Research on Positioning Accuracy of Mobile Robot in Indoor Environment Based on Improved RTABMAP Algorithm.

Visual simultaneous localization and mapping is a widely used technology for mobile robots to carry out precise positioning in the environment of GNSS technology failure. However, as the robot moves around indoors, its position accuracy will gradually decrease over time due to common and unavoidable environmental factors. In this paper, we propose an improved method called RTABMAP-VIWO, which is based on RTABMAP.

Metal surface defect detection based on improved YOLOv5.

During the production of metal material, various complex defects may come into being on the surface, together with large amount of background texture information, causing false or missing detection in the process of small defect detection. To resolve those problems, this paper introduces a new model which combines the advantages of CSPlayer module and Global Attention Enhancement Mechanism based on the YOLOv5s model. First of all, we replace C3 module with CSPlayer module to augment the neural network model, so as to improve its flexibility and adaptability.

Global contextual attention augmented YOLO with ConvMixer prediction heads for PCB surface defect detection.

To solve the problem of missed and false detection caused by the large number of tiny targets and complex background textures in a printed circuit board (PCB), we propose a global contextual attention augmented YOLO model with ConvMixer prediction heads (GCC-YOLO). In this study, we apply a high-resolution feature layer (P2) to gain more details and positional information of small targets. Moreover, in order to suppress the background noisy information and further enhance the feature extraction capability, a global contextual attention module (GC) is introduced in the backbone network and combined with a C3 module.

Mixed Receptive Fields Augmented YOLO with Multi-Path Spatial Pyramid Pooling for Steel Surface Defect Detection.

Aiming at the problems of low detection efficiency and poor detection accuracy caused by texture feature interference and dramatic changes in the scale of defect on steel surfaces, an improved YOLOv5s model is proposed. In this study, we propose a novel re-parameterized large kernel C3 module, which enables the model to obtain a larger effective receptive field and improve the ability of feature extraction under complex texture interference. Moreover, we construct a feature fusion structure with a multi-path spatial pyramid pooling module to adapt to the scale variation of steel surface defects.

Use of Buried Guide Needle to Fix Inferior Eyelid Orbital Septum Fat for Tear Trough Depression Filling.

Fat fixation is a key step in filling tear trough depression with inferior eyelid orbital septum fat. The ideal position for inferior eyelid fat fixation is to cross the tear trough ligament causing tear trough depression and the orbicularis retaining ligament, with the distal end fixed at the farthest end of the dissected lacuna deep down the inferior orbicularis oculi muscle. Traditional suturing is difficult in the deep narrow lacunae, but a buried guide needle can be used to suture and fix the fat in the deepest lacuna.

Vaginal delivery combined with vaginal tightening surgery and perineal body repair: 5 case reports.

The present study aimed to investigate the feasibility of vaginal delivery combined with vaginal tightening surgery and perineal body repair.From January 2017 to April 2017, 5 cases underwent vaginal delivery combined with vaginal tightening surgery and perineal body repair. We retrospectively analyzed the clinical data.

Corrective Strategies for a Complex Deformity Caused by "European-Style Double Eyelid" Blepharoplasty in Asians.

Background: "European-style double eyelid" blepharoplasty often leads to a complex deformity, which includes one or more of the following features: a high fold, upper eyelid depression, multiple folds, an obvious scar, blepharoptosis, and lower flap tumidness. However, there is still a lack of comprehensive research on evaluation and treatment strategies for this complex deformity.

Methods: During a 6-year period, 65 patients (106 eyes) with a high fold and upper eyelid depression underwent corrective blepharoplasty.

Autologous Buccal Micro-Mucosa Free Graft combined with Posterior Scrotal Flap Transfer for Vaginoplasty in Male-To-Female Transsexuals: A Pilot Study.

Background: The inverted peno-scrotal flap method is considered the standard method of vaginoplasty in male-to-female genital reassignment surgery. Though with numerous advantages, the method has its limitations regarding skin texture, lack of inherent lubrication, and that the tissues for creating the labia depend on the amount of tissues remaining after vaginoplasty. Our purpose was to describe the procedure and outcome of vaginoplasty applying a new technique: autologous buccal micro-mucosa free graft combined with posterior scrotal flap transfer, which could solve some of the problems the previous methods had.

Scrotal-Septal Fasciocutaneous Flap Used as a Multifunctional Coverage for Prior Failed Hypospadias Repair.

Objectives: The study aims to report the method and outcome of using scrotal-septal fasciocutaneous flap as a multifunctional coverage for prior failed hypospadias repair.

Methods: From January 2014 to June 2015, 18 hypospadias patients who have undergone repeated failed surgeries were enrolled. Their penile skin, urethral plate and dartos fascia are not enough to reconstruct the urethra, but have well-developed scrota.

[EFFECTIVENESS OF VAGINOPLASTY WITH ACELLULAR DERMAL MATRIX AND MIXED PARTICLES GRAFT].

Objective: To evaluate the effectiveness or acellular dermal matrix (ADM) with autologous buccal micro mucosa and micro skin graft in vaginoplasty.

Methods: A retrospective analysis was made on the clinical data of 67 patients with vaginal agenesis treated between July 2006 and June 2013. ADM and mixed particles were used in 20 cases (ADM group) and mixed particles graft in 47 cases (control group) in vaginoplasty.

[Vaginoplasty with autologous buccal micromucosa combined with acellular allogenic dermal matrix].

Objective: To introduce and evaluate the technical feasibility and anatomical and functional outcomes of one-stage vaginoplasty with autologous buccal micromucosa combined with acellular allogenic dermis.

