Objective To summarize the experience and evaluate the efficacy of treatment of urethral stricture using direct visual internal urethrotomy ( DVIU) . Methods The clinical data of 361 patients ( age range 16 - 72 years...Objective To summarize the experience and evaluate the efficacy of treatment of urethral stricture using direct visual internal urethrotomy ( DVIU) . Methods The clinical data of 361 patients ( age range 16 - 72 years, mean age 38 years) with urethral stricture who underwent urethrotomy from 1990 to 2010 was retrospectively ana-展开更多
In this paper,we present a novel algorithm for odometry estimation based on ceiling vision.The main contribution of this algorithm is the introduction of principal direction detection that can greatly reduce error acc...In this paper,we present a novel algorithm for odometry estimation based on ceiling vision.The main contribution of this algorithm is the introduction of principal direction detection that can greatly reduce error accumulation problem in most visual odometry estimation approaches.The principal direction is defned based on the fact that our ceiling is flled with artifcial vertical and horizontal lines which can be used as reference for the current robot s heading direction.The proposed approach can be operated in real-time and it performs well even with camera s disturbance.A moving low-cost RGB-D camera（Kinect）,mounted on a robot,is used to continuously acquire point clouds.Iterative closest point（ICP） is the common way to estimate the current camera position by registering the currently captured point cloud to the previous one.However,its performance sufers from data association problem or it requires pre-alignment information.The performance of the proposed principal direction detection approach does not rely on data association knowledge.Using this method,two point clouds are properly pre-aligned.Hence,we can use ICP to fne-tune the transformation parameters and minimize registration error.Experimental results demonstrate the performance and stability of the proposed system under disturbance in real-time.Several indoor tests are carried out to show that the proposed visual odometry estimation method can help to signifcantly improve the accuracy of simultaneous localization and mapping（SLAM）.展开更多
目的:研究和评估乳头髓质穿刺扩张(papillo-medullary puncture and dilation,PMPD)技术在建立经皮肾镜取石通道中的安全性及有效性,并探讨其适应证与禁忌证。方法:收集分析2025年2月—2025年9月在华中科技大学同济医学院附属协和医院...目的:研究和评估乳头髓质穿刺扩张(papillo-medullary puncture and dilation,PMPD)技术在建立经皮肾镜取石通道中的安全性及有效性,并探讨其适应证与禁忌证。方法:收集分析2025年2月—2025年9月在华中科技大学同济医学院附属协和医院及医联体单位接受经皮肾镜取石术(percutaneous nephrolithotomy,PCNL)治疗的52例患者的临床资料,所有患者均为无积水(或轻度积水)且肾脏实质较厚(实质厚度>1.0 cm)。其中28例采用集合系统穿刺扩张(collecting system puncture and dilation,CSPD)技术建立取石通道(CSPD组),24例采用PMPD技术建立取石通道(PMPD组)。比较2组患者通道建立时间、手术总时间、术后出血情况及肾功能变化等指标。结果:CSPD组穿刺时间显著长于PMPD组,且常需反复穿刺肾脏实质;PMPD组仅穿刺乳头髓质,穿刺针不需进入肾脏集合系统,均1针完成穿刺。2组均无通道建立失败患者。PMPD组通道建立时间略长于CSPD组(P<0.05),但2组手术总时间差异无统计学意义。此外2组患者基线水平不一致,术前肾积水情况具有明显差异,PMPD组更适合无肾积水的结石患者。PMPD组术后可不常规留置造瘘管,更有利于患者术后恢复。受样本量限制,虽然2组差异无统计学意义,但PMPD组血红蛋白下降情况优于CSPD组。结论:PMPD技术用于PCNL取石通道建立安全可行,其操作不依赖集合系统扩张程度及肾盏颈扩张条件,穿刺难度低于CSPD技术,尤其适用于无或轻度肾积水且肾实质较厚的患者,甚至可推广至所有肾实质较厚的拟行PCNL的肾脏输尿管结石患者。展开更多
