1. A method for wireless image transmission, comprising the steps of:
inputting an image selected from the group consisting of uncompressed images and compressed images, whereupon if said image is UNCOMPRESSED, then said method for wireless image transmission further comprises the steps of:
performing a wavelet transform of said image to produce wavelet coefficients;
performing a scalar quantization of said wavelet coefficients;
organizing said coefficients into low-resolution sub-bands and high-resolution sub-bands;
forming said organized coefficients into a binary stream representation;
modulating said binary stream representation;
transmitting said modulated binary stream representation over a wireless channel;
demodulating said transmitted binary stream;
reconverting said demodulated binary stream back into reconverted wavelet coefficient values;
dividing said reconverted wavelet coefficient values into low resolution and high resolution coefficients;
performing a wavelet coefficient combining process, comprising:
a first step of determining whether said divided wavelet coefficient values in position (i,j) are different, whereas, if said divided wavelet coefficient values in position (i,j) are different, THEN said step of performing a wavelet coefficient combining process further comprises:
a second step of determining whether said divided wavelet coefficient values are from the low-resolution sub-band, whereas, if said divided wavelet coefficient values are from the low-resolution sub-band, THEN said step of performing a wavelet coefficient combining process further comprises:
making a set by collecting M by N said divided wavelet coefficient values that surround coefficient (i,j) from each channel;
choosing the median of said set as the new coefficient value;
placing said new coefficient value in a combined transform;
reconstructing said image by computing the inverse wavelet transform;
receiving said image;
OTHERWISE, if said divided wavelet coefficient values are NOT from the low-resolution sub-band, THEN said step of performing a wavelet coefficient combining process further comprises:
choosing said divided wavelet coefficient value with a minimum absolute value;
placing said coefficient value with a minimum absolute value in a combined transform;
reconstructing said image by computing the inverse wavelet transform;
receiving said image;
OTHERWISE, if said divided wavelet coefficient values in position (i,j) are NOT different, THEN said step of performing a wavelet coefficient combining process further comprises:
choosing said divided wavelet coefficient value from either channel;
placing said coefficient value from either channel in a combined transform;
reconstructing said image by computing the inverse wavelet transform; and
receiving said image.
2. Method of claim 1, wherein said step of performing a wavelet coefficient combining process further comprises the step of applying a fusion rule, said fusion rule being:
Combining rule for low-resolution subband
c
Lc
\u2061
(
i
,
j
)
=
{
c
L1
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(
i
,
j
)
if
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c
L1
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(
i
,
j
)
=
c
L2
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(
i
,
j
)
med
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{
c
L1
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(
k
,
l
)
}
,
{
c
L2
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(
k
,
l
)
}
if
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c
L1
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(
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,
j
)
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L2
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(
i
,
j
)
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(
k
,
l
)
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(
{
i
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m
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1
2
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,
i
+
m
–
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2
}
,
{
j
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n
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1
2
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,
j
+
n
–
1
2
}
)
Combining rule for high-resolution subband
c
Hc
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(
i
,
j
)
=
{
c
H1
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(
i
,
j
)
if
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H1
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=
c
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(
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if
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c
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j
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if
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H2
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(
i
,
j
)
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<
\uf603
c
H1
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(
i
,
j
)
\uf604
where cLc and cHc represent the wavelet coefficients in the low and high-resolution subbands of the combined transform respectively, and cL1, cL2 and cH1, cH2 are the low and high-resolution coefficients respectively obtained from two diversity channels
said fusion rule being applied to the wavelet transform of said image produced from each diversity channel so as to produce a combined wavelet transform of said image.
