Development of a Robotic Cochlear Implantation System

Traditional cochlear implantation surgery has problems such as high surgical accuracy requirement and large trauma,which cause the difficulty of the operation and the high requirements for doctors,so that only a few doctors can complete the operation independently.However,there is no research on robotic cochlear implantation in China.In response to this problem,a robotic cochlear implantation system is proposed.The robot is controlled by robot operating system (ROS).A simulation environment for the overall surgery is established on the ROS based on the real surgery environment.Through the analysis of the kinematics and the motion planning algorithm of the manipulator,an appropriate motion mode is designed to control the motion of the manipulator,and perform the surgery under the simulation environment.A simple and feasible method of navigation is proposed,and through the model experiment,the feasibility of robotic cochlear implantation surgery is verified.     

胆总管结石取石术的Meta分析

目的比较胆总管结石的开腹手术治疗与内镜治疗的临床疗效。方法通过电子检索和手工检索全面收集关于胆总管结石的开腹手术治疗和内镜治疗的随机对照实验,并按Cochrane协作网推荐的方法进行Meta分析。采用固定效应模型,对符合纳入标准的6个实验共407例患者进行Meta分析。结果与ERCP内镜取石组相比较,开腹手术组在一次手术后结石残留率[OR0.39,95%CI(0.25,0.75),P=0.003]、患者再次手术率[OR0.33,95%CI(0.19,0.60),P=0.0002]方面差异均有统计学意义,在围手术期并发症率方面[PetoOR1.10,95%CI(0.69,1.76),P=0.67]无统计学差异。结论目前研究资料显示,开腹手术取石较内镜取石在结石清除效果方面有一定优势,而围手术期并发症率方面无统计学差异。     

围手术期食管癌患者血浆D-dimer的变化规律

目的探讨围手术期食管癌患者血浆D-dimer水平的变化规律,评估发生血栓的风险。方法随机选取行手术治疗的29例食管癌患者为癌症组,同期开胸的12例良性病变患者为对照组,测定两组患者术前、术后3d、术后9d的血浆D-dimer水平,与其病理学特征及手术方式进行统计学分析。结果术后D-dimer在对照组(P<0.001)和癌症组(P<0.001)中均升高,但在癌症组中升高趋势明显(P<0.001)。癌症组中,血浆D-dimer在术后3d较术前升高显著,在术后9d升高趋于平缓。围手术期食管癌患者D-dimer水平改变与病理类型(P=0.64)、病理分级(P=0.84)、TNM分期(P=0.52)、手术方式(P=0.83)均无关。结论食管癌患者术后血浆D-dimer变化明显,术后可能并发血栓的风险也较高。     

T-PA辅助兔青光眼滤过手术的实验研究(Ⅰ)

目的　探讨组织型纤溶酶原激活剂 (t -PA)在兔眼青光眼滤过术毕前房小剂量 (2 5μg)注射的有效性。方法　采用前瞻性、盲法对照研究 ,2 0只健康白色家兔双眼行全厚巩膜咬切滤过手术 ,术毕随机选一眼为t-PA治疗眼 ,另一眼为等量生理盐水对照眼 ,术后临床观察结合光电镜检查。结果　生理盐水对照组术后 1日和 3日滤过道及滤泡腔内有纤维蛋白凝块及红细胞栓子阻塞 ,而t-PA治疗组滤过道完全开放 ,炎性细胞及成纤维细胞的数量明显减少 ;术后 7日和 1 4日t-PA治疗组手术区肉芽组织和瘢痕组织的量亦明显少于对照组。与组织学检查相一致 ,术后 1周内治疗组滤过泡比对照组明显增大。两组均未见明显毒副作用。结论　t-PA可有效溶解滤过道及滤泡腔内的纤维蛋白凝块 ,提高青光眼滤过手术的成功率     

Eye Robotic System for Vitreoretinal Surgery

Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.There-fore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon's operation accu-racy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon's motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.     

