Navigation Techniques Research Articles

Treaties Establishing ICAO And IMO – A Comparative Study

The comparison between air law and maritime law reveals both similarities and distinctions rooted in the unique frameworks of the International Civil Aviation Organization (ICAO) and The International Maritime Organization (IMO). While both entities were established through separate treaties, the Chicago Convention birthed ICAO, emphasizing the organization’s Assembly, Council, and auxiliary bodies. In contrast, the IMO Convention, also known as the Convention on the International Maritime Organization, forms the basis for IMO’s structure and functions as outlined in its preamble. The core objectives of IMO revolve around fostering collaboration among governments to enhance regulatory frameworks for international maritime trade. This encompasses advocating for elevated standards in maritime safety, navigation efficiency, and marine pollution prevention. Similarly, ICAO aims to establish principles and techniques for air navigation, promoting safe, regular, economical, and efficient air transport. The Chicago Convention primarily focuses on regulating international civil aviation, ensuring its orderly development and safety through defined principles and procedures, including standards for airspace sovereignty, aircraft registration, airworthiness, and aviation security. Conversely, the IMO Convention tackles various aspects of international maritime transportation, spanning safety, security, environmental protection, and shipping efficiency. Despite being specialized agencies of the United Nations, both ICAO and IMO face the challenge of accommodating diverse interests and viewpoints of their member states without the autonomy enjoyed by the private sector. Nonetheless, both organizations have consistently served the international community in facilitating world trade and commerce within their respective domains. This article discusses details of comparison and contrasts between ICAO, IMO, and air law and maritime law in their treaty settings.

An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs

An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs

Combining inertial navigation with transacetabular ligament in total hip arthroplasty via direct anterior approach results in excellent accuracy compared to standard manual technique - A retrospective cohort study.

Correct acetabular component placement plays a critical role in reducing early revisions after dislocations in total hip arthroplasty (THA). Although the transverse acetabular ligament (TAL) guides anteversion, inclination can only be accurately guided by navigation. In order to overcome the initial disadvantages with navigation, an imageless, easy-to-use inertial navigation system has been recently introduced. This study aims to analyze the accuracy of inclination with this navigation system compared to the standard manual technique. Two cohorts, manual technique (MT) and navigation (NAV) cohorts, consisted of 83 and 95 patients, respectively, after exclusion criteria were applied. Inclination target was 38° and anteversion was guided by TAL. Demographic data were collected, and anteroposterior (AP) pelvic and cross-table lateral radiographs were obtained 6 weeks post-operatively. Inclination and anteversion were determined on the AP pelvic and cross-table lateral radiograph, respectively. A mean inclination of 41.8° (±6.8°) and 38.9° (±4.4°) was found in the MT and NAV cohorts, respectively. There was no statistical difference in gender, age, and BMI. If the inclination was set within 10° of the target (i.e., 38°), 88% of the MT cohort and 97% of the NAV cohort were within the target zone. Accuracy decreased to 53% and 83%, respectively, if the target zone range was narrowed down to±5°. Combining inertial imageless navigation for inclination and TAL as a landmark for anteversion is significantly more accurate compared to the manual technique, without having the limitations and disadvantages of current standard navigational techniques.

Intelligent Enhanced Mobile Robotics Navigation: Integrating Neural Networks with Type-2 Fuzzy Logic for Dynamic Environments

Intelligent mobile robots move on uncertain grounds, thus requiring good navigation strategies for things like path tracking and obstacle avoidance. This research uses an Omni-drive mobile robot to autonomously approach given objectives in different situations encountered in static and dynamic environments. The paper compares two distinct controllers – fuzzy logic controller and neural network controller- that lead the mobile robot towards its destination without hitting obstacles. These are responsible for adjusting the linear and angular velocities of a mobile robot which makes adaptive navigation possible during real-time. The experimental results have depicted the adaptability of each controller as well as its efficiency especially when dealing with uncertainties involved with the mobile robot navigation system. By systematically evaluating and contrasting them, this study brings out the best performance between Fuzzy Logic and Neural Network Controllers regarding enhancing the autonomy and robustness of Mobile Robots. This research helps to advance knowledge in autonomous systems for practical applications, which will give rise to more efficient navigational techniques for mobile robots; thus, efficient systems that are autonomous become more reliable today. The results show that these controllers are effective in safely steering the robot from its starting point to a specified destination without hitting obstacles.

