Disclosure of Invention
The present application has been made in view of the above-mentioned technical problems occurring in the prior art. The application aims to provide a method and a system for calibrating a detection component for positioning, which can calibrate the placement positions of a head die, a positioning device and the like before formally collecting the detection points on the head die, so that when formally collecting the detection points on the head die based on the calibrated detection component, whether the detection points accord with the criterion of bilateral symmetry or not can be judged in real time according to the coordinate information of the directly collected detection points, and the positioning efficiency is improved.
According to a first aspect of the present application, there is provided a method of calibrating a probe assembly for positioning, the probe assembly including a head mold and a positioning device composed of at least a probe member, a movement sensor, the method comprising: placing the head die on the same plane with the detection piece in a mode of facing the detection piece, so that the positioning device takes the center of the detection piece as an origin to provide three-dimensional coordinates; aligning a sagittal axis of the head mold with a first axis of the three-dimensional coordinate, wherein the first axis is an X axis or a Y axis in a plane rectangular coordinate system; selecting at least one group of two detection points based on sagittal axis symmetry on the head model, and acquiring detection coordinate data based on three-dimensional coordinates, which are determined by each detection point through the positioning device; judging whether coordinate values of two detection points in the same group on a crown axis of the head model are opposite numbers or not; and according to the judging result, adjusting the position of the head die so that coordinate values of two detection points in the same group on the crown axis of the head die are opposite numbers.
According to a second aspect of the present application, there is provided a method of positioning a headgear of a near-infrared brain function imaging device, the method comprising positioning a probe position or a mounting position of a probe on the headgear of the near-infrared brain function imaging device based on positions of respective components in a probe assembly determined by the method of calibrating the probe assembly for positioning according to the respective embodiments of the present application, wherein the headgear is fitted on the head mold.
According to a third aspect of the present application, there is provided a system for calibrating a probe assembly for positioning, the system comprising a probe assembly and a processor, the probe assembly comprising a head mould and a positioning device consisting of at least a probe, a movement sensor, wherein the positioning device is configured to: providing three-dimensional coordinates with the center of the probe as an origin, wherein a head mold is arranged on the same plane with the probe in a manner of facing the probe, and a sagittal axis of the head mold is aligned with a first axis of the three-dimensional coordinates, wherein the first axis is an X axis or a Y axis in a plane rectangular coordinate system; the processor is configured to: acquiring at least one group of two detection points which are selected on the head model and are based on sagittal axis symmetry, and determining detection coordinate data based on three-dimensional coordinates through the positioning device; based on the detection coordinate data, judging whether coordinate values of two detection points in the same group on a crown axis of the head model are opposite numbers or not; and according to the judging result, adjusting the position of the head die so that coordinate values of two detection points in the same group on the crown axis of the head die are opposite numbers.
According to a fourth aspect of the present application, there is provided a system for positioning a headgear of a near infrared brain function imaging device, the system configured to: the system for calibrating the detection component for positioning is used for positioning the probe position or the mounting position of the probe on the head cap of the near-infrared brain function imaging device, wherein the head cap is assembled on the head die.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
The method for calibrating the detection component for positioning provided by the embodiment of the application can calibrate the detection component and the position of the head mould before formally collecting the three-dimensional coordinate information of the detection point on the head mould, and comprises the steps of arranging the head mould on the same plane with the detection component in a mode of facing the detection component, so that the positioning device provides three-dimensional coordinates by taking the center of the detection component as an origin, aligning the sagittal axis of the head mould with the first axis of the three-dimensional coordinates, and directly judging whether the position of the head mould needs to be adjusted by directly checking whether the coordinate values of the coronal axis of the head mould are opposite to each other or not by directly checking two detection points based on sagittal axis symmetry on the head mould, so as to realize the calibration of the detection component. Therefore, the position of the head die can be conveniently adjusted in real time according to the coordinate value of the detection point on the crown axis of the head die, for example, the position of the head die is adjusted under the condition that the coordinate values on the crown axis of the head die are not the opposite numbers.
