Vaijeridronen suunnittelu ja toteutus

Tiivistelmä. Tämän diplomityön tavoitteena on suunnitella ja kehittää vaijeridrone, jota on tarkoitus käyttää sekä sisätiloissa että ulkoilmassa. Vaijeridronella tullaan suorittamaan ympäristön tarkkailua siihen kiinnitettävän kameran ja muiden mittausantureiden avulla. Laitteesta pyritään luomaan ainakin edestakaisin liikkuva ja lisäksi liikettä pyritään laajentamaan sekä sivuttais- että pystysuunnassa. Työn teoriaosassa käydään läpi robotiikkaa yleisesti ja lisäksi tarkastellaan olemassa olevia kaupallisia sekä prototyyppitasolla olevia vaijerikameraratkaisuja. Teoriaosuudessa käydään läpi myös eri materiaalivaihtoehtoja kulkuvaijeria varten. Teoriaosuuden lopussa käsitellään robotteihin liittyvää kinematiikkaa. Työn toteutusosassa esitellään kulkuvaijerin valinta laitetta varten. Vaijeridronen liikkuminen pisteestä pisteeseen mahdollistetaan vaijereiden pituuksia säätämällä ja pituuksien määrittämistä varten tarvittava laskenta käydään läpi käänteiskinematiikan muodossa. Työssä toteutetaan myös prototyyppilaitetta varten tarvittavien moottoreiden mitoitus ja valinta. Työn loppuosassa käydään läpi mekaniikkasuunnittelu ja esitetään toteutus, jolla moottorit saadaan liitettyä kelojen yhteyteen. Työn tuloksena saatiin toteutettua kaksi erilaista vaijeridronejärjestelmää. Ensimmäisenä ratkaisuna on hankittu kaupallinen vaijeridrone. Toisena ratkaisuna työssä on kehitetty harjattomilla tasavirtamoottoreilla ja niihin kytketyillä keloilla ohjattava 2D-vaijeridrone, jolla voidaan simuloida tavallisen dronen lentoa tasotapauksessa. Laite saatiin toteutettua siten, että kela-moottoriyhdistelmät ja kelojen sisältämä vaijeri pystyttiin kiinnittämään itse prototyypin runkoon.Design and implementation of a cable drone. Abstract. The aim of this Master’s thesis is to design and develop a cable drone, which will be used both indoors and outdoors. Cable drone will be used to observe the environment with the help of camera and other measuring sensors attached to it. The target is to create at least back and forth moving device and if possible, to expand the movement both laterally and vertically. In the theoretical part of this thesis robotics is reviewed generally and existing commercial cable cameras and prototype solutions are considered. Different material options for the cable are also considered in the theoretical part. In the end of this part kinematics related to robots is discussed. In the practical part of the thesis the cable selection for the device is presented. The movement of a cable drone from point to point is made possible by changing the lengths of the cables and the calculation required to determine these lengths is carried out by inverse kinematics. The thesis also involves the dimensioning and selection of motors for the desired prototype. At the end of the thesis the mechanical design is reviewed as well as the construction, where the motors are attached to the reels. As the result of the thesis two different cable drone systems were accomplished. As a first solution a commercial cable camera has been bought. As a second solution 2D cable drone system, controlled by brushless DC motors with round reels attached to them, has been developed. This system can be used to simulate the flight of a normal drone in a plane. The device was designed so that the motor-round reel assemblies and the cable could be attached to the prototype’s body itself

Incidence of parastomal and incisional hernia following emergency surgery for Hinchey III-IV diverticulitis:a systematic review