心脏直视手术不用异体库血的研究

目的　通过对心脏直视手术患者采用自体输血的临床应用 ,观察不用异体库血进行心脏直视手术的效果。方法　对应用自体输血进行心脏直视手术的 68例患者术中采用综合节血措施 ,包括术前贮血 ,术中回收血以及应用抑肽酶。同时选择 68例接受输异体库血的心脏直视手术患者作为对照 ,比较两组间中心静脉压 (CVP)、血红蛋白 (Hb)、血小板 (PLT)及术后引流量等差异。结果　自体输血组患者术后Hb、PLT均较术前降低 (P <0 .0 5 ) ,凝血酶原时间 (PT)延长(P <0 .0 5 ) ,但Hb、PLT、PT仍在正常范围内 ,PaO2 术后较术前显著升高 ;与对照组相比 ,术后Hb、PLT、PT及引流量均无统计学显著性差异 (P >0 .0 5 ) ,而术中失血量、用库血量却有明显差异。结论　采用自体输血的心脏直视手术患者 ,围术期虽有轻度贫血但不影响血液的携氧功能 ,术后出、凝血状况亦不受影响 ,并能减少输异体库血后可能引起的并发症、减轻患者的经济及精神负担。     

基于文化粒子群网络优化算法的医学图像研究

文章提出了基于文化粒子群的网络优化算法的医学图像方法，通过在50例唇裂矫正术中运用BP神经网络进行学习．对唇部进行解剖观察和美学分析，在矫正修复手术中不断学习和调整来接近期望输出，并通过实验仿真及客观的图像提出了评估准则。实验结果表明，在美学研究基础上的基于文化粒子群BP神经网络的医学图像研究，适用于唇裂的矫正修复。     

兔眼葡萄膜巩膜引流术后FITC-Dextran在眼组织中的分布

目的观察兔眼葡萄膜巩膜引流术后房水流出道的形态学改变。方法 20只中国白兔随机分为2组,一组行葡萄膜巩膜引流术,另一组行小梁切除术,均行右眼手术。术后2周术眼前房内灌注异硫氰酸荧光素标记的葡聚糖(FITC-Dextran),处死后取完整眼球做冰冻切片,在激光共聚焦显微镜下观察荧光素的分布。与手术部位处在眼环同一子午线上的同眼的对称部位未手术眼组织作为对照。结果在葡萄膜巩膜引流术组,荧光素的分布在前、中部巩膜最强,前葡萄膜次之;而在小梁切除术组,荧光素的分布在前葡萄膜最强,前、中部巩膜次之,两组的后葡萄膜和后巩膜均有部分中等亮度的显影,对照组的后葡萄膜和后巩膜则几乎无显影,且两组的前、中部巩膜荧光素强度均明显高于对照组。结论葡萄膜巩膜引流术和小梁切除术术后房水引流均是多途径的,既有外滤过,还增强了葡萄膜巩膜引流。与小梁切除术相比,葡萄膜巩膜引流术还明显增加了跨巩膜引流。     

Universal Software Architecture of Magnetic Resonance-Guided Focused Ultrasound Surgery System and Experimental Study

Magnetic resonance-guided focused ultrasound surgery (MRgFUS) is an emerging,non-invasive hy-perthermia technology which can be used for the treatment of benign...     

EFFECT OF PREOPERATIVE CHEMOTHERAPY ON METASTASIZED LYMPH NODES IN PATIENTS WITH ADVANCED ESOPHAGEAL CARCINOMA

Recent advances in surgical teChniques and pe-rioperative management have significantly im-proved the resect rate, long-term survival and op-erative mortality of patients with esophageal can-cer. However, treatment of surgery only does notimprove the extremely poor prognosis of the pa-tients with local advanced squamous cell carcino-ma[lj. Multimodal therapy is needed to improve theprognosis for patients with locally advancedesophageal cancer. Most investigators have foundthat adjuvant treatme…     