Based on the method provided by the embodiment of the application, the detection assembly for positioning can be calibrated before the detection points on the head mould are formally collected, so that the complex flow caused by the fact that the problems are examined one by one in the formal collection process is avoided. In the process of calibrating the detection assembly, the position of the head model can be adjusted in real time directly according to the condition of observing the coordinate value of the detection point on the coronary axis. In addition, when the detection points on the head model are formally acquired based on the calibrated detection assembly, whether the detection points meet the criterion of bilateral symmetry can be judged directly by reading the displayed coordinate information of the directly acquired detection points, and the coordinate information of the directly acquired detection points is not required to be imported into three-dimensional positioning analysis software to be registered with the three-dimensional brain model. Therefore, the steps of repeated acquisition, registration and the like can be avoided, and the efficiency of determining the coordinate information of the detection point on the head model can be improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Detailed Description
The present application will be described in detail below with reference to the drawings and detailed description to enable those skilled in the art to better understand the technical scheme of the present application. Embodiments of the present application will be described in further detail below with reference to the drawings and specific examples, but not by way of limitation.
The terms "first," "second," and the like, as used herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. As used herein, the word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and that no other elements are excluded from the possible coverage as well. In the present application, the arrows shown in the figures of the respective steps are merely examples of the execution sequence, and the technical solution of the present application is not limited to the execution sequence described in the embodiments, and the respective steps in the execution sequence may be performed in combination, may be performed in decomposition, and may be exchanged as long as the logical relationship of the execution contents is not affected.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
FIG. 1 (a) shows a flow chart of a method of calibrating a probe assembly for positioning according to an embodiment of the application. The detection assembly comprises a head die and a positioning device at least comprising a detection piece and a moving sensor, and the position of each part in the detection assembly is calibrated, so that the accurate positioning of the position of a probe or the mounting position of the probe on a head cap assembled based on the head die is facilitated. The detection assembly comprises a head die and a positioning device, wherein the head die can be used alone or used for assembling a head cap, and when the detection assembly is used in the technical field of near infrared brain function imaging, the probe position on the head cap or the mounting position of the probe can be further positioned. It is to be understood that the detecting unit is used for acquiring the position information of the brain corresponding to the parts having the corresponding position relation with the head mold, such as the physiological signal detecting part, the disease treating part, etc., and the application is not limited in particular. For example, the method is applied to the technical field of near infrared brain function imaging, can be used for acquiring the position information of a brain region corresponding to the position of a probe worn on a head cap or the installation position of the probe, and after near infrared signals are acquired, a user can determine the brain function change condition of the corresponding brain region based on the near infrared signals.
In some embodiments, the head model may be a model imitating the real head of a human body, or may be the real head of a current subject, which is not particularly limited in the present application. The present application is described with respect to a model of a human body, which is a model of a human body, but the present application is not limited thereto.
The positioning device further comprises a magnetic source, wherein the magnetic source is used for generating a magnetic field, and the magnetic source is matched with the mobile sensor to determine the position of the detection piece in the three-dimensional physical space and provide three-dimensional coordinates. Specifically, the positioning device may be a 3D positioner applied to the near infrared brain function imaging field, which is taken as an example only and does not constitute a limitation to a specific scheme.
Specifically, in step S101, the head mold is placed on the same plane as the probe in such a manner as to face the probe, so that the positioning device provides three-dimensional coordinates with the center of the probe as the origin. In particular, the environment in which the probe assembly is located is checked, for example, to ensure that there is no metal product around the probe assembly to avoid the metal product having a negative impact on calibration. The detection piece is fixed on a flat tabletop or other table tops, the head die is arranged on the tabletop, the nose tip of the head die faces and aligns with the center of the detection piece, so that the center of the head die is aligned with the center of the detection piece, the center of the detection piece is equivalent to the origin of three-dimensional coordinates, the positioning device provides the three-dimensional coordinates by taking the center of the detection piece as the origin, and therefore, the acquired coordinate data are all based on the same origin, errors are reduced, and the accuracy of position detection is improved.
