Disclosure of Invention
In view of the above, the present invention discloses an image acquisition system to solve the problem of image distortion from the source and reduce the dependency on the post image processing.
An image acquisition system comprises a rotary retraction device, an imaging device and an image acquisition device, wherein a positioning structure is arranged on a rotary motor of the rotary retraction device;
The rotation retracting device is used for driving the imaging device to rotate and retract in a blood vessel when receiving a starting instruction, and triggering the positioning mechanism to send an image acquisition instruction to the image acquisition device;
The image acquisition device is used for acquiring an image from the imaging device after receiving the image acquisition instruction, determining a NURD region of the image by adopting an image recognition algorithm, and sending the NURD region to the rotation retracting device;
The rotation withdrawing device is also used for adjusting a next time motor control signal according to the current time motor control signal acquired by the positioning mechanism based on the NURD area reduction so as to dynamically adjust the motor speed of the rotation motor.
Optionally, the rotary retraction device comprises a rotary retraction device body and a retraction guide rail;
The rotary withdrawing device body comprises the positioning mechanism, a driver, the rotary motor and a withdrawing motor;
The driver is used for driving the rotating motor and the retracting motor to work;
the positioning mechanism is arranged on the rotating motor and sends the image acquisition instruction to the image acquisition device when the rotating motor rotates;
the rotating motor is used for driving the slip ring and the conduit connecting plug to rotate;
The retracting guide rail is used for installing the rotating retracting device body, so that the retracting motor drives the rotating retracting device body to move on the retracting guide rail along the opposite direction of the imaging device.
Optionally, the rotary retracting device body further comprises a slip ring and a conduit connecting plug;
the slip ring is used for transmitting signals between the imaging device and the image acquisition device;
the catheter connecting plug is used for driving the imaging device to rotate and retract.
Optionally, the image acquisition device is further configured to:
After receiving each image acquisition subcommand in the image acquisition instruction, acquiring lines of each image from the imaging device, wherein each line of the image corresponds to the position of one positioning mechanism;
And after the lines of the corresponding images are acquired based on all the image acquisition subcommands in the image acquisition instructions, generating the images corresponding to the image acquisition instructions from the acquired lines of all the images.
Optionally, the process of determining the NURD region by the image acquisition device using an image recognition algorithm on the image includes:
obtaining a gray level change matrix based on the correlation of each row in the image pixel matrix corresponding to the image;
And obtaining the NURD region based on the correlation of each column in the gray scale change matrix.
Optionally, the obtaining a gray scale change matrix based on the correlation of each row in the image pixel matrix corresponding to the image includes:
Calculating the row variance of each row of an image pixel matrix of the image, setting the pixel value of which the row variance is larger than a first variance threshold to be 1, and setting the pixel value of which the row variance is not larger than the first variance threshold to be 0, so as to obtain a first sequence serving as an effective image area;
smoothing the first sequence by adopting a window function, and determining the starting position and the ending position of the longest subsequence in the smoothed first sequence;
when the length of the longest subsequence is greater than 0, searching a corresponding row in the image pixel matrix based on the starting position and the ending position of the longest subsequence;
And calculating the gray level change of the front and rear line image pixels of each line of image pixels to obtain a gray level change matrix.
Optionally, the obtaining the NURD area based on the correlation of each column in the gray scale variation matrix includes:
Calculating the column variance of each column of the gray level change matrix, setting the column with the column variance larger than a second variance threshold as 1, and setting the column with the column variance not larger than the second variance threshold as 0 to obtain a second sequence;
And carrying out smoothing processing on the second sequence by adopting the window function, determining a target sequence with the length larger than the preset length in the smoothed second sequence, and determining the target sequence as the NURD region.
Optionally, when the motor control signal is a motor control pulse, the rotation retracting device is further configured to adjust a next-time motor control signal according to the current-time motor control signal collected by the positioning mechanism based on the NURD area reduction, where the process includes:
acquiring the NURD region;
determining a Normal region of a region corresponding to the motor control pulse based on the NURD region;
Determining a current time adjustment factor of a motor control pulse according to preset conditions, wherein the preset conditions at least comprise a change trend of the NURD region;
And adjusting the motor control pulse at the next moment based on the current moment adjusting factor.