Abstract Purpose: The aim of this systematic review was to evaluate the risk of parastomal (PSH) and incisional hernias (IH) after emergency surgery for Hinchey III–IV diverticulitis, with comparison between the Hartmann procedure and other surgical techniques. Methods: The Cochrane Library, Embase, PubMed (MEDLINE), Web of Science and Scopus databases were systematically searched. The primary endpoint was parastomal hernia incidence. The secondary endpoint was incisional hernia incidence. Results: Five studies (four randomized controlled trials and one retrospective cohort) with a total of 699 patients were eligible for inclusion. The PSH rate was 15%–46% for Hartmann procedure, 0%–85% for primary anastomosis, 4% for resection, and 2% for laparoscopic lavage. The IH rates were 5%–38% for Hartmann procedure, 5%–27% for primary anastomosis, 9%–12% for primary resection, and 3%–11% for laparoscopic lavage. Conclusions: Both the parastomal and incisional hernia incidences are poorly evaluated and reported, and varied greatly between the studies

Synthetic mesh versus biological mesh to prevent incisional hernia after loop-ileostomy closure:a randomized feasibility trial

Abstract Background: Incisional hernia is a frequent complication after loop-ileostomy closure, rationalizing hernia prevention. Biological meshes have been widely used in contaminated surgical sites instead of synthetic meshes in fear of mesh related complications. However, previous studies on meshes does not support this practice. The aim of Preloop trial was to study the safety and efficacy of synthetic mesh compared to a biological mesh in incisional hernia prevention after loop-ileostomy closure. Methods: The Preloop randomized, feasibility trial was conducted from April 2018 until November 2021 in four hospitals in Finland. The trial enrolled 102 patients with temporary loop-ileostomy after anterior resection for rectal cancer. The study patients were randomized 1:1 to receive either a light-weight synthetic polypropylene mesh (Parietene Macro™, Medtronic) (SM) or a biological mesh (Permacol™, Medtronic) (BM) to the retrorectus space at ileostomy closure. The primary end points were rate of surgical site infections (SSI) at 30-day follow-up and incisional hernia rate during 10 months’ follow-up period. Results: Of 102 patients randomized, 97 received the intended allocation. At 30-day follow-up, 94 (97%) patients were evaluated. In the SM group, 1/46 (2%) had SSI. Uneventful recovery was reported in 38/46 (86%) in SM group. In the BM group, 2/48 (4%) had SSI (p > 0.90) and in 43/48 (90%) uneventful recovery was reported. The mesh was removed from one patient in both groups (p > 0.90). Conclusions: Both a synthetic mesh and biological mesh were safe in terms of SSI after loop-ileostomy closure. Hernia prevention efficacy will be published after the study patients have completed the 10 months’ follow-up

Sarcopenia and myosteatosis are associated with neutrophil to lymphocyte ratio but not Glasgow prognostic score in colorectal cancer patients

Abstract Cancer patients commonly present sarcopenia, myosteatosis, and systemic inflammation, which are risk factors of poor survival. In this study, sarcopenia and myosteatosis were defined from preoperative body computed tomography scans of 222 colorectal cancer (CRC) patients and analyzed in relation to tumor and patient characteristics, markers of systemic inflammation (modified Glasgow prognostic score (mGPS), neutrophil–lymphocyte ratio (NLR), serum levels of C-reactive protein (CRP), albumin, and 13 cytokines, and survival. Of the systemic inflammation markers, sarcopenia and/or myosteatosis associated with elevated NLR (p = 0.005) and low albumin levels (≤35 g/L) (p = 0.018), but not with mGPS or serum cytokine levels. In addition, myosteatosis was associated with a proximal tumor location (p = 0.039), serrated tumor subtype (p < 0.001), and severe comorbidities (p = 0.004). Multivariable analyses revealed that severe comorbidities and serrated histology were independent predictors of myosteatosis, and older age and elevated NLR were independent indicators of sarcopenia. Myosteatosis associated with shorter overall survival in univariable analysis (HR 1.959, 95% CI 1.24–3.10, p = 0.004) but not in multivariable analysis (p = 0.075). We conclude that sarcopenia and myosteatosis were associated with inflammatory marker NLR, but not with mGPS. Moreover, patients with serrated CRC may have an increased risk of myosteatosis. Myosteatosis or sarcopenia were not independent predictors of patient survival