3. The method for wireless image transmission as in claim 1 wherein said image is COMPRESSED, said method for wireless image transmission further comprising the steps of:
compressing said image using SPIHT algorithm;
applying header information, sorting information and refinement information to said compressed image;
performing error control coding and interleaving to said compressed image;
forming a binary stream representation of said coded and interleaved image;
modulating said binary stream representation;
transmitting said modulated binary stream representation over a wireless channel;
demodulating said transmitted binary stream;
performing error control decoding and deinterleaving on said demodulated binary stream;
dividing each said compressed image bit stream into L blocks of N1 bits each where i=1,2,3, . . . L;
performing a wavelet coefficient combining process, comprising:
a first step of determining whether said bit streams corresponding to said block are different, whereas if said bit streams corresponding to said block are different, THEN said step of performing a wavelet coefficient combining process further comprises:
a second step of determining whether first said block in bit stream, whereas if first said block in bit stream, THEN said step of performing a wavelet coefficient combining process further comprises:
constructing the wavelet transform coefficients from said first block;
calculating the weighting function w(l) from said wavelet transform coefficients for each said image;
choosing said block that results in lower said weighting function w(l);
updating the composite wavelet transform coefficients using said bits of the current said chosen block;
a third step of determining whether there are more blocks, whereas if there are more said blocks, THEN said step of performing a wavelet coefficient combining process further comprises:
\u2003repeating said step of performing a wavelet coefficient combining process;
OTHERWISE, performing a inverse wavelet transform;
constructing final image;
OTHERWISE, in not first said block in bit stream; THEN said step of performing a wavelet coefficient combining process further comprises:
constructing wavelet transform coefficients for each diversity channel;
resuming said step of performing a wavelet coefficient combining process at said step of calculating the weighting function w(l) from said wavelet transform coefficients for each said image;
OTHERWISE, if said bit streams corresponding to said block are NOT different, THEN said step of performing a wavelet coefficient combining process further comprises:
choosing a block from either channel; and
resuming said step of performing a wavelet coefficient combining process at said step of updating the composite wavelet transform coefficients using said bits of the current said chosen block.
4. Method of claim 3, wherein said step of performing a wavelet coefficient combining process further comprises the step of:
applying two decision measure rules for computing said weighting function w(l), said decision measure rules comprising a counting measure rule and a weighted measure rule, said counting measure rule being:
b
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(
l
)
=
{
b
1
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(
l
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if
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l
)
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if
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<
0
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for
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l
=
1
,
2
,
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,
L
\u2062
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\u2062
where
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(
l
)
=
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(
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,
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res
.
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subband
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l
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detail
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l
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,
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l
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=
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l
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2
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+
m
,
2
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j
+
n
)
4
)
\uf604
for k=1,2
where l refers to the l th block of bits received
and said weighted measure rule being:
b
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(
l
)
=
{
b
1
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(
l
)
if
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w
1
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(
l
)
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w
2
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(
l
)
b
2
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(
l
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1
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(
l
)
>
w
2
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(
l
)
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for
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l
=
1
,
2
,
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,
L
\u2062
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\u2062
where
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w
k
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(
l
)
=
h
L
k
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(
l
)
+
h
K
k
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(
l
)
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L
k
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(
i
,
j
)
=
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(
i
,
j
)
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low
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res
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subband
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d
k
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(
i
,
j
)
+
(
c
Lk
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(
i
,
j
)
–
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)
2
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H
k
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(
l
)
=
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(
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,
j
)
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detail
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subband
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k
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(
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,
j
)
+
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(
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,
j
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=
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(
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,
j
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.
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subband
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c
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(
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no.\xa0\xa0of\xa0\xa0coefficients
in\xa0\xa0low\xa0\xa0res.\xa0\xa0subband
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k
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,
j
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j
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Lk
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j
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k
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Hk
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2
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+
m
,
2
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+
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)
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)
\uf604
for k=1,2
where l refers to the l th block of bits received.
