Navigation Guidance Research Articles

Collaborative Misbehaviour Response System for Improving Road Safety

This paper advocates for a proactive approach to traffic safety by introducing a collaborative Misbehaviour Response System (MBR) designed to preemptively address hazardous driving behaviours such as wrong-way driving and distracted driving. The system integrates with electric vehicles (EVs), leveraging advanced technologies like ADAS, edge computing, and cloud services to enhance road safety. Upon detection of misbehaviour, the MBR system utilizes data from interconnected parking facilities to identify the nearest safe location and provides navigation guidance to authorities and nearby vehicles. The paper presents a prototype of the MBR system, demonstrating its efficiency in detecting misbehaviours and coordinating swift responses. It also discusses the system’s limitations and societal implications, outlining future research directions, including integration with autonomous vehicle systems and variable speed limit technologies, to further improve road safety through proactive and context-aware response mechanisms.

Three‐dimensional cooperative guidance for simultaneous attack with specified impact time based on fixed‐time convergence

AbstractIn this paper, distributed three‐dimensional (3D) cooperative guidance laws are designed for leader–follower multiple missiles to achieve simultaneous attack at a specified time. The guidance laws are derived from the biased proportional navigation guidance (PNG) law. Two fixed‐time distributed algorithms with time‐varying coefficients are proposed to track the state of the leader under undirected and directed topologies, respectively. The upper bounds of convergence times for the tracking algorithms are obtained. The biased guidance terms of followers are designed to track the leader with the proposed algorithms and the biased guidance term of the leader is designed to achieve specified impact time. Then, an auxiliary function is included into the biased guidance terms to meet the field‐of‐view (FOV) constraints. The leading angles' properties and convergence times under the proposed guidance laws are further analyzed. Numerical simulations are given to verify the effectiveness of the proposed cooperative guidance laws.

Cone-beam CT-based Navigation With Augmented Fluoroscopy of the Airways for Image-guided Bronchoscopic Biopsy of Peripheral Pulmonary Nodules: A Prospective Clinical Study.

Cone-beam computed tomography (CBCT) and augmented fluoroscopy (AF), in which intraprocedural CBCT data is fused with fluoroscopy, have been utilized as a novel image-guidance technique for biopsy of peripheral pulmonary lesions. The aim of this clinical study is to determine the safety and diagnostic performance of CBCT-guided bronchoscopy with advanced software tools for procedural planning and navigational guidance with AF of the airways for biopsy of peripheral pulmonary nodules. Fifty-two consecutive subjects were prospectively enrolled in the AIRWAZE study (December 2018 to October 2019). Image-guided bronchoscopic biopsy procedures were performed under general anesthesia with specific ventilation protocols in a hybrid operating room equipped with a ceiling-mounted C-arm system. Procedural planning and image-guided bronchoscopy with CBCT and AF were performed using the Airwaze investigational device. A total of 58 pulmonary lesions with a median size of 19.0mm (range 7 to 48mm) were biopsied. The overall diagnostic yield at index procedure was 87.9% (95% CI: 77.1%-94.0%). No severe adverse events related to CBCT-guided bronchoscopy, such as pneumothorax, bleeding, or respiratory failure, were observed. CBCT-guided bronchoscopic biopsy with augmented fluoroscopic views of the airways and target lesion for navigational guidance is technically feasible and safe. Three-dimensional image-guided navigation biopsy is associated with high navigational success and a high diagnostic yield for peripheral pulmonary nodules.

244 The Inaugural “Century” of Mixed Reality in Cranial Surgery: Virtual Reality Rehearsal/Augmented Reality Guidance and Its Learning Curve in the First Single-Surgeon, 100-Case Series