Optionally, the process of determining the current time adjustment factor of the motor control pulse by the rotary retracting device according to the preset condition includes:
And determining the current time adjusting factor according to the length of the NURD region sequence at the last time, the length of the NURD region sequence at the current time and the adjusting factor at the last time.
Optionally, the image acquisition system further comprises a PC;
The image acquisition device is used for acquiring images from the imaging device and sending the images to the PC for display.
Optionally, the image acquisition device is further configured to determine the NURD region using an image recognition algorithm on the image, and send the NURD region to the rotation retraction device.
Optionally, the PC is further configured to determine the NURD area by using an image recognition algorithm on the image, and send the NURD area to the rotation retracting device.
According to the technical scheme, the image acquisition system comprises a rotary retraction device, an imaging device and an image acquisition device, wherein a positioning mechanism is arranged on a rotary motor of the rotary retraction device, when the rotary motor is started, the rotary retraction device is driven to rotate and retract in a blood vessel based on the rotary motor, and meanwhile, the positioning mechanism is triggered to send an image acquisition instruction to the image acquisition device, so that the image acquisition device synchronously acquires images from the imaging device, an image recognition algorithm is adopted for the images to determine NURD regions and send the NURD regions to the rotary retraction device, the rotary retraction device adjusts a motor control signal at the next moment based on the reduction of the NURD regions and combines a motor control signal at the current moment, and dynamic adjustment of the motor speed is realized. According to the invention, the positioning mechanism is arranged on the rotating motor, the image acquisition is carried out when the positioning mechanism is triggered, the mapping between the image and the motor position is realized, the NURD region is identified from the acquired image, and the motor control signal at the next moment is regulated based on the NURD region, so that the NURD phenomenon caused by uneven movement of the imaging device in the imaging process at the next moment is effectively reduced, the problem of image distortion is solved from the source, and the dependence on later image processing is reduced.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses an image acquisition system which comprises a rotary retraction device, an imaging device and an image acquisition device, wherein a positioning mechanism is arranged on a rotary motor of the rotary retraction device, when the rotary retraction device receives a starting instruction, the rotary retraction device drives the imaging device to perform rotary retraction motion in a blood vessel based on the rotary motor, and meanwhile, the positioning mechanism is triggered to send the image acquisition instruction to the image acquisition device, so that the image acquisition device synchronously acquires images from the imaging device, an image identification algorithm is adopted for the images to determine NURD areas and send the NURD areas to the rotary retraction device, the rotary retraction device adjusts a motor control signal at the next moment according to a motor control signal at the current moment so as to realize dynamic adjustment of motor speed. According to the invention, the positioning mechanism is arranged on the rotating motor, the image acquisition is carried out when the positioning mechanism is triggered, the mapping between the image and the motor position is realized, the NURD region is identified from the acquired image, and the motor control signal at the next moment is regulated based on the NURD region, so that the NURD phenomenon caused by uneven movement of the imaging device in the imaging process at the next moment is effectively reduced, the problem of image distortion is solved from the source, and the dependence on later image processing is reduced.
Referring to fig. 1, a schematic structural diagram of an image acquisition system according to an embodiment of the present invention includes a rotary retraction device 10, an imaging device 20, and an image acquisition device 30, wherein a positioning mechanism is mounted on a rotary motor of the rotary retraction device 10.
The positioning mechanism is equipment for representing the position relation, and in practical application, the positioning mechanism comprises, but is not limited to, an encoder, a magnetic sensor, an electric sensor and the like.
The rotary retraction device 10 is configured to, when receiving a start instruction, drive the imaging device 20 to perform rotary retraction motion in a blood vessel based on the rotating motor, and trigger the positioning mechanism to send an image acquisition instruction to the image acquisition device 30.
In practical applications, the start command received by the rotary retraction device 10 may be sent by an external device of the image acquisition system. When a PC is further disposed in the image acquisition system, the start command received by the rotation retracting device 10 may be sent by the PC.