A data model applied to the knowledge-based ICAS

Image-guided computer aided surgery system (ICAS) contributes to safeness and success of surgery operations by means of displaying anatomical structures and showing correlative information to surgeons in the process of operation. Based on analysis of requirements for ICAS, a new concept of clinical knowledge-based ICAS was proposed. Designing a reasonable data structure model is essential for realizing this new concept. The traditional data structure is limited in expressing and reusing the clinical knowledge such as locating an anatomical object, topological relations of anatomical objects and correlative clinical attributes. A data structure model called mixed adjacency lists by octree-path-chain (MALOC) was outlined, which can combine patient's images with clinical knowledge, as well as efficiently locate the instrument and search the objects' information. The efficiency of data structures was analyzed and experimental results were given in comparison to other traditional data structures. The result of the nasal surgery experiment proves that MALOC is a proper model for clinical knowledge-based ICAS that has advantages in not only locating the operative instrument precisely but also proving surgeons with real-time operation-correlative information. It is shown that the clinical knowledge-based ICAS with MALOC model has advantages in terms of safety and success of surgical operations, and help in accurately locating the operative instrument and providing operation-correlative knowledge and information to surgeons in the process of operations.     

无水乙醇栓塞对肾癌微血管和碱性成纤维生长因子及其受体表达的影响

用免疫组织化学 SP法对无水乙醇栓塞后肾癌手术标本 36例及同期单纯手术切除标本1 0例中微血管数目、碱性成纤维生长因子 (b FGF)和其受体 (FGF- R)的表达进行检测 ,并进行比较。结果显示术前栓塞组的微血管数目低于手术对照组 ,且差异有显著性 (P <0 .0 0 1 ) ;b FGF和FGF- R的表达具有一致性 ,术前栓塞组 b FGF和 FGF- R阳性率为 55.6% ,手术对照组 b FGF和FGF- R阳性率为 60 % ,两组相比无显著性差异 (P >0 .0 5)。提示无水乙醇栓塞能够降低肾肿瘤微血管数目 ,并减少肿瘤血行转移的可能性     

原发输卵管绒癌(附一例报告)

<正> 原发输卵管绒癌在绒癌中较为罕见。1975年以前国外共报道过75例。国内曾报道两例,我院1970年收治过一例,报道如下。杜××,住院号3905,56岁,孕3产3。1970年4月12日以“不规则阴道流血、下腹痛二月余”主诉入院。患者既往月经规律,1970年1月26日开始阴道出血并有凝血块,量时多时少,色有时鲜红有时暗红。2月16日阴道大量出血,估计约1000毫升。市内医院对症处理     

EFFECTS OF LEVOTHYROXINE ON BONE METABOLISM IN PATIENTS WITH DIFFERENTIATED THYROID CANCER AFTER OPERATION AND 131I ABLATION

Objective To investigate the effects of substitutive and suppressive doses of levothyroxine on bone metabolism in patients with differentiated thyroid carcinoma after surgery and 131I ablation. Methods The patients, who had received levothyroxine(L-T4) for at least 3 years for treating their differentiated thyroid carcinoma after surgery and 131I therapy, were classified into substitutive group and suppressive group according to the levels of serum free triiodothyronine (FT3), free thyroxine (FT4), thyroid-stimulating hormone (TSH). We compared the levels of FT3, FT4, TSH, serum parathyroid hormone (PTH), serum calcium (Ca), serum phosphate (P), serum alkaline phosphates (ALP) and Bone mineral density (BMD) to those of healthy volunteers well matched for sex, age, menopausal status, and body mass index (BMI). Results No significant differences were found in the bone density and biochemical parameters of bone metabolism of the subjects treated with substitutive or suppressive doses of L-T4 compared with the control subgroup. No significant differences were observed among the subgroups according to accumulative doses of 131I. No bone fracture was found in all the patients. Conclusion The substitutive and suppressive doses of L-T4 are safe and necessary for patients with differentiated thyroid carcinoma after surgery and 131I therapy. Such treatment for 3 years is not associated with increased risk of osteoporosis. Much longer term of follow up is still needed in patients receiving substitutive and suppressive doses of L-T4.     