INTRODUCTION: Virtual reality (VR) and augmented reality (AR), together called Mixed reality (MxR) gaining importance in Neurosurgery as it helps to select apporaches and identify key anatomic landmarks intraoperatively. METHODS: The first 100 consecutive cases of a single surgeon for which MxR was intended for use were retrospectivaly analyzed for specific contributions to the opeation. Seventeen cases in the study cohort were matched with historical non-MxR cases for comparison of outcome parameters. The cases in which MxR failed were plotted over time to determine the nature of the “learning curve.” RESULTS: The nadir of the blue line is at case 44. The inflection point of the trend line (black) occurred at approximately case 63.This provides some evidence of proficiency acquisition in between. MxR helped to limit the size of the opening in 44 cases, enhanced precise placement of the craniotomy in 64 cases, increased the guidance efficiency to target or marker in 58 cases, and protected anti-targets from surgical incursion in 12 cases. Cases where MxR had above-expectation performances will be highlighted. Comparing MxR cases with matching non-MxR, the average EBL (106.8 mL vs. 142.4 mL), LOS (5.4 d vs. 8.2 d) and surgery duration (218.4 mins. 252.8 min) were all smaller for the MxR group. However, no statistically significant differences were found for all three comparisons. CONCLUSIONS: MxR enhances surgical planning and can supplant probe-and-monitor navigation for efficient intraoperative guidance without additional time for surgery or hospitalization

Reinforcement learning-based adaptive spiral-diving Manoeuver guidance method for reentry vehicles subject to unknown disturbances

Abstract This paper proposed a reinforcement learning-based adaptive guidance method for a class of spiral-diving manoeuver guidance problems of reentry vehicles subject to unknown disturbances. First, the desired proportional navigation guidance law is designed for the vehicle based on the initial conditions, terminal constraints and the curve involute principle. Then, the first-order multivariable nonlinear guidance command tracking model considering unknown disturbances is established. And the controller design problem caused by the coupling of control variables is overcome by introducing the coordinate transformation technique. Moreover, the actor-critic networks and corresponding adaptive weight update laws are designed to cope with unknown disturbances. With the help of Lyapunov direct method, the stability of the system is proved. Subsequently, the range values of the guidance parameters are analysed. Finally, the validity as well as superiority of the proposed method are verified by numerical simulations.

Pedicle screw accuracy placed with assistance of machine vision technology in patients with neuromuscular scoliosis.

Pedicle screws are the primary method of vertebral fixation in scoliosis surgery, but there are lingering concerns over potential malposition. The rates of pedicle screw malposition in pediatric spine surgery vary from 10% to 21%. Malpositioned screws can lead to potentially catastrophic neurological, vascular, and visceral complications. Pedicle screw positioning in patients with neuromuscular scoliosis is challenging due to a combination of large curves, complex pelvic anatomy, and osteopenia. This study aimed to determine the rate of pedicle screw malposition, associated complications, and subsequent revision from screws placed with the assistance of machine vision navigation technology in patients with neuromuscular scoliosis undergoing posterior instrumentation and fusion. A retrospective analysis of the records of patients with neuromuscular scoliosis who underwent thoracolumbar pedicle screw insertion with the assistance of machine-vision image guidance navigation was performed. Screws were inserted by either a staff surgeon, orthopaedic fellow, or orthopaedic resident. Post-operative ultra-low dose CT scans were used to assess pedicle screw accuracy. The Gertzbein classification was used to grade any pedicle breaches (grade 0, no breach; grade 1, <2 mm; grade 2, 2-4 mm; grade 3, >4 mm). A screw was deemed accurate if no breach was identified (grade 0). 25 patients were included in the analysis, with a mean age of 13.6 years (range 11 to 18 years; 13/25 (52.0%) were female. The average pre-operative supine Cobb angle was 90.0 degrees (48-120 degrees). A total of 687 screws from 25 patients were analyzed (402 thoracic, 241 lumbosacral, 44 S2 alar-iliac (S2AI) screws). Surgical trainees (fellows and orthopaedic residents) inserted 46.6% (320/687) of screws with 98.8% (4/320) accuracy. The overall accuracy of pedicle screw insertion was 98.0% (Grade 0, no breach). All 13 breaches that occurred in the thoracic and lumbar screws were Grade 1. Of the 44 S2AI screws placed, one screw had a Grade 3 breach (2.3%) noted on intra-operative radiographs following rod placement and correction. This screw was subsequently revised. None of the breaches resulted in neuromonitoring changes, vessel, or visceral injuries. Machine vision navigation technology combined with careful free-hand pedicle screw insertion techniques demonstrated high levels of pedicle screw insertion accuracy, even in patients with challenging anatomy.