3D-printed guides versus computer navigation for pedicle screw placement in the surgical treatment of congenital scoliosis deformities.

To compare the safety and clinical outcomes of 3D-printed guides versus computer navigation for pedicle screw placement in the correction of congenital scoliosis deformities. The study was a single-centre retrospective controlled study and was approved by the hospital ethics committee for the analysis all patients under the age of 18years with at least 2years of follow-up. Sixty-three patients who underwent surgical correction for congenital scoliosis deformities in our hospital from January 2015 to December 2020 were divided into two groups based on the decision following preoperative doctor‒patient communication. Among them, 43 patients had pedicle screws placed with 3D-printed guider plates, while the remaining 20 patients had screws inserted with the assistance of computer navigation. The perioperative period, follow-up results and imaging data were compared between the groups. The operation was completed successfully for patients in both groups. The 3D-printed guide-assisted screw placement technique proved to be significantly superior to the computer navigation technique in terms of operation time, screw placement time, and intraoperative blood loss (p < .05), although the former had more frequent intraoperative fluoroscopies than the latter (p < .05). The mean follow-up time was 41.4months, and the SRS-22 scores significantly improved in both groups over time postoperatively (p < .05). The 3D-printing group had better SRS-22 scores than the navigation group 6months after surgery and at the last follow-up (p < .05). Compared with preoperative values, the coronal Cobb angle, local kyphotic Cobb angle, C7-S1 coronal deviation (C7PL-CSVL), and sagittal deviation (SVA) were significantly improved in both groups after surgery (p < .05). Both techniques achieve the purpose of precise screw placement and proper correction of the deformities. In contrast, the 3D-printed guide-assisted screw placement technique showed advantages in terms of operation time, screw placement time, intraoperative blood loss and patient satisfaction with outcomes.

Augmented Reality in Dental Implants: A Systematic Review

Introduction: Augmented Reality (AR) in dentistry has evolved from computer-generated images overlaying the real world, stemming from advancements in software-based Virtual Reality (VR) for anatomic exploration. AR applications in dentistry range from simulations aiding in training to enhancing precision in dental procedures. By overlaying digital information onto the physical environment, AR facilitates better visualisation of dental anatomy and treatment planning. Its integration has shown promise in reducing errors, improving patient outcomes, and augmenting dental education through immersive experiences. Aim: To evaluate AR’s application in dentistry, with a particular emphasis on dental implants. Materials and Methods: A systematic review, using the Problem/patient Intervention Control or comparison Outcome (PICO) framework, selected six articles focusing on challenges in dentistry, specifically in training, practicing complex procedures accurately in implants, and maintaining patient confidentiality. The intervention compared AR with traditional methods. Results: The AR was mostly used in precision dentistry operations. Notably, it was discovered that three-dimensional (3D) AR outperformed two-dimensional (2D) image navigation techniques, resulting in fewer implant location errors. The highest absolute effect was 24.3%, with the angle of implant errors showing a reduction of 9.5% using AR. Conclusion: The findings support AR’s role in enhancing accuracy and efficiency while maintaining patient confidentiality.

Corrections to “An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs”

Corrections to “An Autonomous Underwater Vehicle Navigation Technique for Inspection and Data Acquisition in UWSNs”

Intraoperative mixed-reality spinal neuronavigation system: a novel navigation technique for spinal intradural pathologies.

