Development and flight test of an avionics LIDAR for helicopter and UAV low-level flight

In recent years, laser radar (LIDAR) has become a promising technology for navigation and obstacle avoidance in helicopters and UAV, mainly because of its good wire detection performance on a wide range of incidence angles, and also due to its outstanding range and accuracy. In this paper we describe the activities carried out for the design, integration and test of the Laser Obstacle Avoidance System 'Marconi' (LOAM) on helicopter and UAV platforms. After a brief description of the system architecture and sensor characteristics, emphasis is given to the performance models and processing algorithms required for obstacle detection/classification and calculation of alternative flight paths, as well as to the ground and flight test activities performed on various platforms

LIDAR Obstacle Warning and Avoidance System for Unmanned Aircraft

The availability of powerful eye-safe laser sources and the recent advancements in electro-optical and mechanical beam-steering components have allowed laser-based Light Detection and Ranging (LIDAR) to become a promising technology for obstacle warning and avoidance in a variety of manned and unmanned aircraft applications. LIDAR outstanding angular resolution and accuracy characteristics are coupled to its good detection performance in a wide range of incidence angles and weather conditions, providing an ideal obstacle avoidance solution, which is especially attractive in military low-level flying platforms such as helicopters and small-size Unmanned Aircraft (UA). In this paper we discuss the integration of the Laser Obstacle Avoidance "Marconi" (LOAM) system on candidate UA platforms. The original LOAM system design and the performed helicopter test activities are summarised, including a brief description of the system architecture and sensor characteristics, together with the system performance models and data processing algorithms for obstacle detection and classification. The paper presents the dynamic modelling and the avoidance trajectory generation algorithm for UA applications. A description of the future planned flight test activities is also included

Carinal Reconstruction and Sleeve Right Upper Lobectomy Assisted with Extracorporeal Membrane Oxygenator for Non-small Cell Lung Cancer - A case report -

Bronchogenic carcinoma involving the carina has remained a challenging problem for thoracic surgeons. Carinal resection and reconstruction is limitedly indicated because this aggressive surgical approach has been reported to be associated with significant morbidity and mortality while long-term outcome has not been determined. Wesuccessfully performed carinal reconstruction and sleeve right upper lobectomy assisted with ECMO for a 60-year-old male with squamous cell carcinoma in the right upper lobe extending to the carina

Tracheal sleeve pneumonectomy for bronchogenic carcinoma

For a long time, primary tumors arising less than 2 cm distal to the carina have presented a contraindication to surgical excision. Tracheal sleeve pneumonectomy technique allows carinal resection and reconstruction but still carries considerable postoperative complications. From 1983 to 1992 we performed 27 right tracheal sleeve pneumonectomies and one left. Fourteen patients had N0 nodes, nine had N1, and five had N2. No anastomotic complications, either fistula or stenosis, were observed. Successful outcome depends on meticulous attention to surgical details and careful anaesthetic management with a new ventilation tube. One patient died on the twenty- second postoperative day from myocardial infarction. Complications included pneumonia (one), vocal cord paresis (two), and pleural empyema without bronchial fistula (one). Conservative treatment allowed complete recovery from all complications. There are seven patients alive at 4 years after operation and one at 5 years. Six patients have been disease-free for between 1 and 32 months. Two patients died free of disease at 13 and 42 months. Two patients died of mediastinal recurrence and 10 of distant metastases within 6 and 54 months

Impact of routine videothoracoscopy as the first step of the planned resectiona for lung cancer. Experience of 1306 cases

