Using temporal ultrasound data in a fusion prostate biopsy study, we achieved a high classification accuracy specifically for moderately scored mp-MRI targets. These targets are clinically common and contribute to the high false-positive rates associated with mp-MRI for prostate cancer detection. Temporal ultrasound data combined with mp-MRI have the potential to reduce the number of unnecessary biopsies in fusion biopsy settings.
6D pose estimation of textureless shiny objects has become an essential problem in many robotic applications. Many pose estimators require high-quality depth data, often measured by structured light cameras. However, when objects have shiny surfaces (e.g., metal parts), these cameras fail to sense complete depths from a single viewpoint due to the specular reflection, resulting in a significant drop in the final pose accuracy. To mitigate this issue, we present a complete active vision framework for 6D object pose refinement and next-bestview prediction. Specifically, we first develop an optimizationbased pose refinement module for the structured light camera. Our system then selects the next best camera viewpoint to collect depth measurements by minimizing the predicted uncertainty of the object pose. Compared to previous approaches, we additionally predict measurement uncertainties of future viewpoints by online rendering, which significantly improves the next-best-view prediction performance. We test our approach on the challenging real-world ROBI dataset. The results demonstrate that our pose refinement method outperforms the traditional ICP-based approach when given the same input depth data, and our next-best-view strategy can achieve high object pose accuracy with significantly fewer viewpoints than the heuristic-based policies.
Background: Meningitis is the most common intracranial complication of sinusitis. Objective: Determine the frequency of sinusitis using CT scans in children with documented meningitis. Methods and materials: A prospective, cross sectional study was done in pediatric infectious ward of Rasul Hospital in Tehran, Iran during 2010-2011. In this study 65 cases with meningitis were evaluated for presence of sinusitis (according to symptoms, criteria and paranasal CT scan). Results: CSF obtained in 112 cases. Cases with meningitis aged 1 month-16 years old with a mean of 4.2 years. Definite bacterial meningitis was the final diagnosis in 40/112 patients (35.7%; missing=5). Second step: Paranasal sinus CT scan had been performed in 65 cases with final diagnosis of meningitis. Cases were between 1 month to 16 years old (mean age of 4.2 y). 51% of the patients were male and 49% were female. Bacterial meningitis was diagnosed in 55.3% (36/65) and aseptic meningitis in 44.7% (29/65). Sinuses were reported to be undeveloped in 7.6% (n=5) of younger than 4 months old cases. Sinusitis was diagnosed in 30.7% (20/65) of all cases with meningitis; 3.4% (1/29) in those with aseptic meningitis and 52% (19/36) in those with bacterial meningitis which shows significant difference between the 2 groups (P<0.05). The involved sinuses included: pan sinusitis with 15% (3/20) case. Maxillary sinusitis the most common type observed (16/20); on the next places comes; sphenoid sinusiti (7/20); ethmoeid sinusitis (4/20) and finally isolated frontal sinusitis was seen in 0% of cases. Chronic type of sinusitis was reported in 50% (n=10) of all cases. Conclusion: The prevalence of sinusitis in documented cases of meningitis (septic & aseptic meningitis) was 31%, and was more common (25%) in bacterial meningitis. Meningeal manifestations (e.g. meningeal signs and symptoms; or CSF changes) might be due to bacterial sinusitis. Most cases of meningitis in children are accompanied with sinusitis. Differentiation between the two sources and definition of the initial site of infection is always problematic. Appropriate bacterial sinusitis treatment is needed to prevent meningitis. We recommend sinus tract to be evaluated in every meningitis patient (septic or aseptic). Furthermore, adequate treatment in chronic sinusitis would help prevent readmission.
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