An adaptive and synergic fill welding method and apparatus enables automatic, or adaptive fill, and user directed, or synergic fill, modes to provide improved fusion quality, by ensuring that base metal dilution of a weld remains within a predetermined range. The systems, methods, and programs, store predetermined patterns representing conditions of road markings formed on a road surface, detect a road marking on the basis of the captured image, and compare the detected road marking to the predetermined patterns. An arthroscopic probe having a Doppler probe and a radiofrequency source disposed on a movable tip portion provides further useful features including the ability to perform cauterization, tissue ablation, and other RF procedures.