We have analyzed our experience of 1306 patients with NSCLC, submitted from November 1991 to December 2007 to routine videothoracoscopy exploration, as the first step of the planned procedure, in order to evaluate its validity in obtaining precise assessment of tumor extension, verifying thoracoscopic resectability and in decreasing the rate of unnecessary thoracotomies. Thoracoscopy revealed inoperability in 58 patients (4.4%) mostly due to pleural dissemination (2.4%) or mediastinal infiltration (1.7%). Of the remaining 1248 (95.6%), 449 (34.4%) had thoracoscopic resection (230 lobectomies, 6 pneumonectomies, 230 wedge resections), 767 (58.7%) underwent open resection (592 lobectomies, 175 pneumonectomies), and 32 (2.4%) had an exploratory thoracotomy (ET). Among the 32 ETs, thoracoscopy had suspected unresectability in 7 (0.5%), had been incompletely carried out in 4 early cases (0.3%) and had been unfeasible in 21 (1.6%). In our previous series from 1980 to 1991 the E.T. rate had been 11.6%. In the present series, after the introduction of routine thoracoscopy, the E.T. rate is 2.4% and the global rate of patients correctly staged, by thoracoscopy is 73.3%, significantly better than by CT. Video exploration resulted highly reliable in excluding conditions of unresectability with a negative predictive value (NPV) of 0.97. We conclude that preliminary thoracoscopy is useful in obtaining correct staging, reliably evaluates resectability of the lesion and helps in decreasing unnecessary thoracotomies

Routine surgical videothoracoscopy as the first step of the planned resection for lung cancer

Objectives Notwithstanding preoperative staging, a number of procedures still end in an exploratory thoracotomy as a result of unexpected findings. The aim of this work is to evaluate the validity of routine videothoracoscopy, performed as the first step of every planned resection for non–small cell lung cancer, to assess tumor resectability and feasibility of the resection through thoracoscopy. Methods and Results From November 1991 to December 2007, in our department, 1306 patients with non–small cell lung cancer, judged operable at conventional staging, underwent videothoracoscopy before the operation. Thoracoscopy revealed inoperability in 58 (4.4%) patients, mostly owing to pleural dissemination (2.5%) or mediastinal infiltration (1.7%). In the remaining 1248 (95.6%), thoracoscopy did not reveal inoperability. Of these, 449 (34.4%) underwent thoracoscopic resection. The other 799 (61.2%) underwent thoracotomy: 767 underwent resection, but 32 (2.5%) had an exploratory thoracotomy. Thoracoscopy had suggested unresectability in 7 (0.5%) patients, had been incompletely carried out in 4 (0.3%), and was unfeasible in 21 (1.6%) owing to insurmountable technical reasons. In our previous series from 1980 to 1991 the exploratory thoracotomy rate had been 11.6%. In the present series, after the introduction of routine thoracoscopy in the staging process, the exploratory thoracotomy rate was 2.5%. Thoracoscopy was reliable in excluding unresectability (negative predictive value 0.97). The global percentage of correct staging was significantly better (P < .0001) by thoracoscopy (73.3%) than by computed tomography (48.7%). Considering T descriptor, video-assisted thoracic surgery correctly matched with final pathologic staging in 96.2% of patients. Conclusions Routine preliminary videothoracoscopy ensured assessment of tumor resectability and feasibility of the resection through thoracoscopy and limited unnecessary thoracotomies

Management of solitary pulmonary nodule

Objectives: The pulmunary nodule is an important diagnostic and therapeutic problem. Diagnostic certainty is only obtained by histological examination. Mini-invasive surgery allows removal of the nodule with minimal sequelae fot the patient. Methods: From October 1991 to December 2006, 370 resections for a pulmunary nodule were performed at our Department of General Surgery of the University of Milan: 276 wedge resections and 94 lobectomies.Results: Frozen section was performed in all the wedge resections, and in the presence of cancer (77 cases), whenever possible (61 cases), the intervention was converted to lobectomy in the same session. In the other 94 cases, the nodule was removed by lobectomy due to impossibility of performing a wedge resection. Conclusions: Despite the refinement of diagnostic techniques, only exeresis of a pulmonary nodule ensures a definitive diagnosis, thus resolving the problem of benign pathologies and initiating the correct therapy for malignant lesions in the same session