5. Apparatus for providing wireless image transmission, comprising:
means for inputting an image selected from the group consisting of uncompressed images and compressed images, whereupon if said image is UNCOMPRESSED, then said apparatus for providing wireless image transmission further comprises:
means for wavelet transforming said image to produce wavelet coefficients;
means for scalar quantizing said wavelet coefficients;
means for organizing said coefficients into low-resolution sub-bands and high-resolution sub-bands;
means for representing said organized coefficients in a binary stream;
means for modulating said binary stream representation;
means for transmitting said modulated binary stream representation over a wireless channel;
means for demodulating said transmitted binary stream;
means for reconverting said demodulated binary stream back into reconverted wavelet coefficient values;
means for dividing said reconverted wavelet coefficient values into low resolution and high resolution coefficients;
means for combining said wavelet coefficients, said means for combining further comprising:
a first means for determining whether said divided wavelet coefficient values in position (i,j) are different, whereas, if said divided wavelet coefficient values in position (i,j) are different, THEN said means for combining said wavelet coefficients further comprises:
a second means for determining whether said divided wavelet coefficient values are from the low-resolution sub-band, whereas, if said divided wavelet coefficient values are from the low-resolution sub-band, THEN said second means for determining further comprises:
means for making a set by collecting M by N said divided wavelet coefficient values that surround coefficient (i,j) from each channel;
means for choosing the median of said set as the new coefficient value;
means for placing said new coefficient value in a combined transform;
means for reconstructing said image by computing the inverse wavelet transform;
receiving said image;
OTHERWISE, if said divided wavelet coefficient values are NOT from the low-resolution sub-band, THEN said second means for determining further comprises:
means for choosing said divided wavelet coefficient value with a minimum absolute value;
means for placing said coefficient value with a minimum absolute value in a combined transform;
means for reconstructing said image by computing the inverse wavelet transform;
receiving said image;
OTHERWISE, if said divided wavelet coefficient values in position (i,j) are NOT different, THEN said means for combining wavelet coefficients further comprises:
means for choosing said divided wavelet coefficient value from either channel;
means for placing said coefficient value from either channel in a combined transform;
means for reconstructing said image by computing the inverse wavelet transform; and
means for receiving said image.
6. Apparatus as in claim 5, wherein said means for combining wavelet coefficients further comprises means for applying a fusion rule, said fusion rule being:
Combining rule for low-resolution subband
c
Lc
\u2061
(
i
,
j
)
=
{
c
L1
\u2061
(
i
,
j
)
if
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L1
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(
i
,
j
)
=
c
L2
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(
i
,
j
)
med
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{
c
L1
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(
k
,
l
)
}
,
{
c
L2
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(
k
,
l
)
}
if
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\u2062
c
L1
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(
i
,
j
)
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c
L2
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(
i
,
j
)
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(
k
,
l
)
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(
{
i
–
m
–
1
2
,
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,
i
+
m
–
1
2
}
,
{
j
–
n
–
1
2
,
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,
j
+
n
–
1
2
}
)
Combining rule for high-resolution subband
c
Hc
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(
i
,
j
)
=
{
c
H1
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(
i
,
j
)
if
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c
H1
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(
i
,
j
)
=
c
H2
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(
i
,
j
)
c
H1
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(
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,
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)
if
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H1
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(
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,
j
)
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<
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c
H2
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(
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,
j
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c
H2
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(
i
,
j
)
if
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c
H2
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(
i
,
j
)
\uf604
<
\uf603
c
H1
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(
i
,
j
)
\uf604
where cLc and cHc represent the wavelet coefficients in the low and high-resolution subbands of the combined transform respectively, and cL1, cL2 and cH1, cH2 are the low and high-resolution coefficients respectively obtained from two diversity channels
said fusion rule being applied to the wavelet transform of said image produced from each diversity channel so as to produce a combined wavelet transform of said image.