The rotary retraction device 10 is connected with the imaging device 20, and after receiving a starting instruction, the rotary retraction device 10 drives the imaging device 20 to perform rotary retraction motion in a blood vessel by controlling a rotary motor in the rotary retraction device 10 to rotate. The rotation retracting device 10 triggers the internal positioning mechanism to send an image acquisition instruction to the image acquisition device 30 while driving the imaging device 20 to perform rotation retracting motion in a blood vessel, so that the image acquisition device 30 acquires images from the imaging device 20, and the synchronization of the image acquisition process and the rotation position of the rotating motor is ensured, each acquired frame of images corresponds to a specific position of the imaging device 20, and image deformation caused by the asynchronism of the image acquisition time and the rotation time of the rotating motor is eliminated, so that the stability and consistency of the images are further improved.
The image acquisition device 30 is configured to acquire an image from the imaging device 20 after receiving the image acquisition instruction, determine a NURD region using an image recognition algorithm on the image, and send the NURD region to the rotation retracting device 10.
In practical applications, after the image acquisition device 30 continuously receives a plurality of image acquisition instructions, an image may be acquired from the imaging device 20 for each image acquisition instruction, a NURD area corresponding to each image may be determined, and a change trend of the NURD area may be determined according to a change in the size of each NURD area. NURD regions are regions where NURD phenomena are located.
The rotation retracting device 10 is further configured to adjust a motor control signal at a next time according to the motor control signal at the current time collected by the positioning mechanism based on the NURD area reduction, so as to dynamically adjust the motor speed of the rotating motor.
The application utilizes the positioning mechanism to monitor the rotation speed and the position of the rotating motor in real time, thereby determining the motor control signals at all times, taking the NURD area as a feedback condition by the rotation retracting device 10, taking the NURD area reduction as the basis, adjusting the motor control signals at the next time according to the motor control signals at the current time, realizing the adjustment of the motor speed of the rotating motor, correspondingly adjusting the rotation retracting motion of the imaging device 20 driven by the rotating motor in the blood vessel, ensuring the accurate control of the speed of all positions of the imaging device 20 in the rotation process of the blood vessel, and reducing the NURD phenomenon caused by the uneven rotation of the imaging device 20.
Preferably, the motor control signal may be a motor control pulse, voltage, current, or the like.
As can be seen from the above, the invention discloses an image acquisition system, which comprises a rotary retraction device 10, an imaging device 20 and an image acquisition device 30, wherein a positioning mechanism is arranged on a rotary motor of the rotary retraction device 10, when the rotary retraction device 10 receives a starting instruction, the rotary retraction device 10 drives the imaging device 20 to rotate and retract in a blood vessel based on the rotary motor, and simultaneously triggers the positioning mechanism 12 to send an image acquisition instruction to the image acquisition device 30, so that the image acquisition device 30 synchronously acquires images from the imaging device 20, an image recognition algorithm is adopted for the images to determine NURD regions and send the NURD regions to the rotary retraction device 10, the rotary retraction device 10 adjusts a motor control signal at the next moment according to a motor control signal at the current moment, and dynamic adjustment of motor speed is realized. According to the invention, the positioning mechanism is arranged on the rotating motor, the image acquisition is carried out when the positioning mechanism is triggered, the mapping between the image and the motor position is realized, the NURD region is identified from the acquired image, and the motor control signal at the next moment is regulated based on the NURD region, so that the NURD phenomenon caused by uneven movement of the imaging device 20 in the imaging process at the next moment is effectively reduced, the problem of image distortion is solved from the source, and the dependence on later image processing is reduced.
In one embodiment, referring to FIG. 2, a physical view of the internal modules of a rotary retraction device is disclosed in an embodiment of the present invention, the rotary retraction device comprising a rotary retraction device body 11 and a retraction guide 12.
Wherein the rotary retractor body 11 includes a positioning mechanism 111, a driver 112, a rotary motor 113, and a retracting motor 114.
The driver 112 is used for driving the rotary motor 113 and the retracting motor 114 to operate.
The positioning mechanism 111 is mounted on the rotary motor 113, and transmits the image capturing instruction to the image capturing device 30 when the rotary motor 113 rotates.