In step S102, a sagittal axis of the head mold is aligned with a first axis of the three-dimensional coordinate, the first axis being an X-axis or a Y-axis in a planar rectangular coordinate system. Specifically, as shown in fig. 1 (b), the first axis in the probe 107 is the X-axis, and the position of the head mold 106 is adjusted so that the sagittal axis of the head mold 106 is aligned with the X-axis in the three-dimensional coordinate system. When the sagittal axis of the head phantom 106 is aligned with the X-axis in the three-dimensional coordinate system, the coordinate value of the detection point on the sagittal axis on the head phantom 106 is 0 on the Y-axis, and the coordinate values of the detection points on the head phantom 106 on the basis of sagittal axis symmetry are opposite numbers.
In step S103, at least one set of two detection points based on sagittal axis symmetry is selected on the head model, and detection coordinate data of three-dimensional coordinates determined by each detection point via the positioning device is obtained. In some embodiments, the movement sensor may be a stylus. For example, two detection points based on sagittal axis symmetry are selected on the head model, and the detection pen is placed on the selected detection points and is perpendicular to the desktop as much as possible so as to collect detection coordinate data of the detection points. In the process of determining the position of the detection point by using the detection pen, the positioning device determines detection coordinate data based on three-dimensional coordinates of the detection point by taking the center of the detection piece as an origin. In some embodiments, to facilitate a user in determining the location of each probe point based on the probe coordinate data, the acquired probe coordinate data may be displayed on a display interface.
As in fig. 1 (b), in the case where the first axis is the X axis, the user can determine the case of coordinate values of the two detection points in the X, Y, and Z axis directions by looking at the detection coordinate data. For example, in the case where the two detection points are selected based on sagittal axis symmetry of the head phantom 106, if the coordinate values of the two detection points in the X-axis and Z-axis directions are the same or similar, and the coordinate values in the Y-axis directions are opposite to each other, the position of the head phantom 106 can be considered to satisfy the requirement. At this time, a plurality of groups of detection points may be collected again, and further, it is observed whether the coordinate values of two detection points in the same group in the Y-axis direction are opposite to each other, so as to further verify whether the position of the head die 106 meets the requirement. That is, it is determined whether the coordinate values of the two probe points in the same group on the coronal axis of the head phantom are opposite to each other (step S104).
However, if the coordinate values of the two detection points in the same group in the Y-axis direction are not the opposite number or are greatly deviated, it is indicated that the position of the head die 106 at this time is not satisfactory, and the position of the head die 106 needs to be readjusted. Taking the coordinate values of the collected detection points directly displayed on the display interface as an example for explanation, the position of the head die 106 can be adjusted according to the difference of the coordinate values of the detection points in the Y-axis direction displayed on the display interface, after the position of the head die 106 is adjusted, the two detection points in the same group are clicked by using the probe pen, and whether the coordinate values in the Y-axis direction presented on the display interface are opposite or not is directly observed. That is, according to the result of the judgment, the position of the head die is adjusted so that the coordinate values of the two detection points in the same group on the coronal axis of the head die are opposite to each other (step S105).
In this embodiment, the arrows shown in the figures of the respective steps are merely examples of the execution sequence, and the technical solution of this embodiment is not limited to the execution sequence described in the embodiment, and the respective steps in the execution sequence may be performed in combination, may be performed in decomposition, and may be exchanged as long as the logical relationship of the execution contents is not affected.
The method provided by the embodiment of the application can judge whether the position of the head die needs to be adjusted or not by directly reading whether the coordinate values of the detection points on the crown axis of the head die are opposite to each other. And under the condition that the coordinate values of the detection points on the crown axis of the head die are not the opposite numbers, the position of the head die can be quickly adjusted, and the real-time adjustment of the position of the head die is realized. By calibrating the detection component, the three-dimensional coordinates can be provided by taking the center of the detection component as the origin, whether the detection points accord with the criterion of bilateral symmetry can be judged in real time according to the coordinate information of the detection points which are directly collected, the complex process of leading the coordinate information of the detection points into three-dimensional coordinate analysis software to be registered with a three-dimensional brain model and analyzing the coordinate information of the detection points is avoided, the steps of repeated collection, registration and the like can be avoided, and the efficiency of determining the coordinate information of the detection points on the head model can be improved.
