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Velocity Estimation of Multiple Objects using Oculomotor System
Hideaki Takahashi,Teruo Yamaguchi,Hiroshi Harada 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In the previous research, we proposed an oculomotor system which expanded the limits of velocity measurement using spatiotemporal differentiation method. It was proved that the accurate optical flow was estimated at large object velocity by using this system. In this paper, we propose optical flow estimation method using oculomotor system where multiple objects on image move independently at large velocity. We suggest applying oculomotor system separately to regions of the same object motion. Using this approach, high accuracy of optical flow estimation can be obtained in case of multiple objects on image moving independently at a large velocity.
Ryota Sagami,Kenji Hayasaka,Hidefumi Nishikiori,Hideaki Harada,Yuji Amano 대한소화기내시경학회 2020 Clinical Endoscopy Vol.53 No.2
The bleeding complication risk of surgery or percutaneous transhepatic gallbladder drainage (PTGBD) may increase in patients withacute cholecystitis receiving antithrombotic therapy (ATT). Endoscopic gallbladder drainage (EGBD) may be recommended forsuch patients. English articles published between 1991 and 2018 in peer-reviewed journals that discuss cholecystectomy, PTGBD, andEGBD in patients with ATT or coagulopathy were reviewed to assess the safety of the procedures, especially in terms of the bleedingcomplication. There were 8 studies on cholecystectomy, 3 on PTGBD, and 1 on endoscopic transpapillary gallbladder drainage (ETGBD)in patients receiving ATT. With respect to EGBD, 28 studies on ETGBD (including 1 study already mentioned above) and 26 studies onendoscopic ultrasound-guided gallbladder drainage (EUS-GBD) were also analyzed. The overall bleeding complication rate in patientswith ATT who underwent cholecystectomy was significantly higher than that in patients without ATT (6.5% [23/354] vs. 1.2% [26/2,224],p<0.001). However, the bleeding risk of cholecystectomy and PTGBD in patients receiving ATT was controversial. The overall technicalsuccess, clinical success, and bleeding complication rates of ETGBD vs. EUS-GBD were 84% vs. 96% (p<0.001), 92% vs. 97% (p<0.001),and 0.65% vs. 2.1% (p=0.005), respectively. One patient treated with ETGBD experienced bleeding complication among 191 patientswith bleeding tendency. ETGBD may be an ideal drainage procedure for patients receiving ATT from the viewpoint of bleeding,although EUS-GBD is also effcacious.
Ryota Sagami,Kenji Hayasaka,Tetsuro Ujihara,Ryotaro Nakahara,Daisuke Murakami,Tomoyuki Iwaki,Satoshi Suehiro,Yasushi Katsuyama,Hideaki Harada,Yuji Amano 대한소화기내시경학회 2020 Clinical Endoscopy Vol.53 No.2
Background/Aims: Endoscopic transpapillary gallbladder drainage (ETGBD) is useful for the treatment of acute cholecystitis; however,the technique is diffcult to perform. When intraductal ultrasonography (IDUS) is combined with ETGBD, the orifice of the cystic ductin the common bile duct may be more easily detected in the cannulation procedure. The aim of this study was to evaluate the effcacy ofETGBD with IDUS compared with that of ETGBD alone. Methods: A total of 100 consecutive patients with acute cholecystitis requiring ETGBD were retrospectively recruited. The first 50consecutive patients were treated using ETGBD without IDUS, and the next 50 patients were treated using ETGBD with IDUS. Through propensity score matching analysis, we compared the clinical outcomes between the groups. The primary outcome was thetechnical success rate. Results: The technical success rate of ETGBD with IDUS was significantly higher than that of ETGBD without IDUS (92.0% vs. 76.0%, p=0.044). There was no significant difference in procedure length between the two groups (74.0 min vs. 66.7 min, p=0.310). Thecomplication rate of ETGBD with IDUS was significantly higher than that of ETGBD without IDUS (6.0% vs. 0%, p<0.001); however,only one case showed an IDUS technique-related complication (pancreatitis). Conclusions: The assistance of IDUS may be useful in ETGBD.