Time-of-flight LiDAR scenario of road in real time and provide high quality 3-D point cloud with reliable ranging information to assist autonomous driving. In general, limited by speed of light and point cloud density, there is a tradeoff between detection range and the angular resolution. Another challenge is the difficulty to detect weak signals reflected from ultra-long distance targets. Increasing transmission laser power is hard to be a proper solution due to eye safety. In this paper, we demonstrate feasibility of detecting targets at ultra-long distance using a time-of-flight LiDAR with decent point density. At the meanwhile, the transmission laser power at wavelength of 1550 nm is well within eye safety standards. Results show that pedestrian can be detected in a range of 500 m, small vehicle is detected at 900 m with framerate of five and 1000 m with framerate of two. Truck is detectable at a distance up to 1300 m.
Currently, post-therapy evaluation of colorectal cancer relies on functional MRI, which does not possess resolution and sensitivity well-suited for the task. Endorectal photoacoustic microscopy offers blood contrast and much higher resolution in imaging residual tumor vasculature. Correlational acoustic resolution photoacoustic doppler flowmetry with amplitude dependent masking was implemented, validated with simulations and phantom experiments, and put into use on colorectal patient scanning data. Doppler velocity map demonstrated potential in highlighting flow in the photoacoustic signal region while removing stationary absorber signals, showing vascular density and distribution in agreement with current understanding of colorectal cancer pathology.
Rectal adenocarcinoma is a common cancer in the United States. Current standard of care techniques (colonoscopy and MRI) have notable drawbacks and surgeons have aggressively put most patients into surgical intervention. Here we have developed a new handheld co-registered ultrasound and acoustic-resolution photoacoustic endoscope (AR-PAE) to evaluate rectal cancer in vivo. The PAE - convolutional neuron network (PAE-CNN) models were trained, validated, and tested. Hyperparameters of PAE-CNN including convolutional kernel size, max pooling kernel size, convolution layers and fully connected layers which connect to amount of imaging information preserved were carefully tuned to optimize classification performance.
Rectal adenocarcinoma is a common cancer in the United States. Current standard of care techniques (colonoscopy and MRI) have notable drawbacks and surgeons have aggressively put most patients into surgical intervention. Developing an efficient and sensitive method to evaluate rectal cancer is urgently needed. Here we have developed a new handheld co-registered ultrasound and acoustic-resolution photoacoustic endoscope (AR-PAE) to evaluate human rectal cancer in vivo. Normal rectal ultrasound images revealed typical layered structure, while photoacoustic images resolved rich vascular supply of submucosa. Our pilot patient data suggest that AR-PAE is effective to distinguish rectal cancer from normal rectum.
Surgery for rectal cancer is associated with significant side effects including wound infections, incontinence, sexual and bladder dysfunction, and long-term ostomies. Though studies have shown that patients who completely respond to preoperative treatment can safely avoid surgery, nonoperative options remain limited by the poor performance of MRI and endorectal ultrasound after initial therapy. Therefore, new imaging modalities are needed to improve posttreatment tumor assessment and enable the widespread adoption of nonoperative management in rectal cancer. An acoustic resolution photoacoustic microscope (AR-PAM) was constructed with high frequency ultrasonic transducer and near infrared laser. We performed initial phantom, and then imaged ex vivo human colorectal specimens to evaluate different AR-PAM characteristics in each tissue type (normal, untreated tumor, and treated tumor). Our data suggest that photoacoustic imaging can differentiate the distorted vasculature of rectal tumors from normal vascular patterns. However, the vascular distribution of rectal tissue in pathological complete responders showed similar distribution as the normal colorectal tissue; mucosa, submucosa and muscle layer are clearly presented in ultrasound images, while photoacoustic images have revealed that most vasculatures distribute in submucosa. Encouraged by these initial results, we are developed a high-speed scanning (1 second for 20mm B-scan) AR-PAM with laser pulse repetition rate of 1kHz for large field 3D imaging. Lateral resolution of 65μm, axial resolution of 45μm, and 8mm tissue imaging depth can be achieved.
Colorectal cancer is the second leading cause of cancer death in the United States. According to American Cancer society, the overall lifetime risk of developing colorectal cancer is about 4.7% for men and 4.4% for women. We have developed a rigid, endoscopic photoacoustic microscopy (PAM) probe for imaging of in vivo human colorectal cancers. In order to accommodate colon sections with different size (typically from 50 to 70mm), our 10mm diameter rigid probe uses an off-optical-axis, external mechanical scanning mechanism with a speed of 35deg/s instead of an on-optical-axis, internal mechanical scan mechanism. 532-nm pulsed laser light enters the ridged probe through a photonic crystal single mode fiber before it is collimated and refocused by a water-immersed objective lens onto the colon surface. A focused ultrasound ring transducer (40.5 MHz, 6.5mm focal length) receives photoacoustic signal from chromophores excited by laser beam. Imaging system performance specifications including resolution (6μm) and signal-to-noise ratio are quantified and verified from phantom imaging tests. Ex vivo human colon samples are studied to reveal microscopic features of normal colon, benign polyps, adenocarcinoma and cancer.
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