Evaluation of an augmented reality navigational guidance platform for percutaneous procedures in a cadaver model.

The objective of this study is to review the accuracy of an augmented reality navigational guidance system designed to facilitate improved visualization, guidance, and accuracy during percutaneous needle-based procedures including biopsies and ablations. Using the HoloLens 2, the system registers and projects 3D CT-based models of segmented anatomy along with live ultrasound, fused with electromagnetically tracked instruments including ultrasound probes and needles, giving the operator comprehensive stereoscopic visualization for intraoperative planning and navigation during procedures.Tracked needles were guided to targets implanted in a cadaveric model using the system. Image fusion registration error, the multimodality error measured as the post-registration distance between a corresponding point measured in the stereoscopic CT and tracked ultrasound coordinate systems, and target registration error, the Euclidean distance between needle tip and target after needle placement, were measured as registration and targeting accuracy metrics. A t-distribution was used for statistical analysis. Three operators performed 36 total needle passes, 18 to measure image fusion registration error and 18 to measure target registration error on four targets. The average depth of each needle pass was 8.4cm from skin to target center. Mean IFRE was 4.4mm (: , ). Mean TRE was 2.3mm (: , ). The study demonstrated high registration and targeting accuracy of this AR navigational guidance system in percutaneous, needle-based procedures. This suggests the ability to facilitate improved clinical performance in percutaneous procedures such as ablations and biopsies.

Room-Object Entity Prompting and Reasoning for Embodied Referring Expression.

Given a high-level instruction, the task of Embodied Referring Expression (REVERIE) requires an embodied agent to localise a remote referred object via navigating in the unseen environment. Previous vision-language navigation methods utilise the provided fine-grained instruction as step-by-step navigation guidance to conduct strict instruction-following, while REVERIE aims to achieve efficient goal-oriented exploration according to the high-level command. In this work, we propose a Cross-modal Knowledge Reasoning (abbreviated as CKR+) framework, which incorporates the prior knowledge as decision guidance to learn the navigation scheme comprehensively. Specifically, we design a Room-Object Aware (ROA) mechanism to explicitly decouple the room- and object-related clues from instruction and visual observations. Moreover, we propose a Knowledge-enabled Entity Relation Reasoning (KERR+) module to leverage the structured knowledge from the knowledge graph explicitly and unstructured knowledge from pre-trained model implicitly, to learn the internal-external correlations among room- and object-entities for the agent to make proper decisions. We devise an Entity Prompter (EP) that embeds in the KERR+ module, which utilises the navigation history and visual entities as prompts to transfer knowledge from the pre-trained CLIP model. In addition, we develop a Reinforced End Decider (RED) to learn the stopping scheme specifically, which is achieved by a customised reinforcement learning strategy and knowledge enhanced matching. Two techniques are also introduced to improve navigation efficiency further. Extensive experiments conducted on the REVERIE benchmark demonstrate the effectiveness and superiority of our proposed methods, which boosts the key metrics, i.e., SPL and REVERIE-success rate, to 14.46% and 13.81% respectively.

Preliminary study on the resection of parapharyngeal and lateral skull base tumors by using transoral endoscopy with 3D visualization and navigation technologies.

With the assistance of 3D visualization and real-time navigation technologies, the tumors in the parapharyngeal and lateral skull base should be removed through oral the approach with endoscopy. The preoperative CT data of eight patients with parapharyngeal or lateral skull base soft tissue tumors were modeled, and the anatomical position relationship between the tumor and surrounding blood vessels and other important structures was reconstructed using 3D visualization technology, and preoperative design was performed. The intraoperative oral approach and real-time navigation guidance were adopted in the endoscopic resection of soft tissue tumors in the parapharyngeal and lateral skull base, and the clinical application value of this method was evaluated. The blood loss during the operation was controlled within 150 mL, and the average blood loss was approximately 125 mL. The incidence of postoperative complications was low, and patients could recover well through functional training. The oral approach did not leave any wounds nor scars on the patient's facial skin after the operation and had no effect on the patient's appearance. The combination of 3D visualization technology, intraoperative real-time navigation, and endoscopy provides a beautiful, safe, and minimally invasive surgical method for patients with parapharyngeal or lateral skull base tumors.

