• Tunnel and Underground Space
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• v.34 no.1
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• pp.1-14
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• 2024

An image-reconstruction technology, involving the deployment of an unmanned mobility equipped with high-speed LiDAR (Light Detection And Ranging) has been proposed to reconstruct the shape of abandoned mine. Unmanned mobility operation is remarkably useful in abandoned mines fraught with operational difficulties including, but not limited to, obstacles, sludge, underwater and narrow tunnel with the diameter of 1.5 m or more. For cases of real abandoned mines, quadruped robots, quadcopter drones and underwater drones are respectively deployed on land, air, and water-filled sites. In addition to the advantage of scanning the abandoned mines with 2D solid-state lidar sensors, rotation of radiation at an inclination angle offers an increased efficiency for simultaneous reconstruction of mineshaft shapes and detecting obstacles. Sensor and robot posture were used for computing rotation matrices that helped compute geographical coordinates of the solid-state lidar data. Next, the quadruped robot scanned the actual site to reconstruct tunnel shape. Lastly, the optimal elements necessary to increase utility in actual fields were found and proposed.

• Investigative Magnetic Resonance Imaging
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• v.16 no.1
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• pp.67-75
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• 2012

Purpose : We studied enhanced method to view the vessels in the brain using Magnetic Resonance Angiography (MRA). Noticing that Maximum Intensity Projection (MIP) image is often used to evaluate the arteries of the neck and brain, we propose a new method for view brain vessels to stereo image in 3D space with more superior and more correct compared with conventional method. Materials and Methods: We use 3T Siemens Tim Trio MRI scanner with 4 channel head coil and get a 3D MRA brain data by fixing volunteers head and radiating Phase Contrast pulse sequence. MRA brain data is 3D rotated according to the view angle of each eyes. Optimal view angle (projection angle) is determined by the distance between eye and center of the data. Newly acquired MRA data are projected along with the projection line and display only the highest values. Each left and right view MIP image is integrated through anaglyph imaging method and optimal stereoscopic MIP image is acquired. Results: Result image shows that proposed method let enable to view MIP image at any direction of MRA data that is impossible to the conventional method. Moreover, considering disparity and distance from viewer to center of MRA data at spherical coordinates, we can get more realistic stereo image. In conclusion, we can get optimal stereoscopic images according to the position that viewers want to see and distance between viewer and MRA data. Conclusion: Proposed method overcome problems of conventional method that shows only specific projected image (z-axis projection) and give optimal depth information by converting mono MIP image to stereoscopic image considering viewers position. And can display any view of MRA data at spherical coordinates. If the optimization algorithm and parallel processing is applied, it may give useful medical information for diagnosis and treatment planning in real-time.

• Progress in Medical Physics
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• v.27 no.2
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• pp.86-92
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• 2016

An absorbed dose calculation method using a digital phantom is implemented in normal organs. This method cannot be employed for calculating the absorbed dose of tumor. In this study, we measure the S-value for calculating the absorbed dose of each organ and tumor. We inject a radioisotope into a torso phantom and perform Monte Carlo simulation based on the CT data. The torso phantom has lung, liver, spinal, cylinder, and tumor simulated using a spherical phantom. The radioactivity of the actual absorbed dose is measured using the injected dose of the radioisotope, which is Cu-64 73.85 MBq, and detected using a glass dosimeter in the torso phantom. To perform the Monte Carlo simulation, the information on each organ and tumor acquired using the PET/CT and CT data provides anatomical information. The anatomical information is offered above mean value and manually segmented for each organ and tumor. The residence time of the radioisotope in each organ and tumor is calculated using the time activity curve of Cu-64 radioactivity. The S-values of each organ and tumor are calculated based on the Monte Carlo simulation data using the spatial coordinate, voxel size, and density information. The absorbed dose is evaluated using that obtained through the Monte Carlo simulation and the S-value and the residence time in each organ and tumor. The absorbed dose in liver, tumor1, and tumor2 is 4.52E-02, 4.61E-02, and 5.98E-02 mGy/MBq, respectively. The difference in the absorbed dose measured using the glass dosimeter and that obtained through the Monte Carlo simulation data is within 12.3%. The result of this study is that the absorbed dose obtained using an image can evaluate each difference region and size of a region of interest.