Разработка программно-аппаратного обеспечения управления мобильным роботом

В данной работе было разработано программно-аппаратное обеспечение для управления мобильной робототехнической платформой Kuka YouBot. Разработка программно-аппаратного обеспечения включала в себя разработку структурной и функциональной схем, выбор программных и аппаратных компонентов, а также построение системы приема-передачи данных. Также была выведена математическая модель рассматриваемой платформы и разработан алгоритм снятия параметров математической модели, который был реализован с помощью средств Matlab Simulink.In this work was developed software and hardware for controlling the Kuka YouBot mobile platform. The development of hardware and software included the development of structural and functional scheme, the selection of software and hardware components, as well as the design of a data transferring system. A mathematical model of the mobile platform and an algorithm for removing the parameters of the mathematical model was developed. The algoritm was implemented using the Matlab Simulink tools

Overall complication rates of DIEP flap breast reconstructions in Germany – a multi-center analysis based on the DGPRÄC prospective national online registry for microsurgical breast reconstructions

While autologous breast reconstruction has gained momentum over recent years, there is limited data on the structure and quality of care of microsurgical breast reconstruction in Germany. Using the breast reconstruction database established by the German Society of Plastic, Reconstructive and Aesthetic Surgeons (DGPRÄC), the presented study investigated the overall outcomes of deep inferior epigastric perforator (DIEP) flap reconstructions in Germany. Data of 3926 patients and 4577 DIEP flaps performed by 22 centers were included in this study. Demographics, patient characteristics, perioperative details and postoperative outcomes were accounted for. Centers performing < Ø 40 (low-volume (LV)) vs. ≥ Ø 40 (high-volume (HV)) annual DIEP flaps were analyzed separately. Overall, total and partial flap loss rates were as low as 2.0% and 1.1% respectively, and emergent vascular revision surgery was performed in 4.3% of cases. Revision surgery due to wound complications was conducted in 8.3% of all cases. Mean operative time and length of hospital stay was significantly shorter in the HV group (LV: 385.82 min vs. HV: 287.14 min; LV: 9.04 (18.87) days vs. HV: 8.21 (5.04) days; both p < 0.05). The outcome and complication rates deduced from the national registry underline the high standard of microsurgical breast reconstruction on a national level in Germany