Shoe for Blind People

Eyes play important role in our day to day lives and are perhaps the most valuable gift we have. This world is visible to us because we are blessed with eyesight. But there are some people who lag this ability of visualizing these things. Due to this, they will undergo a lot of troubles o move comfortably in public places. Hence, wearable device should design for such visual impaired people. A smart shoe is wearable system design to provide directional information to visually impaired people. To provide smart and sensible navigation guidance to visually impaired people, the system has great potential especially when integrated with visual processing units

‘Armed kyphoplasty’ with posterior stabilization avoids corpectomy in complex thoracolumbar spine fractures: a case series

BackgroundComplex thoracolumbar fractures require reduction and stabilization. Posterior instrumentation alone and standard cement augmentation may represent undertreatment, while corpectomy has significant morbidity. In a series of unstable thoracolumbar fractures, we...

Airway label prediction in video bronchoscopy: capturing temporal dependencies utilizing anatomical knowledge.

Navigation guidance is a key requirement for a multitude of lung interventions using video bronchoscopy. State-of-the-art solutions focus on lung biopsies using electromagnetic tracking and intraoperative image registration w.r.t. preoperative CT scans for guidance. The requirement of patient-specific CT scans hampers the utilization of navigation guidance for other applications such as intensive care units. This paper addresses bronchoscope tracking by solely incorporating video data. In contrast to state-of-the-art approaches, we entirely omit the use of electromagnetic tracking and patient-specific CT scans to avoid changes in clinical workflows and additional hardware requirements in intensive care units. Guidance is enabled by means of topological bronchoscope localization w.r.t. a generic airway model. Particularly, we take maximally advantage of anatomical constraints of airway trees being sequentially traversed. This is realized by incorporating sequences of CNN-based airway likelihoods into a hidden Markov model. Our approach is evaluated based on multiple experiments inside a lung phantom model. With the consideration of temporal context and use of anatomical knowledge for regularization, we are able to improve the accuracy up to to 0.98 compared to 0.81 (weighted F1: 0.98 compared to 0.81) for a classification based on individual frames. We combine CNN-based single image classification of airway segments with anatomical constraints and temporal HMM-based inference for the first time. Our approach shows first promising results in vision-based guidance for bronchoscopy interventions in the absence of electromagnetic tracking and patient-specific CT scans.

Design of Convergent and Accurate Guidance Law with Finite Time in Complex Adversarial Scenarios

The target can deceive the flight vehicle by releasing an infrared decoy to make the line-of-sight (LOS) angle rate deflect greatly, thus causing the flight vehicle to miss the target. Therefore, in order to accurately strike the target in complex adversarial scenarios, this paper proposes a finite-time convergence guidance law (FTCG) combined with a finite-time disturbance observer (FTDO). The complex adversarial scenario is established by combining the relative motion model between the flight vehicle and the target and the motion model of the infrared decoy. Based on this, considering the dynamic characteristic of the flight vehicle’s autopilot, a guidance model is obtained. Utilizing sliding mode control theory and finite-time control theory, an FTCG of the LOS angle rate is designed. Then, the finite-time convergence of the guidance law is proved and the total convergence time is derived. Finally, for the target maneuvering that is difficult to measure in the guidance law, an FTDO is used to estimate and compensate for the target maneuvering in the guidance law. Simulation results show that the FTCG can make the LOS angle rate quickly converge and accurately strike the target in different scenarios, with a good guidance accuracy and robustness. Compared with the sliding mode guidance law (SMGL) and the adaptive sliding mode guidance law (ASMGL) based on an extended state observer (ESO), the advantages of the designed guidance law are illustrated. Finally, FTCG is extended to be three dimensional and compared with the proportional navigation guidance law (PNG) to further illustrate its effectiveness in a three-dimensional coordinate system.