The objective of this study was to assess the intraoperative accuracy and feasibility of 3D-printed marker-based mixed-reality neurosurgical navigation for spinal intradural pathologies. The authors produced 3D segmentations of spinal intradural tumors with neighboring structures by using combined CT and MRI, and preoperative registration of pathology and markers was successfully performed. A patient-specific, surgeon-facilitated application for mobile devices was built, and a mixed-reality light detection and ranging (LIDAR) camera on a mobile device was employed for cost-effective, high-accuracy spinal neuronavigation. Mobile device LIDAR cameras can successfully overlay images of virtual tumor segmentations according to the position of a 3D-printed marker. The surgeon can visualize and manipulate 3D segmentations of the pathology intraoperatively in 3D. A 3D-printed marker-based mixed-reality spinal neuronavigation technique was performed in spinal intradural pathology procedures and has potential to be clinically feasible and easy to use for surgeons, as well as being time saving, cost-effective, and highly precise for spinal surgical procedures.

허왕후는 만들어진 신화인가

This article has the character of refutation to Kim Tae-sik and Lee Kwang-soo's claim that Queen Heo's mythology was created in the 7th and 8th centuries. Kim Tae-sik and other Lee Kwang-soo consistently claim that Queen Heo's mythology was created in the 7th to 8th centuries, and that several elements were added to the myth when KumGwanJujisa wrote the “Gaehwangnyaku,” and later Ilyeon entered Garakgukgi while compiling “Samkukyusa” Their claims were groundless, only inferences.&#x0D; India's navigation techniques and records at that time, and coins engraved with two sword poles cast in the 2nd century show India's active maritime trade. In addition, the cabin partition wall excavated from Bonghwang-dong shows Gaya's navigation technology. In other words, records and relics suggest maritime trade between India and Gaya. Therefore, as recorded in “Samkukyusa” it shows that Queen Heo arrived at Gaya through the sea. On the other hand, the inscriptions on the Pasa Stone Pagoda and “Gimhae Wolmyeong Historic Site Monument” are concrete evidence that Queen Heo's arrival and Buddhism were introduced to Gaya. The Gimhae Wolmyeong Historic Site Monument clearly states that Wolmyeong Temple was founded in March 144 AD. In addition, the people say that Kim Su-ro and Heo empress are their ancestors through the origin story of Gimhae Kim and Gimhae Heo.&#x0D; Records, relics, and people's memories are all said to have come to Gaya in 48 AD. However, Kim Tae-sik, Lee Kwang-soo, and Baek Seung-chun deny the arrival of Queen Heo in 48 AD. The fundamental reason why they denied Queen Heo's existence was to claim that “Gaya = Imna.” In order to become “Gaya = Imna,” Gaya must not be founded in 42 and Queen Heo must not arrive in 1948. This is because when Queen Heo comes, the world of Gaya must be recognized and Gaya Buddhism must be recognized, so there is no place for Imna to stand.

Advanced navigation technology enables endobronchial brachytherapy for peripheral lung cancer: An old technique plays a new role

Background: To investigate the feasibility of super-selectively endobronchial brachytherapy in the treatment of peripheral lung cancer guided by advanced navigation technology. Patients and Methods: Six patients with peripheral lung tumors successfully underwent treatment with super-selectively endobronchial brachytherapy guided by advanced navigation technology following pathway planning, and were subsequently followed up to assess survival and treatment-related toxicities. Results: The endobronchial applicators were successfully placed inside the tumors of all patients using advanced navigation techniques according to the pre-treatment plan, and brachytherapy was delivered at curative doses after evaluation using radiotherapy planning software. None of the patients showed local progression of the treated lesions during the follow-up for a duration ranging from 11 months to 35 months, with a median follow-up time of 23 months. The patient with the longest follow-up, nearly 3 years, exhibited a stable condition. After undergoing endobronchial brachytherapy, patients predominantly experienced localized fibrosis as indicated. No significant alterations in cardiopulmonary function were detected during the follow-up, and no other adverse effects were found. Conclusion: The use of endobronchial brachytherapy for the curative treatment of peripheral lung cancers is feasible. Furthermore, the development of novel bronchial navigation techniques has the potential to broaden the application of endobronchial brachytherapy.