In some embodiments of the application, aligning the sagittal axis of the head phantom with the first axis of the three-dimensional coordinate specifically comprises: setting visible light rays emitted by the light emitting device to be aligned with the center of the detecting piece and parallel to a first axis of the three-dimensional coordinate; and acquiring first coordinate data of a plurality of first test points acquired by the mobile sensor on the visible light, and aligning a sagittal axis of the head die with the visible light under the condition that coordinate values of the first test points on a second axis are in a first preset value range, wherein the second axis is an axis coplanar and perpendicular to the first axis on a horizontal plane. Specifically, as shown in fig. 2, the first axis is the X axis, and the second axis is the Y axis. For example, the probe 202 may be fixed on a flat table, and the light emitting device 203, the probe 202, and the head mold 201 are all on the same plane. The light emitting device 203 may be a laser pen, for example, when the light emitting device 203 is turned on, the light emitting device 203 emits a visible light, and the position of the light emitting device 203 may be adjusted to align the visible light with the center of the detecting member 202 and parallel to the X-axis of the three-dimensional coordinate.
Taking the mobile sensor as an example of a probe pen, after the visible light is aligned with the center of the detecting member 202 and parallel to the X-axis, the probe pen is used to perpendicularly to the desktop, and first coordinate data of a plurality of first test points are collected on the visible light, where the first coordinate data can be directly displayed on the display interface. The user may directly view the first coordinate data presented on the display interface, which may include coordinate values of the respective first test points in the X-axis, Y-axis, and Z-axis.
Assuming that the coordinate value of the first test point on the Y axis is within the first preset value range, it is indicated that the visible light is aligned with the X axis, and at this time, the position of the head model 201 is adjusted to align the visible light with the sagittal axis of the head model 201. For example, the visible light may be passed through the eyebrow, nose tip, etc. of the head mold 201, or the position of the sagittal axis may be marked on the head mold 201 in advance, and the head mold 201 may be adjusted to align the sagittal axis with the visible light.
This is merely taken as an example and does not limit the specific embodiments.
For example, the first preset value range may be 0-0.005, and in an ideal state, in a case that the visible light is completely aligned with the X-axis, the coordinate value of the first test point on the Y-axis is 0.
In some other embodiments of the present application, after acquiring the first coordinate data of the first test points acquired by the mobile sensor on the visible light, the method further includes: and based on the first coordinate data, under the condition that the coordinate value of at least one first test point on the second axis exceeds a first preset value range, adjusting the position of the visible light ray so that the coordinate value of each first test point on the second axis is in the first preset value range.
Continuing with the illustration of FIG. 2, if the coordinate value of a certain first test point on the Y-axis exceeds the first preset value range, it is indicated that the visible light is not aligned with the X-axis, and a deviation exists, and the position of the visible light needs to be further adjusted. For example, the position of the light emitting device 203 may be adjusted such that the visible light moves left and right until the visible light is aligned with the X-axis. And after the position of the visible light is adjusted each time, the first coordinate data of the first test points on the visible light can be collected again, and the coordinate values of the first test points on the Y axis are observed until the coordinate values of the first test points on the Y axis are within a first preset value range, so that the visible light can be considered to be aligned with the X axis, the position of the visible light is not adjusted any more, but the position of the head mold 201 is adjusted, the head mold 201 faces the detecting element 202, and the sagittal axis of the head mold 201 is aligned with the visible light. In this manner, with the corrected visible light as a reference, the sagittal axis of the head mold 201 can be accurately aligned with the first axis of the probe 202.
The sagittal axis of the head mold can be aligned with the first axis of the detecting member rapidly and accurately by utilizing the visible light rays emitted by the light emitting device, so that the position of the detecting point on the head mold can be calibrated directly.