肠梗阻死亡原因及手术时机问题

我室近20年手术治疗急性肠梗阻共437例,其中死亡40例(占9.19%),本文分析了40例中误诊的主要原因是过分强调腹部手术史,忽视了粘连性肠梗阻近半数合并肠扭转而致肠坏死,术前观察时间太长,多数超过72小时,丧失了手术机会。死亡原因除了13例合并腹腔脏器恶性肿瘤转移外,余均为肠穿孔致化脓性腹膜炎,中毒性休克及肠瘘等,结合40例死亡的教训,建议一旦有绞窄征象,应立即手术,文中提出了四种诊断绞窄的方法。     

基于界标点的颅骨数据三维交互式测量

采用VC 作为开发平台,在三维可视化类库VTK的帮助下,提出了一种基于界标点的颅骨数据交互式测量算法.该算法将颅骨数据进行三维重建后,可以实现对颅骨的一些重要界标点进行精确地识别、定位和测量.实验结果表明,该算法提高了测量的精度,并简化了颅面手术的复杂性.     

乳腺癌癌旁组织中PCNA、c-erbB-2、p53、ER、PR基因的表达

目的 通过检测乳腺癌癌旁组织中增殖细胞核抗原(proliferating cell nuclear antigen, PCNA)、C-erbB-2、p53、雌激素受体(estrogen receptor, ER)﹑孕激素受体(progesterone receptor, PR)蛋白的表达,探讨适合中国女性保乳手术的安全切除范围.方法 收集40例乳腺癌根治术患者的切除标本,将每一标本分为癌肿区和癌旁区,癌旁区再划分为癌旁1cm、2cm、3cm及>3cm组.采用免疫组化SP法检测以上5组乳腺组织中非典型增生的发生率以及PCNA、c-erbB-2、p53、ER、PR蛋白表达的差异.结果 距离原发癌肿越远,癌旁组织发生非典型增生以及c-erbB-2、p53蛋白阳性的比例越低(P<0.05);癌旁1cm、2cm组高危因素(非典型增生以及c-erbB-2、p53)的比例明显高于3cm组(P<0.05),而癌旁1cm与2cm组间比较未见统计学差异(P>0.05);PCNA、ER、PR在癌旁组织中的表达与组织分化、淋巴结转移无明显关系(P>0.05).结论 在乳腺癌保乳手术中,推荐以癌旁2cm作为安全切除范围.     

宫腔镜手术对卵巢功能的影响

目的观察宫腔镜手术前后性激素水平及卵巢血流的变化,揭示该术式对卵巢功能的影响。方法对患有功能性子宫出血、子宫黏膜下肌瘤和子宫黏膜下息肉的住院患者分为宫腔镜组(79例)及子宫切除组(63例)。测量两组患者术前及术后6个月、12个月性激素水平(FSH、E2、PRO)和卵巢动脉血流值。结果术前两组患者性激素水平无差异。术后子宫切除组两个观察时点FSH值均高于宫腔镜手术组,有显著性差异,两组E2及PRO值无显著性差异。比较手术前后卵巢血流阻力指数(RI)和搏动指数(PI)值,子宫切除组有显著性差异,宫腔镜组无差异。结论宫腔镜手术对卵巢功能短期可能没有明显影响,长期效果有待进一步研究。     

体外循环前后T细胞亚群及红细胞免疫功能的改变

本文报告了２３例体外循环（ＣＰＢ）心脏直视手术病人及１１例非ＣＰＢ病人的外周血Ｔ细胞亚群、红细胞免疫粘附功能（ＲＣＩＡ）、红细胞内超氧化物歧化酶（ｒＳＯＤ）及血浆循环免疫复合物（ＣＩＣ）水平等在手术前后的变化。结果提示：心胸手术后Ｔ细胞及红细胞的免疫功能受到了抑制，且ＣＰＢ组的免疫抑制程度比非ＣＰＢ组严重。重点讨论了ＣＰＢ对Ｔ细胞及红细胞免疫功能的影响因素。     

电视胸腔镜手术35例临床分析

1997年6月至1998年7月共进行电视胸腔镜手术（Video－assistedthoracoscopicsungery，VATS）35例，均获成功。结果表明VATS为胸外科提供了一种微创手术方法，具有术野显示清楚、损伤轻、痛苦小、恢复快、住院时间短、并发症少等优点。尤其适用于年老体弱、心肺功能较差、不能耐受开胸手术的患者。病期在2～6周内的胳购，可以通过会师的方法对决VATB的手术入路．胸内小弯度针缝合严密，灵活准确，最大限度保留了正常肺组织。