A muon high-resolution pseudorange measurement method: Application to muon navigation in confined spaces

Confined spaces such as polar regions, deep earth and deep ocean are crucial navigation scenarios where traditional navigation techniques have difficulty in obtaining external signals for positioning. The cosmic ray muons, which carry the spatial and energetic information, are easy to penetrate these confined spaces. Therefore, the unique muon characteristic provides a new perspective to estimate detector position, which can be considered using in confined spaces navigation. In this paper, a well-developed theory of muon navigation is established by combining a muon pseudorange measurement method. Moreover, an Equivalent Velocity Calculation Model (EVCM) and a Muon Sequence Matching Technology (MSMT) are proposed. The first model corrects flight pseudorange error caused by the relativistic energy loss and the second technology compensates the random error in pseudorange measurement. Further, a series of simulations are performed to analyze the muon events number which can be received by detector in different scenarios with the variations of zenith angle, detector area, varied detector plates gap, and muon flight distance. Meanwhile, the simulation results demonstrate that the muon navigation update rate every 10 minutes can reach 5.989 in confined spaces at 100 m, and further pseudorange error analysis indicates that the meter-level positioning accuracy can be acquired. Finally, we construct a muon coincidence measurement scheme and verify that the laws of the muon positioning system for high-energy muons are consistent with the simulation results.

Robot-assisted navigation for percutaneous localization of peripheral pulmonary nodule: an in vivo swine study.

Robot-assisted surgery (RAS) systems have been developed but rarely applied to lung nodule localization. This study aimed to assess the feasibility and safety of using a robot-assisted navigation system in percutaneous lung nodule localization. A computed tomography (CT)-guided robot-assisted navigation system was used to localize the simulated peripheral nodule in the swine lung through fluorescent agent injection. After the localization, fluorescent thoracoscopic wedge resection was performed. The deviation between the target point and the needle tip was measured using a professional 3-dimensional (3D) distance measurement software. The primary outcome was the localization accuracy (deviation) of the localization. The secondary outcomes were the localization-related complication rate, the localization duration, and the success rate. A total of 4 pigs were enrolled, and 20 peripheral lung nodules were created and localized successfully. All nodules underwent subsequent wedge resection for verification. The mean deviation by measuring the 3D distance was 3.81 mm [standard deviation (SD): 1.29 mm, 95% confidence interval (CI): 2.936-4.536 mm]. The technical success rate for localization was 100%, and the mean localization time was 14.69 minutes (SD: 4.67 minutes). The complication rate was 5% (1/20), with 1 pneumothorax after localization, and no mortality occurred. This pilot animal study demonstrated the promising potential of the robot-assisted navigation technique in peripheral lung nodule localization, with high accuracy and feasibility. Further clinical trials are needed to validate its safety compared to traditional manual localization.

An App for Parking with Indoor Navigation Facility

There are numerous parking supervision and random booking procedures that regulate parking operations. Travel time to the parking slot and walking time inside the terminus can still be dropped if the parker can book a precise parking spot instead of an arbitrary one. This is achieved by our proposal, called sPark which is an app-based parking method that includes indoor navigation facility i.e., an app for parking with indoor navigation facility. sPark’s sharing system will rapidly book the optimal parking slots for parkers and advise them on the best feasible entrances for practice. Also, parkers will find the briefest path to their target using our proposed app’s navigation technique, saving them a lot of time roaming to the building. Different parking methods like sPark (our proposed), non-directed and directed methods (existing) are designed and assessed. The designed and assessed simulation outcomes of sPark indicate an important decrease in the overall driving time by 30% to 60% as compared to the non-directed method which is an existing method. Additionally, the resource sharing module in our scheme i.e., an app for parking with indoor navigation facility called sPark has revealed a 9.99% decrease in driving time in comparison to directed methods (existing) that feature interior cruising and direction only.

Accuracy and Self-Confidence Level of Freehand Drilling and Dynamic Navigation System of Dental Implants: An In Vitro Study.