7. Apparatus as in claim 5 wherein IF said image is COMPRESSED, THEN said apparatus for providing wireless image transmission comprises:
means for compressing said image using SPIHT algorithm;
means for applying header information, sorting information and refinement information to said compressed image;
means for error control coding and interleaving said compressed image;
means for representing said coded and interleaved image in a binary stream;
means for modulating said binary stream representation;
means for transmitting said modulated binary stream representation over a wireless channel;
means for demodulating said transmitted binary stream;
means for error control decoding and deinterleaving said demodulated binary stream;
means for dividing each said compressed image bit stream into L blocks of Ni bits each where i=1,2,3, . . . L;
means for combining wavelet coefficients, comprising:
a first means for determining whether said bit streams corresponding to said block are different, whereas if said bit streams corresponding to said block are different, THEN said means for combining wavelet coefficients further comprises:
a second means for determining whether first said block in bit stream, whereas if first said block in bit stream, THEN said means for combining wavelet coefficients further comprises:
means for constructing the wavelet transform coefficients from said first block;
means for calculating a weighting function w(l) from said wavelet transform coefficients for each said image;
means for choosing said block that results in lower said weighting function w(l);
means for updating the composite wavelet transform coefficients using said bits of the current said chosen block;
a third means for determining whether there are more blocks, whereas if there are more said blocks, THEN said means for combining wavelet coefficients further comprises:
\u2003means for repeating wavelet coefficient combining;
OTHERWISE, said means for combining wavelet coefficients further comprises:
means for performing an inverse wavelet transform;
means for constructing final image;
OTHERWISE, if not first said block in bit stream;
THEN said means for combining wavelet coefficients further comprises:
means for constructing wavelet transform coefficients for each diversity channel;
means for resuming said wavelet coefficient combining at said step of calculating the weighting function w(l) from said wavelet transform coefficients for each said image;
OTHERWISE, if said bit streams corresponding to said block are NOT different, THEN said means for combining wavelet coefficients further comprises:
means for choosing a block from either channel; and
means for resuming said step of performing a wavelet coefficient combining process at said step of updating the composite wavelet transform coefficients using said bits of the current said chosen block.
8. Apparatus as in claim 7, wherein said means for combining wavelet coefficient further comprises:
Means for applying two decision measure rules to said means for calculating a weighting function w(l), said two decision measure rules comprising a counting measure rule and a weighted measure rule,
said counting measure rule being:
b
\u2061
(
l
)
=
{
b
1
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(
l
)
if
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w
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(
l
)
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2
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(
l
)
if
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(
l
)
<
0
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for
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l
=
1
,
2
,
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,
L
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\u2003
\u2062
where
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(
l
)
=
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,
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i
,
j
)
–
(
\u2211
m
=
0
1
\u2062
\u2211
n
=
0
1
\u2062
c
Hk
\u2061
(
2
\u2062
i
+
m
,
2
\u2062
j
+
n
)
4
)
\uf604
for k=1,2
where l refers to the l th block of bits received
and said weighted measure rule being:
b
\u2061
(
l
)
=
{
b
1
\u2061
(
l
)
if
\u2062
\u2003
\u2062
w
1
\u2061
(
l
)
\u2264
w
2
\u2061
(
l
)
b
2
\u2061
(
l
)
if
\u2062
\u2003
\u2062
w
1
\u2061
(
l
)
>
w
2
\u2061
(
l
)
\u2062
\u2003
\u2062
\u2062
for
\u2062
\u2003
\u2062
l
=
1
,
2
,
\u2026
\u2062
\u2003
,
L
\u2062
\u2003
\u2062
where
\u2062
\u2062
w
k
\u2061
(
l
)
=
h
L
k
\u2061
(
l
)
+
h
K
k
\u2061
(
l
)
\u2062
\u2062
h
L
k
\u2061
(
i
,
j
)
=
\u2211
(
i
,
j
)
\u2208
low
\u2062
\u2003
\u2062
res
\u2062
\u2062
subband
\u2062
d
k
\u2061
(
i
,
j
)
+
(
c
Lk
\u2061
(
i
,
j
)
–
\u03bc
Lk
)
2
\u2062
\u2062
h
H
k
\u2061
(
l
)
=
\u2211
(
i
,
j
)
\u2062
\u2003
\u2062
detail
\u2062
\u2062
subband
\u2062
t
k
\u2061
(
i
,
j
)
+
c
Hk
\u2061
(
i
,
j
)
\u2062
\u2062
\u03bc
Lk
=
\u2211
(
i
,
j
)
\u2208
low
\u2062
\u2003
\u2062
res
.
