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

Intercostal nerve block of the anterior cutaneous branches and the sensibility of the female breast

Introduction Better sensation in the reconstructed breast improves the quality of life. Sensory nerve coaptation is a valuable addition to autologous breast reconstruction. There are few publications concerning the sensory nerves of the breast and the nipple-areola complex and reports are contradictory, so it is unknown which nerve is best suited as a recipient for coaptation. The current study serves as a proof of concept. Materials and Methods The areas innervated by the anterior cutaneous branches (ACBs) of the intercostal nerves (ICNs) were studied on two separate occasions in two healthy women. First, the ACBs of ICNs 2-5 were individually blocked using ultrasound. Next, the ACBs of all levels were blocked simultaneously. Sensation was measured using Semmes-Weinstein monofilaments. The numbed areas corresponding to the ICNs were drawn in a raster of 2 x 2 cm. Results The largest area was supplied by the ACB of the 4th ICN, located in the upper (UIQ) and the lower (LIQ) inner quadrants of the breast. The 2nd-largest area was supplied by the ACB of the 3rd ICN. Blockage of ACBs 2-5 affected sensation in the nipple and the areola. Conclusions Blockage of all levels 2-5 partially affected sensation in the nipple-areola complex, suggesting innervation by a nerve plexus consisting of both ACBs and lateral cutaneous branches (LCBs). ACB4 supplied the largest area of the breast in the UIQ and LIQ and could be best suited for sensory nerve coaptation to optimize sensation in the autologously reconstructed breast.</p