The impact of the experience of the clinician on learning a new skill or equipment was still an intriguing subject. The goal of this research is to determine the accuracy level of a dynamic navigation system to that of freehand drilling by expert and novice practitioners with varied levels of experience. Additionally, the duration of the surgical procedure and the self-confidence level of the surgeons were also evaluated. An analogimpression of the patient was used to make 20 polyurethane simulation models of the maxilla. Five expert and five inexperienced surgeons prepared the site and placed the implants at random on ten models each. Two different techniques were used to insert dental implants: freehand and dynamic navigation systems. Dental implants were placed in Group 1 utilizing a computer-assisted dynamic navigation device. The implants in Group 2 were secured using free-hand drilling. The dental implants were inserted first in the maxillary right first molar, then in the maxillary right lateral incisor, and the maxillary left second premolar. Preoperative and postoperative CBCT scans were superimposed by employing the Evalunav software and contrasted. The coronal 3-D, apex 3-D, apex vertical depth, and angular deviations for both procedures were evaluated. A pre-tested self-confidence questionnaire was also administered to assess the self-confidence of the practitioners. The duration of the surgical time was also documented for each strategy. The t-test was used to measure the difference in accuracy and confidence levels between freehand and dynamic navigation systems among expert and novice surgeons using SPSS software (IBM Corp., Armonk, NY, USA). A total of 60 implants were used (three insertion sites, two methods, and 10 practitioners). Each of the five expert and novice clinicians implanted 15 implants (five models each). Except for entry 3-D, there was a statistically significant difference between the two approaches in all of the primary outcome variables. The apex 3-D (5.89±1.08 mm) and apex vertical (2.08±1.27 mm) dimensions of the dynamic navigation system were significantly smaller than those of the freehand drilling approach (p<005). Dynamic navigation and freehand drilling had angular deviations of 7.16±1.76ᵒ and 9.06±2.18ᵒ, respectively (p=0.0004). The apex vertical deviation was reduced in the navigation technique (2.07±1.5 mm) than in the freehand drilling (2.86±1.4 mm) by experienced practitioners (p=0.04). The difference in time between the two procedures was determined to be statistically highly significant (p<0.001) by both expert and novice surgeons. Furthermore, when contrasting with experienced practitioners, novice practitioners had an overall increase in surgery time (p<0.001) for both approaches. The current in vitro study found that the dynamic navigation system enables more accurate implant placement than the freehand drilling technique, irrespective of the experience of the surgeons. However, this technique appears to benefit novice practitioners more, as they can profoundly minimize their deviations while accomplishing results comparable to those of expert surgeons.

Stability Analysis and Navigational Techniques of Wheeled Mobile Robot: A Review

Wheeled mobile robots (WMRs) have been a focus of research for several decades, particularly concerning navigation strategies in static and dynamic environments. This review article carefully examines the extensive academic efforts spanning several decades addressing navigational complexities in the context of WMR route analysis. Several approaches have been explored by various researchers, with a notable emphasis on the inclusion of stability and intelligent capabilities in WMR controllers attracting the attention of the academic community. This study traces historical and contemporary WMR research, including the establishment of kinetic stability and the construction of intelligent WMR controllers. WMRs have gained prominence in various applications, with precise navigation and efficient control forming the basic prerequisites for their effective performance. The review presents a comprehensive overview of stability analysis and navigation techniques tailored for WMRs. Initially, the exposition covers the basic principles of WMR dynamics and kinematics, explaining the different wheel types and their associated constraints. Subsequently, various stability analysis approaches, such as Lyapunov stability analysis and passivation-based control, are discussed in depth in the context of WMRs. Starting an exploration of navigation techniques, the review highlights important aspects including path planning and obstacle avoidance, localization and mapping, and trajectory tracking. These techniques are carefully examined in both indoor and outdoor settings, revealing their benefits and limitations. Finally, the review ends with a comprehensive discussion of the current challenges and possible routes in the field of WMR. The discourse includes the fusion of advanced sensors and state-of-the-art control algorithms, the cultivation of more robust and reliable navigation strategies, and the continued exploration of novel WMR applications. This article also looks at the progress of mobile robotics during the previous three decades. Motion planning and path analysis techniques that work with single and multiple mobile robots have been discussed extensively. One common theme in this research is the use of soft computing methods to give mobile robot controllers cognitive behaviors, such as artificial neural networks (ANNs), fuzzy logic control (FLC), and genetic algorithms (GAs). Nevertheless, there is still a dearth of applications for mobile robot navigation that leverage nature-inspired algorithms, such as firefly and ant colony algorithms. Remarkably, most studies have focused on kinematics analysis, with a small number also addressing dynamics analysis.

