muhammadiyah University of Sidoarjo.

Safety of omalizumab in the treatment of moderate-to-severe bronchial asthma

This review aimed to analyze national and international literature on the safety of omalizumab in the treatment of moderate-to-severe bronchial asthma. Omalizumab is one of the longest-standing monoclonal antibodies and the first available treatment option for severe allergic asthma in patients aged 6 years. Several randomized controlled studies have established its efficiency and safety, leading to its final registration more than 15 years ago. In most cases, long-term treatment with omalizumab is safe without increasing the risk of adverse reactions. However, over the years, a growing trend has been observed in several registrations of adverse events associated with the use of omalizumab. A review of the literature revealed a lack of long-term clinical monitoring data (over 2 years) in both patients aged 18 years and children. Long-term adverse reactions during omalizumab therapy are insufficiently examined and require more detailed analysis, despite reports of an association between omalizumab and some adverse events. Moreover, extremely few cases of adverse reactions to omalizumab were reported in the Russian Federation. Thus, further investigations of the safety profile of omalizumab and monitoring of its delayed adverse reactions are required.

Omalizumab adverse reactions and safety

Omalizumab is one of the longest-used monoclonal antibodies and the first available treatment option for severe allergic asthma in patients aged 6 years and older. Its efficacy and safety were established in several randomized controlled trials, leading to its final registration over 15 years ago. In most cases, long-term treatment with omalizumab is safe and does not increase the risk of adverse reactions. However, over the years, there has been a trend towards an increase in the registration of adverse events associated with the use of omalizumab.

Multi-Intensity Optimization-Based CT and Cone Beam CT Image Registration

Cancer is a highly lethal disease that is mainly treated by image-guided radiotherapy. Because the low dose of cone beam CT is less harmful to patients, cone beam CT images are often used for target delineation in image-guided radiotherapy of various cancers, especially in breast and lung cancer. However, breathing and heartbeat can cause position errors in images taken during different periods, and the low dose of cone beam CT also results in insufficient imaging clarity, rendering existing registration methods unable to meet the CT and cone beam CT registration tasks. In this paper, we propose a novel multi-intensity optimization-based CT and cone beam CT registration method. First, we use a multi-weighted mean curvature filtering algorithm to preserve the multi-intensity details of the input image pairs. Then, the strong edge retention results are registered using and intensity-based method to obtain the multi-intensity registration results. Next, a novel evaluation method called intersection mutual information is proposed to evaluate the registration accuracy of the different multi-intensity registration results. Finally, we determine the optimal registration transformation by intersection mutual information and apply it to the input image pairs to obtain the final registration results. The experimental results demonstrate the excellent performance of the proposed method, meeting the requirements of image-guided radiotherapy.

Realistic C-arm to pCT registration for vertebral localization in spine surgery

Spine surgeries are vulnerable to wrong-level surgeries and postoperative complications because of their complex structure. Unavailability of the 3D intraoperative imaging device, low-contrast intraoperative X-ray images, variable clinical and patient conditions, manual analyses, lack of skilled technicians, and human errors increase the chances of wrong-site or wrong-level surgeries. State of the art work refers 3D-2D image registration systems and other medical image processing techniques to address the complications associated with spine surgeries. Intensity-based 3D-2D image registration systems had been widely practiced across various clinical applications. However, these frameworks are limited to specific clinical conditions such as anatomy, dimension of image correspondence, and imaging modalities. Moreover, there are certain prerequisites for these frameworks to function in clinical application, such as dataset requirement, speed of computation, requirement of high-end system configuration, limited capture range, and multiple local maxima. A simple and effective registration framework was designed with a study objective of vertebral level identification and its pose estimation from intraoperative fluoroscopic images by combining intensity-based and iterative control point (ICP)–based 3D-2D registration. A hierarchical multi-stage registration framework was designed that comprises coarse and finer registration. The coarse registration was performed in two stages, i.e., intensity similarity-based spatial localization and source-to-detector localization based on the intervertebral distance correspondence between vertebral centroids in projected and intraoperative X-ray images. Finally, to speed up target localization in the intraoperative application, based on 3D-2D vertebral centroid correspondence, a rigid ICP-based finer registration was performed. The mean projection distance error (mPDE) measurement and visual similarity between projection image at finer registration point and intraoperative X-ray image and surgeons’ feedback were held accountable for the quality assurance of the designed registration framework. The average mPDE after peak signal to noise ratio (PSNR)–based coarse registration was 20.41mm. After the coarse registration in spatial region and source to detector direction, the average mPDE reduced to 12.18mm. On finer ICP-based registration, the mean mPDE was finally reduced to 0.36 mm. The approximate mean time required for the coarse registration, finer registration, and DRR image generation at the final registration point were 10 s, 15 s, and 1.5 min, respectively. The designed registration framework can act as a supporting tool for vertebral level localization and its pose estimation in an intraoperative environment. The framework was designed with the future perspective of intraoperative target localization and its pose estimation irrespective of the target anatomy.Graphical abstract