The rotating motor 113 is used for driving the slip ring 115 and the conduit connection plug to rotate 116. The catheter connection plug rotation 116 is connected with the imaging device 20, so that the rotation motor 113 drives the imaging device 20 to rotate and retract in the blood vessel.
The retraction guide rail 12 is used for installing the rotary retraction device body 11, so that the retraction motor 114 drives the rotary retraction device body 11 to move on the retraction guide rail 12 along the opposite direction of the imaging device 20.
When an image is acquired, the driver 112 drives the rotary motor 113 and the retracting motor 114 to move according to the set speed value. The slip ring 115 and the imaging device 20 are driven by the rotating motor 113 to rotate, and the positioning mechanism 111 sends an image acquisition instruction to the image acquisition device 30 when triggered each time, and the image acquisition is performed when the positioning mechanism 111 triggers, so that the line of each acquired image has a positioning mechanism position corresponding to the line.
In one embodiment, the rotary retraction device body 11 may further include a slip ring 115 and a catheter connection plug 116.
The slip ring 115 is used to transfer signals between the imaging device 20 and the image acquisition device 30.
The catheter connection plug 116 is connected to a catheter head end of the imaging device 20, and the catheter connection plug 116 is used for driving the imaging device 20 to perform a rotational retracting motion.
It should be noted that, the rotation of the retracting device 10 triggers the internal positioning mechanism 12 to send the image capturing instruction to the image capturing device 30, which includes a plurality of image capturing subcommands. In practice, rotating the retraction device 10 triggers the internal positioning mechanism 12 to send an image acquisition subcommand to the image acquisition device 30 each time.
Thus, in one embodiment, the image acquisition device 30 may also be used to:
(1) Upon receiving each image acquisition subcommand in the image acquisition instructions, lines of each image are acquired from within the imaging device 20.
Wherein the line of each of the images corresponds to the position of one of the positioning mechanisms.
It should be noted that, when an image is formed by lines of a plurality of images, the image capturing device 30 captures a line of an image from the imaging device 20 each time an image capturing subcommand is received, and when the line of the received image can form a complete image, the image capturing is completed.
(2) And after the lines of the corresponding images are acquired based on all the image acquisition subcommands in the image acquisition instructions, generating the images corresponding to the image acquisition instructions from the acquired lines of all the images.
The number of the image acquisition subcommands included in the image acquisition instruction is the same as the number of lines of the image formed by the image, and the specific value is determined according to actual needs, so that the application is not limited.
In NURD region identification from the acquired images, since the lines of each image have a correspondence to the positioning mechanism position, the NURD region may be mapped to the motor end position of the rotary retraction device 10, i.e., the NURD region may be mapped to the position of the rotary motor 113 of the rotary retraction device 10. The application can regulate and control the instantaneous speed of the target area through the intelligent speed regulating system until the NURD area is reduced below the area threshold.
In one embodiment, referring to FIG. 3, image capture device 30 may include an ultrasound capture card 31 and a PC 32.
The ultrasonic acquisition card 31 is used for acquiring images from the imaging device 20 and sending the images to the PC 32 for display.
In practical applications, the image collected by the ultrasonic collection card 31 may be identified in the NURD area in the ultrasonic collection card 31, or the NURD area of the image may be identified by the PC 32 after the image is sent to the PC 32.
Thus, the ultrasound acquisition card 31 is also used for a device that can be used to:
An image recognition algorithm is applied to the image to determine the NURD region and the NURD region is sent to the rotation retraction device 10.
Alternatively, the PC 32 may determine the NURD region using an image recognition algorithm on the image and send the NURD region to the rotational retraction device 10.
It should be noted that, the image recognition algorithm is the same whether the ultrasound acquisition card 31 in the image acquisition device 30 recognizes the NURD region in the image or the PC 32 recognizes the NURD region in the image.
The image recognition algorithm used by the image capturing device 30 to identify the NURD region in the image includes, but is not limited to, line-to-line correlation in the image sequence, determining that the NURD region is determined when the correlation is greater than a certain threshold value, or using a machine learning or deep learning method to identify the NURD region in the image sequence.