Real-time fluorescence-guided adhesiolysis with indocyanine green in intra-abdominal surgery (with video)

Intra-abdominal adhesions have consistently posed a challenge for surgeons during procedures. This study aims to investigate the feasibility of utilizing indocyanine green (ICG) in conjunction with near-infrared imaging for the detection of intra-abdominal adhesions. In vitro, we analyzed factors affecting ICG fluorescence. We divided SD rats into groups to study ICG excretion in different digestive tract regions. Additionally, we reviewed surgical videos from previous cholecystectomy cases, categorizing them by ICG injection timing and assessing fluorescence imaging in various digestive tract regions. Finally, we preoperatively injected ICG into two cholecystectomized patients with abdominal adhesions, guiding intraoperative adhesiolysis with near-infrared fluorescence imaging. In vitro, we observed a significant influence of protein and ICG concentrations on ICG fluorescence intensity. Our rat experiments unveiled a strong and highly significant correlation (Kendall’s tau-b = 1, P < 0.001) between the timing of ICG injection and the farthest point of intestinal fluorescence. A retrospective case analysis further validated this finding (Kendall’s tau-b = 0.967, P < 0.001). Under the guidance of fluorescence navigation, two cholecystectomized patients with intra-abdominal adhesions successfully underwent adhesiolysis, and no postoperative complications occurred. The intraoperative combination of ICG with near-infrared fluorescence imaging effectively enhances the visibility of the liver, bile ducts, and various segments of the gastrointestinal tract while providing real-time navigation. This real-time fluorescence guidance has the potential to aid surgeons in the dissection of intra-abdominal adhesions.

Even Order Explicit Symplectic Geometric Algorithms for Solving Quaternions in Guidance Navigation and Control via Diagonal Padé Approximation and Cayley Transform

Even Order Explicit Symplectic Geometric Algorithms for Solving Quaternions in Guidance Navigation and Control via Diagonal Padé Approximation and Cayley Transform

Analytical Prescribed Performance Guidance with Field-of-View and Impact-Angle Constraints

Aiming at the impact-angle-control guidance with field-of-view constraint in the three-dimensional space, a novel analytical prescribed performance guidance law is proposed. First, a new prescribed performance function is designed in the relative range domain, and the common drawbacks of most existing prescribed performance functions, such as large overshoot, time dependency, and infinite-time convergence, are avoided. Second, the three-dimensional biased pure proportional navigation guidance frame is selected. The biased term is derived based on the prescribed performance control theory and the optimal error dynamic method, for realizing the terminal impact-angle constraint. After that, the analytical solution of missile lead angle is derived under some linearization approximations, and two methods are respectively developed for obtaining the range of the guidance gain and updating its value to guarantee the satisfaction of the field-of-view constraint during the guidance process. Moreover, for the proposed guidance law and methods, the tracking error could be ensured to remain in the predefined performance boundaries. Finally, numerical simulations are conducted to verify the effectiveness of the new theoretical findings.

Evaluation Metrics for Augmented Reality in Neurosurgical Preoperative Planning, Surgical Navigation, and Surgical Treatment Guidance: A Systematic Review.

Recent years have shown an advancement in the development of augmented reality (AR) technologies for preoperative visualization, surgical navigation, and intraoperative guidance for neurosurgery. However, proving added value for AR in clinical practice is challenging, partly because of a lack of standardized evaluation metrics. We performed a systematic review to provide an overview of the reported evaluation metrics for AR technologies in neurosurgical practice and to establish a foundation for assessment and comparison of such technologies. PubMed, Embase, and Cochrane were searched systematically for publications on assessment of AR for cranial neurosurgery on September 22, 2022. The findings were reported according to the Preferred Reporting Items for Systematic Reviews and Meta-Analyses guidelines. The systematic search yielded 830 publications; 114 were screened full text, and 80 were included for analysis. Among the included studies, 5% dealt with preoperative visualization using AR, with user perception as the most frequently reported metric. The majority (75%) researched AR technology for surgical navigation, with registration accuracy, clinical outcome, and time measurements as the most frequently reported metrics. In addition, 20% studied the use of AR for intraoperative guidance, with registration accuracy, task outcome, and user perception as the most frequently reported metrics. For quality benchmarking of AR technologies in neurosurgery, evaluation metrics should be specific to the risk profile and clinical objectives of the technology. A key focus should be on using validated questionnaires to assess user perception; ensuring clear and unambiguous reporting of registration accuracy, precision, robustness, and system stability; and accurately measuring task performance in clinical studies. We provided an overview suggesting which evaluation metrics to use per AR application and innovation phase, aiming to improve the assessment of added value of AR for neurosurgical practice and to facilitate the integration in the clinical workflow.