Autonomous relative navigation using stereo-vision in a dual-agent system for proximity operations in a lunar orbit

This paper presents a novel autonomous relative navigation architecture for inspector spacecraft in proximity operations to a known structure in a lunar orbit. Autonomous on-orbit servicing and assembly of large space structures are at the forefront of research for advancing space exploration beyond low-earth orbit. Communication delays with ground stations and limited computational power located on the inspector spacecraft make current relative navigation methods unfeasible and in turn, make it difficult to maintain an accurate estimate of the relative position and orientation of the inspector spacecraft with respect to the structure. The proposed method utilizes the camera measurements from two identical inspector spacecraft, each equipped with a single camera, to estimate the relative position and orientation of the structure. This shared measurement strategy overcomes the deficiencies in monocular vision-based relative navigation techniques, such as the range ambiguities, as is proven in the simulated results of this paper. The proposed stereo-vision system in this work allows for a deterministic solution of the relative position and orientation from the measurements of each inspector spacecraft to the structure. The stereo-vision system was tested with a Multiplicative Extended Kalman Filter (MEKF) for each spacecraft to estimate the relative states of the structure while maintaining a fixed relative position to the structure. The performance of the proposed stereo-vision system was evaluated in terms of accuracy and reliability of the estimated relative position and orientation of two inspector spacecraft to the structure over 100 Monte Carlo simulations for three case studies. The results showed that the stereo-vision system significantly outperforms the monocular vision system even when fewer points on the structure are visible, as is the case for proximity operations. Additionally, the stereo-vision system is consistently more accurate for the relative velocity, attitude, and angular velocity states regardless of how many points are visible. The proposed stereo-vision relative navigation system has the potential to be applied autonomously in proximity operations of spacecraft for various space missions, such as rendezvous and docking, inspection, and on-orbit servicing.

WebAR as a Mediation Tool Focused on Reading and Understanding of Technical Drawings Regarding Tailor-Made Projects for the Scenographic Industry

Among the leading immersive technologies, augmented reality is one of the most promising and empowering for supporting designers in production environments. This research investigates the application of mobile augmented reality, based on the Web, as a mediation tool focused on cognitive activities of reading and understanding of technical drawings in the production and assembly of tailor-made projects of the scenographic industry. In this context, the research presents a method to use WebAR to improve the reading of technical drawings, seeking efficiency in the visualization of models and the exchange of information between professionals involved in the processes of design, production, and assembly of products, in the scope of scenography. This mediation tool was developed using Web AR platforms, compatible with native libraries (ARCore and ARKit) to ensure, first, compatibility with commonly used devices that workers or businesses can access, and second, to leverage hybrid tracking techniques that combine vision and sensors to improve the reliability of augmented reality viewing. The proposed solution adopts multiple tracking and navigation techniques in order to expand Space Skills components to provide greater exploratory freedom to users. The research process took place in light of the Design Science Research Methodology and the DSR-Model, since it aimed to develop a solution to a practical problem, as well as to produce knowledge from this process. Field experiments were conducted in two real companies, with end users on their respective mobile devices, in order to evaluate usability and behavioral intent, through the Acceptance, Intent, and Use of Technology questionnaires and perceived mental workload, NASA-TLX. The experimental results show that the adoption of this tool reduces the cognitive load in the process of reading technical drawings and project understanding. In general, its usability and intent to use provided significant levels of satisfaction, being positively accepted by all participants involved in the study.

