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Micro-scale Precision Control of a Computer Assisted Transoral Laser Microsurgery System

DOI:10.1109/tmech.2020.2973381 期刊:IEEE/ASME Transactions on Mechatronics 出版年份:2020 更新时间:2025-09-23 15:19:57
摘要: The path opening is a ?lter that preserves bright regions in the image in which a path of a certain length L ?ts. A path is a (not necessarily straight) line de?ned by a speci?c adjacency relation. The most ef?cient implementation known scales as O(min(L, d, Q)N) with the length of the path, L, the maximum possible path length, d, the number of graylevels, Q, and the image size, N. An approximation exists (parsimonious path opening) that has an execution time independent of path length. This is achieved by preselecting paths, and applying 1D openings along these paths. However, the preselected paths can miss important structures, as described by its authors. Here, we propose a different approximation, in which we preselect paths using a grayvalue skeleton. The skeleton follows all ridges in the image, meaning that no important line structures will be missed. An H-minima transform simpli?es the image to reduce the number of branches in the skeleton. A graph-based version of the traditional path opening operates only on the pixels in the skeleton, yielding speedups up to one order of magnitude, depending on image size and ?lter parameters. The edges of the graph are weighted in order to minimize bias. Experiments show that the proposed algorithm scales linearly with image size, and that it is often slightly faster for longer paths than for shorter paths. The algorithm also yields the most accurate results— as compared with a number of path opening variants—when measuring length distributions.
作者: Teo Asplund,Cris L. Luengo Hendriks
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To propose a new approximation for path opening that uses a grayvalue skeleton to preselect paths, aiming to avoid missing important structures and to minimize bias in length measurements, while improving computational efficiency.

The upper skeleton path opening algorithm provides a significant speedup over traditional path opening algorithms while maintaining accuracy in length measurements. It compares favorably to other path opening variants in terms of bias and orientation dependency. The algorithm is particularly effective for large images and can be faster with increasing path length.

The algorithm is only applicable to 2D images, and an extension to 3D would require adaptation of adjacency graphs and edge weights. The algorithm may have problems finding long paths if the skeleton paths are too tortuous. The H-minima transform parameter h needs to be chosen carefully to retain all structures of interest.

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