It should be noted that, in practical application, the image capturing device 30 may also include only the ultrasound capturing card 31.
When the image acquisition device 30 includes only the ultrasound acquisition card 31, the image acquisition device 30 may be a stand-alone device, integrated into the swing-back device 10, or integrated into a PC.
In one embodiment, referring to fig. 4, a flowchart of a method for determining a NURD region by an image acquisition device using an image recognition algorithm according to an embodiment of the present invention may include:
step S101, a gray level change matrix is obtained based on the correlation of each row in the image pixel matrix corresponding to the image.
And step S102, obtaining the NURD area based on the correlation of each column in the gray level change matrix.
For ease of understanding, the implementation procedure for step S101 and step S102 is specifically as follows:
step S101 may specifically include:
(1) Calculating the row variance of each row of an image pixel matrix of an image, setting the pixel value of which the row variance is larger than a first variance threshold to be 1, and setting the pixel value of which the row variance is not larger than the first variance threshold to be 0, so as to obtain a first sequence which is an effective image area.
The dimension of the image pixel matrix of the image in the present application is [ m×n ], where M is the number of pixel points and N is the number of lines of the image, that is, the number of lines of the image contained in the image.
Assume that the image pixel matrix comprises a sequence of variances of each row,Representing the mean in the computed sequence, a first variance thresholdThe calculation formula of (2) is as follows:
。
(2) And smoothing the first sequence by adopting a window function, and determining the starting position and the ending position of the longest subsequence in the smoothed first sequence.
The window function in the present application is a window function of a predetermined length, for example, a window function of a length of 5.
The start and end positions of the longest subsequence may be used [ start, end ].
(3) And when the length of the longest subsequence is greater than 0, searching a corresponding row in the image pixel matrix based on the starting position and the ending position of the longest subsequence.
Wherein when the length of the longest subsequence is not greater than 0, no NURD region is indicated in the image.
(4) And calculating the gray level change of the front and rear line image pixels of each line of image pixels to obtain a gray level change matrix.
The gray level change of the front and rear line image pixels of each line of image pixels is calculated to obtain a dimension of a gray level change matrix B which is [ M multiplied by N ]. The gray scale change matrix B is calculated as follows;
;
where Q represents a matrix of image pixels, a represents a first sequence as an effective image area, and diff functions represent differences between adjacent elements.
The above formula shows the meaning that the corresponding row is found in the image pixel matrix Q according to the elements in the first sequence a, and the difference between the adjacent elements of this row is calculated.
The implementation process of step S102 is specifically as follows:
(1) And calculating the column variance of each column of the gray level change matrix, setting the column with the column variance larger than a second variance threshold as 1, and setting the column with the column variance not larger than the second variance threshold as 0 to obtain a second sequence.
Let the sequence of variances of each column of the gray level change matrix B beSecond variance thresholdThe calculation formula of (2) is as follows:
。
(2) And smoothing the second sequence by adopting the window function, determining a target sequence with the length larger than the preset length in the smoothed second sequence, and determining the target sequence as the NURD region.
Wherein the window function in the present application is a window function with a length of a preset value, for example, the window function is a window function with a length of 5.
In practical application, the motor realizes the position movement by receiving the pulses, and assuming that the motor rotates one turn when receiving M pulses, the positioning mechanism 111 rotates one turn to generate N pulses, and a fixed conversion relationship exists between M and N. For a target rotational speedIt is understood that the motor needs to rotate one turn within a fixed time, assuming that the pulse time interval of the motor input isOne rotation takes place for a period of,AndThe relationship of (2) is as follows:
;
And (3) withThe relationship of (2) is as follows:
。
It should be noted that, in practical applications, other methods may be used in addition to the method for determining the NURD region shown in the embodiment shown in fig. 4, for example, to allow the image acquisition system to assist in determining the NURD region in combination with images of other modalities (such as magnetic resonance images, CT images, etc.). By fusing the related information in the images of different modes and utilizing the information about tissue structures, lesion features and the like in other images, the possible information deficiency of the images under certain conditions is supplemented, so that the NURD area is more accurately identified and defined, and the reliability and accuracy of diagnosis are improved.