Evaluating a cutting-edge augmented reality-supported navigation system for spinal instrumentation

ObjectiveDorsal instrumentation using pedicle screws is a standard treatment for multiple spinal pathologies, such as trauma, infection, or degenerative indications. Intraoperative three-dimensional (3D) imaging and navigated pedicle screw placement are used at multiple centers. For the present study, we evaluated a new navigation system enabling augmented reality (AR)-supported pedicle screw placement while integrating navigation cameras into the reference array and drill guide. The present study aimed to evaluate its clinical application regarding safety, efficacy, and accuracy.MethodsA total of 20 patients were operated on between 06/2021 and 01/2022 using the new technique for intraoperative navigation. Intraoperative data with a focus on accuracy and patient safety, including patient outcome, were analyzed. The accuracy of pedicle screw placement was evaluated by intraoperative CT imaging.ResultsA median of 8 (4–18) pedicle screws were placed in each case. Percutaneous instrumentation was performed in 14 patients (70%). The duration of pedicle screw placement (duration scan–scan) was 56 ± 26 (30–107) min. Intraoperative screw revision was necessary for 3 of 180 pedicle screws (1.7%). Intraoperatively, no major complications occurred—one case of delay due to software issues and one case of difficult screw placement were reported.ConclusionThe current study's results could confirm the use of the present AR-supported system for navigated pedicle screw placement for dorsal instrumentation in clinical routine. It provides a reliable and safe tool for 3D imaging-based pedicle screw placement, only requires a minimal intraoperative setup, and provides new opportunities by integrating AR.

Simultaneous localization and mapping architecture for small bodies and space exploration

The development of autonomous robotic platforms for space applications such as satellites, robotic manipulators and rovers has driven the need for reliable control and navigation techniques. Simultaneous Localization and Mapping (SLAM) algorithms can be employed to determine the position and orientation of robotic platforms while generating a map of an unknown hostile environment. This article presents the successful integration of ORB-SLAM2, a localization algorithm, with Voxblox, an accurate three-dimensional mapping package. This integration aims to establish a pathway for occupancy maps to be generated from feature detection algorithms. Furthermore, virtual reality is presented as an innovative solution for testing the performance of this algorithm integration in a space environment. Providing a novel simulation environment with an opportunity to diversify applications. The effectiveness of this integration and SLAM accuracy was compared to a truth model extracted from the virtual reality environment. The accuracy is dependent on the number of observed and matched features in a given frame and are intrinsic characteristic of features in the environment. The robustness of the integration is also examined through the implementation of sensor inputs in the form of stereo and RGB-D cameras. The algorithms’ integration and embedding into virtual reality allows for further developments of SLAM algorithms, to improve accuracy and robustness for autonomous navigation in any virtual environment, and extend robotic simulations and visualizations.

Abstract 133: Safe Guiding Catheter Navigation in Carotid Artery Stenting for Low‐positioned Common Carotid Lesions: “No‐touching” Technique

Introduction In carotid artery stenting (CAS), a guiding catheter (GC) placement to the appropriate position is the first step of the successful procedure. In normal settings, GC is navigated along with stable support of guidewire and inner‐catheter which are sent distally to external carotid artery. In cases of low‐positioned common carotid artery (CCA) lesions, however, safe GC placement without touching lesions is often difficult. Herein, we report the technique of safe GC navigation of “no‐touching” to the low‐position CCA plaque using Newton‐shaped stiff inner‐catheter. Methods We reviewed CAS procedures with low‐positioned CCA lesions using “no‐touching” technique: a balloon guiding catheter (BGC) was coaxially advanced in combination with 4‐French Newton‐shaped stiff inner‐catheter (Newton‐T®, Medikit, Tokyo, Japan). With its advantage of shape and stiffness buffering the kickback force with support of lesser curvature of aortic arch, BGCs were navigated to the appropriate position without touching to the plaques. Results The technique were applied in 5 cases (age: 73‐85 years old, 4 males, 4 left‐sided lesions) among the 37 consequent CAS cases. GC fixation by GooseNeck snare was used concurrently in 2 cases. BGCs were successfully navigated without touching plaques in all cases. CAS procedures were subsequently undergone and no complication was observed. Conclusion GC navigation using “no‐touching” technique with Newton‐T catheter was safe and useful in CAS procedures for low‐positioned CCA lesions.