Efficacy and reliability of three-dimensional fusion guidance for fluoroscopic navigation in transarterial embolization for refractory musculoskeletal pain.

This study aimed to evaluate the efficacy and reliability of three-dimensional (3D) fusion guidance in roadmapping for fluoroscopic navigation during trans-arterial embolization for refractory musculoskeletal pain (TAE-MSK pain) in the extremities. The included research patients were divided into two groups: group A-TAE-MSK pain performed without the use of 3D fusion guidance; group B-TAE-MSK pain performed with the use of 3D fusion guidance for fluoroscopic navigation. We compared the procedure time, radiation dose, visual analogue scale for pain scores, and adverse effects (before and 3 months after TAE-MSK pain) among the two groups. In the group B, we determined the reliability of ideal branch angle for pre-operative non-contrast 3D magnetic resonance angiography (MRA) and intra-operative 3D cone beam computed tomography (CBCT) angiography. We recruited 65 patients, including 23 males and 42 females (average age 58.20±12.58 years), with 38 and 27 patients in groups A and B. A total of 247 vessels were defined as target branch vessels. Significant changes were observed in the fluoroscopy time which was 32.31±12.39 and 14.33±3.06 minutes, in group A and group B (P<0.001), respectively; procedure time, which was 46.45±17.06 in group A and 24.67±9.78 in group B (P<0.001); and radiation exposure dose, determined as 0.71±0.64 and 0.34±0.29 mSv (P<0.01) in group A and group B, respectively. Furthermore, the number of target branch vessels, that underwent successful catheterization were 107 (97%) in group B as compared to 96 (70%) in group A, which was also significant (P<0.001). The study also showed that the ideal branch-angle has a similarly high consistency in pre-operative and intra-operative angiography based on the intra-class correlation coefficient (ICC) (0.994; 0.990, respectively). 3D fusion guidance for fluoroscopic navigation not only is a reliable process, but also effectively reduces the operation time and radiation dose of TAE-MSK pain.

Uncertainty propagation in orbital dynamics via Galerkin projection of the Fokker-Planck Equation

The Fokker–Planck equation is a partial differential equation that describes how the probability density function of an object state varies, when subject to deterministic and random forces. The solution to this equation is crucial in many space applications, such as space debris trajectory tracking and prediction, guidance navigation and control under uncertainties, space situational awareness, and mission analysis and planning. However, no general closed-form solutions are known and several methods exist to tackle its solution. In this work, we use a known technique to transform this equation into a set of linear ordinary differential equations in the context of orbital dynamics. In particular, we show the advantages of the applied methodology, which allows to decouple the time and state-dependent components and to retain the entire shape of the probability density function through time, in the presence of both deterministic and stochastic dynamics. With this approach, the probability density function values at future times and for different initial conditions can be computed without added costs, provided that some time-independent integrals are solved offline. We showcase the efficacy and use of this method on some orbital dynamics example, by also leveraging the use of automatic differentiation for efficiently computing the involved derivatives.

Improved Fixed-Time Convergence Guidance Scheme Design and Its Application to Missile

This study presents a fixed-time convergence guidance scheme for impact time and angle control. First, two improved fixed-time stable systems are presented, which have smaller initial control command and better terminal convergence.16 An improved fixed-time extended state observer is proposed to provide accurate estimation of system states and disturbance, which effectively solves peaking value problem. Furthermore, an improved fixed-time sliding mode controller is derived, which avoids the singular problem and achieves faster convergence rate with smaller initial control command. Second, a new guidance scheme with impact angle and impact time constraints is proposed for intercepting a stationary target. By introducing a virtual target, the guidance process is divided into two stages. The proposed fixed-time controller is employed in the first stage. The method with a virtual leader ensures that the missile intercept the virtual target with desired line-of-sight angles at a specific time. By using the proportional navigation guidance law, the missile keeps travelling with desired flight-path angles to hit the real target in the second stage,17 so as to achieve the impact time and angle control. Finally, the feasibility and effectiveness of the proposed guidance scheme in different engagement scenarios are verified by numerical simulations with comparisons.