液体闪烁体(简称“液闪”)探测器因其成本效益高而被广泛应用于中微子探测。液闪探测器利用带电粒子激发的闪烁光来测量粒子的相关信息,并通过粒子径迹推断其运动方向。对于能量较低导致径迹过短的粒子,液闪探测器探测到的闪烁光子数量...液体闪烁体(简称“液闪”)探测器因其成本效益高而被广泛应用于中微子探测。液闪探测器利用带电粒子激发的闪烁光来测量粒子的相关信息,并通过粒子径迹推断其运动方向。对于能量较低导致径迹过短的粒子,液闪探测器探测到的闪烁光子数量远超切伦科夫光子数量(约高出两到三个数量级),因此利用切伦科夫光确定粒子运动方向极为困难,相关研究多集中于低光产额的液闪实验。对于高光产额的液闪实验,如Borexino、KamLAND和江门中微子实验(JUNO),在这方面的研究较少,尤其是在深度学习的应用方面。因此,探究深度学习在此领域的潜力具有重要意义。本工作开发了一种基于卷积神经网络(Convolutional Neural Network,CNN)的深度学习模型CRCP(Cherenkov Ring Center Predictor)用于液闪探测器点粒子运动方向重建,并与基于拟合的方法进行了效果对比。研究表明深度学习算法具有较好的重建方向能力。本工作可用于江门中微子实验、萨德伯里中微子观测站(SNO+)实验和慢液闪方案的锦屏中微子实验,以提高探测器对太阳中微子相关的本底的压低能力。展开更多
文摘Objective To summarize the experience and evaluate the efficacy of treatment of urethral stricture using direct visual internal urethrotomy ( DVIU) . Methods The clinical data of 361 patients ( age range 16 - 72 years, mean age 38 years) with urethral stricture who underwent urethrotomy from 1990 to 2010 was retrospectively ana-
文摘In this paper,we present a novel algorithm for odometry estimation based on ceiling vision.The main contribution of this algorithm is the introduction of principal direction detection that can greatly reduce error accumulation problem in most visual odometry estimation approaches.The principal direction is defned based on the fact that our ceiling is flled with artifcial vertical and horizontal lines which can be used as reference for the current robot s heading direction.The proposed approach can be operated in real-time and it performs well even with camera s disturbance.A moving low-cost RGB-D camera（Kinect）,mounted on a robot,is used to continuously acquire point clouds.Iterative closest point（ICP） is the common way to estimate the current camera position by registering the currently captured point cloud to the previous one.However,its performance sufers from data association problem or it requires pre-alignment information.The performance of the proposed principal direction detection approach does not rely on data association knowledge.Using this method,two point clouds are properly pre-aligned.Hence,we can use ICP to fne-tune the transformation parameters and minimize registration error.Experimental results demonstrate the performance and stability of the proposed system under disturbance in real-time.Several indoor tests are carried out to show that the proposed visual odometry estimation method can help to signifcantly improve the accuracy of simultaneous localization and mapping（SLAM）.
文摘目的:研究和评估乳头髓质穿刺扩张(papillo-medullary puncture and dilation,PMPD)技术在建立经皮肾镜取石通道中的安全性及有效性,并探讨其适应证与禁忌证。方法:收集分析2025年2月—2025年9月在华中科技大学同济医学院附属协和医院及医联体单位接受经皮肾镜取石术(percutaneous nephrolithotomy,PCNL)治疗的52例患者的临床资料,所有患者均为无积水(或轻度积水)且肾脏实质较厚(实质厚度>1.0 cm)。其中28例采用集合系统穿刺扩张(collecting system puncture and dilation,CSPD)技术建立取石通道(CSPD组),24例采用PMPD技术建立取石通道(PMPD组)。比较2组患者通道建立时间、手术总时间、术后出血情况及肾功能变化等指标。结果:CSPD组穿刺时间显著长于PMPD组,且常需反复穿刺肾脏实质;PMPD组仅穿刺乳头髓质,穿刺针不需进入肾脏集合系统,均1针完成穿刺。2组均无通道建立失败患者。PMPD组通道建立时间略长于CSPD组(P<0.05),但2组手术总时间差异无统计学意义。此外2组患者基线水平不一致,术前肾积水情况具有明显差异,PMPD组更适合无肾积水的结石患者。PMPD组术后可不常规留置造瘘管,更有利于患者术后恢复。受样本量限制,虽然2组差异无统计学意义,但PMPD组血红蛋白下降情况优于CSPD组。结论:PMPD技术用于PCNL取石通道建立安全可行,其操作不依赖集合系统扩张程度及肾盏颈扩张条件,穿刺难度低于CSPD技术,尤其适用于无或轻度肾积水且肾实质较厚的患者,甚至可推广至所有肾实质较厚的拟行PCNL的肾脏输尿管结石患者。
文摘液体闪烁体(简称“液闪”)探测器因其成本效益高而被广泛应用于中微子探测。液闪探测器利用带电粒子激发的闪烁光来测量粒子的相关信息,并通过粒子径迹推断其运动方向。对于能量较低导致径迹过短的粒子,液闪探测器探测到的闪烁光子数量远超切伦科夫光子数量(约高出两到三个数量级),因此利用切伦科夫光确定粒子运动方向极为困难,相关研究多集中于低光产额的液闪实验。对于高光产额的液闪实验,如Borexino、KamLAND和江门中微子实验(JUNO),在这方面的研究较少,尤其是在深度学习的应用方面。因此,探究深度学习在此领域的潜力具有重要意义。本工作开发了一种基于卷积神经网络(Convolutional Neural Network,CNN)的深度学习模型CRCP(Cherenkov Ring Center Predictor)用于液闪探测器点粒子运动方向重建,并与基于拟合的方法进行了效果对比。研究表明深度学习算法具有较好的重建方向能力。本工作可用于江门中微子实验、萨德伯里中微子观测站(SNO+)实验和慢液闪方案的锦屏中微子实验,以提高探测器对太阳中微子相关的本底的压低能力。