\u2062
subband
\u2062
c
Lk
\u2061
(
i
,
j
)
no.\xa0\xa0of\xa0\xa0coefficients
in\xa0\xa0low\xa0\xa0res.\xa0\xa0subband
\u2062
\u2062
d
k
\u2061
(
i
\u2062
\u2003
,
j
)
=
\uf603
c
Lk
\u2061
(
i
,
j
)
–
c
Lk
\u2061
(
i
,
j
+
1
)
\uf604
\u2062
\u2062
t
k
\u2061
(
i
,
j
)
=
\uf603
c
Hk
\u2061
(
i
,
j
)
–
(
\u2211
m
=
0
1
\u2062
\u2211
n
=
0
1
\u2062
c
Hk
\u2061
(
2
\u2062
i
+
m
,
2
\u2062
j
+
n
)
4
)
\uf604
for k=1,2
where l refers to the l th block of bits received.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A motor assembly of a surgical tool, comprising a motor having a motor shaft and a gear train driven by the motor,
the gear train comprising: an output shaft; a fixed ring gear; a cover; a movable ring gear installed inside the cover; and a multi-stage planetary gear set, each stage comprising a sun gear, a carrier, and planet gears mounted on one side of the carrier and in mesh with the sun gear and one of the fixed ring gear and the movable ring gear,
wherein the movable ring gear has inner teeth formed on an inner peripheral surface and one of the carriers has outer teeth formed on an outer peripheral surface; and
the movable ring gear is movable between a first position where the movable ring gear is engaged with and non-rotatable relative to the cover and is disengaged from said one carrier, whereby the gear train has a higher gear reduction ratio, and
a second position where the movable ring gear is disengaged from the cover and is engaged with and rotatable with said one carrier and the planet gears adjacent to the other side of said one carrier whereby the gear train has a lower gear reduction ratio.
2. The motor assembly of claim 1, wherein the cover has a cylindrical configuration and has inner teeth on an inner surface thereof, and the movable ring gear has outer teeth configured to engage with the inner teeth of the cover when the movable ring gear is in the first position.
3. The motor assembly of claim 1, wherein the movable ring gear has a groove in an outer surface thereof, and the cover has a through opening to provide external access to the groove for moving the movable ring gear between the first and second positions.
4. The motor assembly of claim 1, wherein the gear train comprises a four-stage planetary gear set.
5. The motor assembly of claim 1, wherein the fixed ring gear is disposed nearer to the motor than the movable ring gear and the planet gears nearer to the motor than said one carrier are in mesh with the fixed ring gear.
6. The motor assembly of claim 1, wherein when the movable ring gear is located in the first position, the planet gears adjacent to said one carrier are in mesh with the inner teeth of the movable ring gear and are rotatable relative to the movable ring gear.
7. The motor assembly of claim 1, wherein the motor is a permanent magnet direct current motor.
8. The motor assembly of claim 1, wherein the gear train includes a mounting bracket which is fixed to the motor and the fixed ring gear is fixed to the mounting bracket by a snap fit connection.
9. The motor assembly of claim 8, wherein the fixed ring gear has axially extending fingers which engage with the mounting bracket to prevent the fixed ring gear rotating with respect to the motor.
10. The motor assembly of claim 1, wherein the fixed ring gear is a connected to the cover by a tongue and groove press fit.
11. The motor assembly of claim 1, wherein the fixed ring gear, movable ring gear, cover, and planet gears are made from plastics material.
12. The motor assembly of claim 11, wherein the gear train is oil and grease free.
13. A surgical tool, switchable between drilling and screwing functions, the surgical tool comprising the motor assembly of claim 1.
14. A surgical tool incorporating the motor assembly of claim 2.
15. A surgical tool incorporating the motor assembly of claim 3.
16. A surgical tool incorporating the motor assembly of claim 11.
17. A surgical tool incorporating the motor assembly of claim 12.
18. A surgical tool incorporating the motor assembly of claim 2.
19. A surgical tool incorporating the motor assembly of claim 6.
20. A surgical tool incorporating the motor assembly of claim 9.