In still other embodiments of the present application, the method further comprises: acquiring second coordinate data of a plurality of second test points on a plane where the head die and the detection piece are located; judging whether the deviation of the coordinate values of each second test point on the Z axis is in a second preset value range or not based on the second coordinate data; and under the condition that the deviation of the coordinate values of each second test point on the Z axis is in a second preset value range, determining that the head die and the detection piece are arranged on the same plane. For example, the second preset value range may be 0-0.005, where the coordinate values of the second test points in the Z-axis direction are the same or close to each other when the head mold and the probe are on the same plane, that is, the deviation of the coordinate values of the second test points in the Z-axis direction is small, and ideally, where the head mold and the probe are on the same plane, the coordinate values of the second test points in the Z-axis direction are the same.
In particular, it is desirable to ensure that the entire probe assembly is in an environment free of other metal interference and that the various components lie in the same plane to obtain accurate coordinate data. For example, after the head mold and the probe are placed on the desktop, a plurality of second test points are selected on the desktop, and second coordinate data of each second test point are collected by using the probe pen. Accordingly, each second coordinate data can be presented on the display interface, so that the user can intuitively read the coordinate value of each second test point in the Z-axis direction. If the coordinate values of the second test points in the Z-axis direction are the same or close, the table top is smooth enough, the parts are in the same plane, and if the coordinate values of the second test points in the Z-axis direction are large, the table top is uneven, or other interference exists, the peripheral objects need to be checked and cleaned, or the table top is replaced until the adjusted parts are in the same plane.
In still other embodiments of the present application, there is provided a method of positioning a headgear of a near infrared brain function imaging device, the method comprising: the position of each component in the detection assembly determined by the method for calibrating the detection assembly for positioning according to the various embodiments of the application is used for positioning the probe position or the mounting position of the probe on the head cap of the near infrared brain function imaging device, wherein the head cap is assembled on the head die. The headgear may be applied to a near infrared data collection device, for example, the headgear may have a plurality of probes for transmitting near infrared light and/or receiving near infrared light. Wherein each of the plurality of probes may be configured as either a transmitting probe or a receiving probe, each pair of paired probes may form a probe channel. In some embodiments, one transmitting probe may correspond to multiple receiving probes, or vice versa, one receiving probe corresponds to multiple transmitting probes.
Specifically, in the method for calibrating the detection assembly for positioning, for example, through adjusting the position of the head mold, the positions of all the components in the detection assembly are determined under the condition that two detection points of the same group based on sagittal axis symmetry of the head mold and coordinate axes on a coronal axis are opposite. At this time, the head cap may be assembled on the head mold, and coordinate data of the probe position or the mounting position of the probe on the head cap may be collected by a movement sensor such as a probe pen to position the probe position or the mounting position of the probe on the head mold.
In some embodiments of the application, detection coordinate data of two detection points on the headgear based on sagittal axis symmetry of the headgear are acquired; based on the detection coordinate data, judging whether coordinate values of the two detection points on a second axis are opposite numbers or not; and under the condition that the coordinate values of the two detection points on the second axis are not the opposite numbers, adjusting the position of the head cap relative to the head die. Specifically, in the process of positioning the probe position on the head mold or the mounting position of the probe, the same strategy as that of calibrating the detection assembly for positioning can be adopted, namely, two detection points based on sagittal axis symmetry on the head cap are selected, whether coordinate values of the two detection points on the coronal axis are opposite numbers or not is checked, if the coordinate values are opposite numbers, the head cap position meets the requirement, and if the coordinate values are not opposite numbers, the head cap is adjusted.