In addition, on the basis of the image recognition algorithm, the NURD region can be recognized based on deep learning and machine learning. Including but not limited to using deep learning, machine learning to detect NURD regions, or by machine learning, as an alternative to some of the steps described herein.
In an embodiment, referring to fig. 5, in the case where the motor control signal is a motor control pulse, the method for rotating the retraction device to reduce the NURD area and adjusting the motor control signal at the next time according to the current time motor control signal collected by the positioning mechanism according to the embodiment of the present invention may include:
step S201, acquiring a NURD area.
Wherein, NURD region may be expressed as follows:
;
In the formula,The sequence of regions of the NURD is represented,Indicates the sequence of NURD regions corresponding to ID number j,Indicates the sequence of NURD regions corresponding to ID number k.
Sequences j and k are comprised between 1 and M. j and k represent the start ID number and the end ID number of the NURD area, respectively.
Step S202, determining a Normal area of the area corresponding to the motor control pulse sequence based on the NURD area.
Dividing M pulse intervals into motor control pulse sequences,A sequence of motor control pulses is indicated,A motor control pulse representing a position ID of 1,The motor control pulse representing the position ID M can be given by the following formula:
;
In the formula,Representing the pulse time interval representing the pulse control sequence in which the NURD region is currently located,Representing the pulse at the i-th position,Representing the pulse time interval at the i-th position.
I represents the algebra used in the calculation of the accumulated symbols, the sequences j and k being comprised between 1 and M. j and k represent the start ID number and the end ID number of the NURD area, respectively.
For sequences without NURD regionsThe method is characterized by comprising the following steps:
;
The expression for the same time interval is as follows:
;
so far, the corresponding area of the motor control pulse sequence is divided into a Normal area and a NURD area.
Step S203, determining a current time adjustment factor of the motor control pulse according to a preset condition.
The preset conditions at least comprise the change trend of the NURD area.
For regulatory factorsThe value of the NURD region is adjusted according to the change trend of the NURD region.
First, judging whether the NURD area is larger than a set detection thresholdIf it is greater than the set detection thresholdCalculating the NURD region sequence length, wherein the NURD region sequence length at the initial time is。
To adjust the factorsThe initial value is given, and the initial value is calculated as follows:
;
In the formula,Is an empirical value ranging from 0 to 1.
According to the application, the current time adjusting factor is determined according to the length of the NURD region sequence at the last time, the length of the NURD region sequence at the current time and the last time adjusting factor.
Specifically, for the current time adjustment factorThe calculation formula of (2) is as follows:
;
In the formula,For the last momentThe length of the sequence is set to be,For the current momentThe length of the sequence is set to be,Is the adjustment factor at the last moment.
And step S204, adjusting the motor control pulse at the next moment based on the current moment adjusting factor.
In order to realize the rotation speed regulation, the regulating factor is set as。
The formula is given byAnd (3) deforming to obtain the following formula:
。
for the convenience of calculation, each subsequence isAnd (3) withTime interval withinArranged at equal intervals, the formula obtained by the deformation can be used for obtaining reductionThe time of (a) reaches the purpose of accelerating the NURD region. Combination formulaThe pulse interval in the sequence interval can be calculated, and the same can be calculatedPulse intervals within the interval. Combining the pulse sequences into a pulse sequence at the current moment according to the sequence of the positioning mechanismAnd then output the current to the motor to realize a round of motor control flow.
The whole intelligent control system takes the NURD area as a feedback condition, and the width of the motor pulse sequence at the next moment is adjusted.
In one embodiment, referring to FIG. 6, a schematic structural diagram of an imaging device is disclosed that may include a catheter tip 21, a transducer 22, and a metal spring 23.
The catheter head end 21 is connected with the rotary withdrawing device 10, the transducer 22 is connected with the image acquisition device 30, one end of the metal spring 23 is connected with the catheter head end 21, and the other end of the metal spring 23 is connected with the transducer 22.
In the present application, the image acquired by the imaging device may be shown in fig. 7, and the NURD region identified from the image shown in fig. 7 in the present application is shown in fig. 8.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.