FESS extraction of nasal foreign body in an adult patient – clinical case presentation

Представяме клиничен случай на чуждо тяло в носа при пациент на 48 години. По анамнестични данни чуждото тяло е копче, поставено в детска възраст в дясната ноздра. Диагностика и лечение. Преки и косвени разходи от ненавременната диагностика и лечение.------------------------We present a case of nasal foreign body in an adult patient (48 years old) with a history of childhood insertion of a button in the right nostril. Management. Direct and indirect costs of diagnosis and treatment

Endoscopic Dacryocystorhinostomy – Our Experience

Objectives: The aim of this study is to present our experience with endoscopic management of chronic obstruction of the nasolacrimal duct.Matherials and methods: Retrospective analysis of the patients with chronic stenosis and obstruction of nasolacrimal product managed with endoscopic DCR. Patients’ demographics, management techniques, complications and outcomes, patient satisfaction are reported.Results: A total of 11 patients with stenosis or obstruction of the nasolacrimal duct were treated in our clinic. All patients were managed with endoscopic DCR. 8 of the patients were female and 3 – male. 9 of the patients had unilateral complaints and 2 – bilateral. The results showed patency of the operated nasolacrimal ducts in the absence of recurrence to date. There was one case of postoperative epistaxis. Other postoperative complications were not observed.Conclusions: Our experience shows that endoscopic management of chronic obstruction of the nasolacrimal duct is safe and effective, and this is in line with data reported by other authors

DIAGNOCTIC ALGORITHM FOR BRONCHIAL ASTHMA

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Baloon sinuplasty – first implementation in Bulgaria

Here we present the first two patients that were treated with baloon sinuplasty in Bulgaria. Review of the indications, benefits, risks, feasibility and efficacy of baloon sinuplasty. Chronic sinusitis – description and management alternatives.----------------------------------------В настоящото съобщение-обзор ние представяме първите двама пациенти, оперирани в България с използване на метода на балонната синупластика. Разгледани са индикациите, ползите, рисковете, приложимостта и ефикасността на този метод. Описание на заболяването хроничен синузит и алтернативите за лечение

Bundle folding type III Bricard linkages

The paper presents a set of one-degree-of-freedom overconstrained linkages, which can be folded into a bundle and deployed into a polygon on a plane. The proposed mechanisms are movable Bricard octahedra of type III, characterized by the existence of two configurations where all joints are coplanar. The possible geometries of doubly-collapsible Bricard linkages are parameterized and their kinematics is analyzed. A line-intersection method is proposed to construct a bundle-folding mechanism of this type. Necessary and sufficient conditions are derived for the deployed-configuration polygon to be a square. Simulation and prototype experiment results validate the analysis and design.This research has been supported by the National Natural Science Foundation of China under Grant 51605011, 51635002(Key Program), the Fundamental Research Funds for the Central Universities (YWF-19-BJ-J-336), the State Key Laboratory of Robotics and System (HIT), and the AUTORECON project funded under the Seventh Framework Program of the European Commission (Collaborative Project NMP-FOF-2011-285189). The authors gratefully acknowledge the supporting agencies

Self-Motions of General 3-RPR Planar Parallel Robots

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented

3D SPATIAL OPERATIONS FOR GEO-DBMS: GEOMETRY VS. TOPOLOGY

Geo-DBMS becomes very important medium for GIS as it can handle and manage (e.g. retrieve and update) large volume of spatial data. Providing 3D spatial database with appropriate operation tools such as 3D spatial operations would be very useful for next generation of GIS software (i.e. 3D GIS) since the software would highly depend on the Geo-DBMS in both modeling and analysis. One of the desired components in such future software or system is geometric modeling capability that works with 3D spatial operations. The literature reveals 3D spatial database would be greatly enhanced if analytical operations on the spatial data could be manipulated in real 3D domain. Fundamentally, it can be considered that the aspect of 3D spatial operations within GIS software are still not much been addressed and solved as expected (i.e. up to the level where an operational 3D system could be realized). The main problem from this aspect is the unavailability of 3D spatial data type within geo-DBMS environment. It is the aim of this paper to describe 3D spatial operations for geometrical and topological data types within geo-DBMS environment. In the experiment, we utilize an existing geo-DBMS, PostgreSQL, later known as PostGIS, which complied with the standard specifications from Open Geospatial Consortium (OGC), e.g. abstract and geometry specification. The second factor why we utilise the PostGIS is because its an open source based technology and suitable for academic and research purposes. In this paper, we discuss a suitable way of developing a new 3D data type, polyhedron, for both geometrical and topological data types and spatial operations using C language. 1

Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one

This paper explores essence of geometric constraints induced reconfiguration of single-loop kinematic chains with mobility one. Reconfigurable kinematic chains are firstly classified into four categories in light of variations of parameters in the Chebychev–Grübler–Kutzbach mobility criterion. Within these four categories, single-loop kinematic chains with mobility one but distinct motion branches are further classified in accordance with degeneration of degree-of-freedom of certain revolute joints. With the essence of reconfiguration, the interrelationship of motion-branch changes through constraint singularity induced transitory positions of reconfigurable single-loop linkages is revealed in the context of reciprocity of screws. Four basic geometric constraints leading to transitory positions are explored by analysing the Bennett plano-spherical linkage, a kinematic embodiment of Grassmann varieties. Geometric constraints induced screw-system variation and motion branch changes of a novel asymmetric 7R linkage and the line- and plane-symmetric Bricard 6R linkage with capability of reconfiguring their motion branches are subsequently analysed for interpreting the fundamentals explored