In some embodiments of the present application, in a case where it is determined that the coordinate values of the two detection points on the second axis are opposite to each other, and the deviation of the coordinate values of the two detection points on the first axis is greater than a first threshold, and/or the deviation of the coordinate values on the Z axis is greater than a Z axis threshold, on the display interface, a prompt message prompting the user to manually check the head model and/or the head cap is presented. For example, based on two detection points selected on the sagittal axis, the coordinate values of the two detection points on the second axis are opposite to each other, which indicates that the sagittal axis of the head mold is aligned with the first axis of the detection member, but abnormal protrusions or other damages occur on the head mold or the head cap, so that the head mold or the head cap has problems of uneven height or twisting, or the head cap is not worn, the probe mounting position is wrong, and the like, and at this time, the deviation of the coordinate value on the first axis or the deviation on the Z axis may be larger. On the display interface, if such abnormal conditions are found, prompt information such as "please check manually", "send for check line" and the like is presented. After seeing the prompt information, the user realizes that the current detection component, the head cap or the related detection equipment may have abnormality, and needs to check. Therefore, the user can find out the problems in the positioning process in time by the aid of the prompt information of manual check when abnormal data are presented on the display interface, and the accuracy of positioning the headgear is guaranteed.
In some embodiments of the present application, the positions of the detection points are confirmed when it is determined that the coordinate values of the two detection points on the second axis are opposite to each other, and the deviation of the coordinate values of the two detection points on the first axis is smaller than a first threshold value, and/or the deviation of the coordinate values on the Z axis is smaller than a Z axis threshold value. That is, after the position of the head mold has been calibrated and the head cap is worn on the head mold, the coordinate values of the two detection points on the second axis based on the sagittal axis selected on the head cap are mutually opposite in number, and the deviation of the coordinate values on the first axis is smaller than the first threshold value, and/or the deviation of the coordinate values on the Z axis is smaller than the Z-axis threshold value, so that the position of the detection point can be determined.
In some embodiments of the present application, a system for calibrating a probe assembly for positioning is provided, as shown in FIG. 3, comprising a probe assembly including a head mold and a positioning device consisting of at least a probe, a motion sensor, and a processor 301. The system may further comprise a display 302, the display 302 being adapted to provide a display interface for presenting data related to the coordinate data or the like. Wherein the positioning device is configured to: providing three-dimensional coordinates with the center of the probe as an origin, wherein a head mold is arranged on the same plane with the probe in a manner of facing the probe, and a sagittal axis of the head mold is aligned with a first axis of the three-dimensional coordinates, wherein the first axis is an X axis or a Y axis in a plane rectangular coordinate system; the processor 301 is configured to: acquiring detection coordinate data of at least one group of two detection points which are selected on the head model and are based on sagittal axis symmetry, wherein the detection coordinate data of three-dimensional coordinates are determined by the positioning device; based on the detection coordinate data, judging whether coordinate values of two detection points in the same group on a crown axis of the head model are opposite numbers or not; and according to the judging result, adjusting the position of the head die so that coordinate values of two detection points in the same group on the crown axis of the head die are opposite numbers.
Therefore, a user can judge whether the position of the head model needs to be adjusted in real time by directly observing whether the coordinate values on the coronal axis of the head model are opposite to each other or not based on the two detection points which are axisymmetric in sagittal axis on the head model. Therefore, the position of the head die can be conveniently adjusted in real time according to the observation result of the detection point on the crown axis of the head die, so as to calibrate the detection assembly for positioning.
In some embodiments of the present application, a system for positioning a headgear of a near infrared brain function imaging device is provided, the system configured to: the system for calibrating the detection component for positioning is used for positioning the probe position or the mounting position of the probe on the head cap of the near-infrared brain function imaging device, wherein the head cap is assembled on the head die. In this way, the efficiency and accuracy of positioning the headgear can be improved.
The processor may be a processing device including one or more general purpose processing devices, such as a microprocessor, central Processing Unit (CPU), graphics Processing Unit (GPU), or the like. More specifically, the processor may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor running other instruction sets, or a processor running a combination of instruction sets. The processor may also be one or more special purpose processing devices such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), a system on a chip (SoC), or the like.
Furthermore, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of the various embodiments across), adaptations or alterations as pertains to the present application. The elements in the claims are to be construed broadly based on the language employed in the claims and are not limited to examples described in the present specification or during the practice of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above detailed description, various features may be grouped together to streamline the application. This is not to be interpreted as an intention that the disclosed features not being claimed are essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with one another in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.