A new method is presented for automatic prostate boundary detection in ultrasound images taken transurethrally or transrectally. This is one of the stages in the implementation of a robotic procedure for prostate surgery performed by a robot known as the robot for urology (UROBOT). Unlike most edge detection methods, which detect object edges by means of either a spatial filter (such as Sobel, Laplacian or something of that nature) or a texture descriptor (local signal-to-noise ratio, joint probability density function etc.), this new approach employs a technique called radial bas-relief (RBR) to outline the prostate boundary area automatically. The results show that the RBR method works well in the detection of the prostate boundary in ultrasound images. It can also be useful for boundary detection problems in medical images where the object boundary is hard to detect using traditional edge detection algorithms, such as ultrasound of the uterus and kidney.

Adhesive flip chip interconnect has been recognized as a promising substitute for solder interconnection due to its finepitch, lead-free, and low-temperature processing capabilities. As adhesives are made of polymers, moisture absorption by the polymeric resin remains as one of the principal contributors to adhesive joint failure mechanisms. In this research, the reliability performance of the adhesive flip chip in the pressure cooker test and moisture sensitivity test conditions was investigated. The failure modes were found to be interfacial delamination and bump/pad opening which may eventually lead to total loss of electrical contact. Different sizes of bump/pad opening in the interconnections were discussed in the context of the significance of mismatch in coefficient of moisture expansion (CME) between adhesive and other components in the package, which induces a hygroscopic swelling stress. The effect of moisture diffusion in the package and the CME mismatch were also evaluated from the standpoint of finite element modeling. In this study, it is concluded that hygroscopic swelling assisted by loss of adhesion strength upon moisture absorption is responsible for the moisture-induced failures in these adhesive flip chip interconnects.

In the applications of parallel manipulators, kinematic calibration is required to eliminate the errors resulting from the manufacturing and assembly of both base and tools. In this paper, a calibration method of base and tool transformation is developed by virtue of optical position sensors. An error model for calibration is constructed using differential geometry method. The pose error is obtained based on pose measurement results of OPTOTRAK 3020, a commercial 3D position measurement system. An iterative least squares procedure is used to identify the error parameters in the base and tool transformations. Simulation and experiment results are presented to demonstrate the effectiveness of the method for transformation matrices calibration. © 2003 Wiley Periodicals, Inc.

In a computerised ultrasound image guidance for automated prostatectomy system, it is necessary to identify a smooth, continuous contour for the prostate (boundary) from the ultrasound image. The radial bas-relief (RBR) method, which has been reported previously, can extract a skeletonised image from an ultrasound image automatically. After this process the prostate boundary is clearly revealed. However, analysis of the image is far from complete, as there are many spurious branches that create too much ambiguity for the system to define the actual boundary. There are also sections missing from the prostate boundary. Therefore further post-processing is required to describe and define the prostate boundary. In the paper, the harmonics method is used to describe the prostate boundary. The harmonics method uses Fourier information for noise removal and encodes a smooth boundary. The results of using the harmonics method after application of the RBR method on ultrasound images are presented. Factors that affect the performance are also highlighted and discussed.

A longer operating time and steeper learning curve in mastering the techniques for transurethral laser resection of the prostate are the main problems faced by surgeons in addition to the existing ones in standard transurethral resection of the prostate (TURP). However, these disadvantages can be alleviated with the introduction of a treatment procedure designed and developed based on an integrated system of computer, robotics and laser technology. In vitro experiments were carried out to determine variables affecting the vaporization and coagulation lesions, in order to study the effectiveness and feasibility of robotics for this procedure. Human cadaveric prostates and fresh tauted chicken breast tissues were irradiated with different parameters using the LaserTrode lightguide in contact with the tissue. The effects of irrigant flow rate, fiber/tissue angle of inclination, number of passes, direction, speed and power of lase on the volume of tissue vaporized and coagulated, were assessed. The final phase of the experiments includes executing the robotic motion plan for the laser resection procedure on the human cadaveric prostate tissue embedded in an anatomically alike prostate phantom. It was concluded from our study that power and speed of lase are the most significant parameters influencing the volume of the vaporized and coagulated lesion. Comparison of removal rate using the new treatment procedure of robotic laser resection of the prostate with TURP and HoLRP evinced equivalent results.