Methods: We retrospectively reviewed our experiences with 17 patients with Mayer- Rokitansky-Kuster-Hauser syndrome treated with primary surgery from September 2010 to April 2013. All patients underwent vaginoplasty with autologous buccal micromucosa combined with acellular allogenic dermis.

A new surgical technique of hymenoplasty.

Objective: To review data from patients who have undergone hymenoplasty with a novel surgical technique, termed the STSI (suture three stratums around the introitus) method.

Methods: In a retrospective study, data were reviewed from patients who underwent hymenoplasty by STSI at a center in Beijing, China, between January 2010 and January 2014. Patients were scheduled to attend a follow-up appointment 1 month after surgery.

Three-layer reconstruction of large urethrocutaneous fistulas using scrotal-septal flaps.

Introducton: The repair of large urethrocutaneous fistulas (UCFs) commonly involves reconstruction of the urethra, waterproof layer and skin coverage, which deploy different tissues from different flaps. To simplify the multiple procedures, we explored to use one flap (a scrotal-septal flap) to reconstruct three layers in UCF repairing in one stage.

Methods: Between January 2011 and July 2012, 29 patients with large UCFs (ranging from 1.

Aesthetic Labia Minora Reduction with Combined Wedge-edge Resection: A Modified Approach of Labiaplasty.

Background: Nowadays, the demand for female genital rejuvenation procedures especially for labiaplasty is surging. Labia minora reduction has been the most practiced esthetic procedure for the female genitalia in China. Gynecological plastic surgeons have proposed several methods for labia reduction, but there is no consensus on which one is the best choice.

Measurements of female genital appearance in Chinese adults seeking genital cosmetic surgery: a preliminary report from a gynecological center.

Introduction And Hypothesis: Accurate and comprehensive measurements of the external genitalia in female adults are of great significance in surgery designs and for aesthetic evaluation in genital plastic surgeries. The authors carried out a 319-case study and provided baseline data and morphometric reference for plastic surgery involving the genital deformity caused by trauma or burns and male-to-female transsexual operations.

Methods: Our study design recruited 319 women referred to the out-patient clinic from August 2010 to August 2013.

Ten years' experience for hypospadias repair: combined buccal mucosa graft and local flap for urethral reconstruction.

Objectives: To share our experience in hypospadias repair and discuss the clinical implications of our method, which consists of a combined buccal mucosa graft and local flap for urethroplasty.

Patients And Methods: 1,394 cases (median age 11.3 years, age range 5 months to 53 years) of hypospadias which were repaired using our method between July 2000 and December 2010 in our department were included in this study.

Long-term outcomes of vaginoplasty with autologous buccal micromucosa.

Objective: To evaluate the technical feasibility and anatomical and functional outcomes of one-stage vaginoplasty with autologous buccal micromucosa.

Methods: We retrospectively reviewed our experiences with 38 patients with vaginal agenesis treated with primary surgery from June 2006 to April 2012. All patients underwent transvestibular vaginoplasty with autologous buccal micromucosa.

Spontaneous ventral urethral fistula in a young man whose mother had a retained IUD in uterus during the gestation.

Urethral fistula is rare and is usually a complication of penile and urethral surgery. A few congenital cases have been reported. To our knowledge, there are only 2 reports about spontaneous ventral urethral fistula in the English literature.

'Expansion ' concept as a new technique for expanding skin and soft tissue.

Techniques for expanding skin and soft tissue are widely used to repair damaged areas since they facilitate the provision of new, additional skin tissue with similar quality, texture and color to that surrounding the defective area. Conventional expansion techniques involve placing expanders under the normal skin adjacent to a lesion. However, these techniques may involve additional incisions, complications with blood supply and 'dog-ear' deformities and may result in a low utilization rate of the expanded tissue.

[Which vessel, the artery or the vein is more important in vascular supercharge: an investigation of vascular changes on rat abdominal supercharging flap models].

Objective: The study was to reveal the vascular changes in three different supercharging flap models. From this study, we want to investigate which vessel, the artery or the vein is more important in elongating perforator flap survival and why.

Methods: Twelve rats were divided into three experimental groups.

Angular vessels as a new vascular pedicle of an island nasal chondromucosal flap: Anatomical study and clinical application.

Successful eyelid reconstructions have been reported when using an axial nasal chondromucosal flap based on the dorsal nasal artery. The present study aimed to present a detailed anatomical description of the blood supply of the lateral nasal region and the angular artery, in order to propose the angular vessels as a new vascular pedicle for the island nasal chondromucosal flap. A total of 11 cadavers (22 hemi-faces) were examined.

Improvement of length of survival of expanded flap by application of topical papaverine cream.

Blood flow in expanding tissue can be improved by papaverine through a special delivery system in early report. Because the delivery system was complex and inconvenient, another way of using papaverine was tested to observe the blood flow and the survival length of expanded flap in this study. Twenty-four pigs were divided into three groups randomly named A, B, and C.

[Penile augmentation and elongation using autologous dermal-fat strip grafting].

Objective: To investigate the effect of autologous dermal-fat strip grafting in penile augmentation and elongation.

Methods: From May 2004 to December 2010, 24 patients underwent penile enhancement with free dermal-fat strip grafting. Through suprapubic incision, the superior suspensory ligament and part deep suspensory ligament are cutted off to lengthen the penis.

[Application of tunica vaginalis flap for multi-fistulas after urethroplasty in hypospadias].

Objective: To discussed a new technique for multi-fistulas after urethroplasty in hypospadias.

Methods: 8 cases with postoperative multi-fistulas, which were not successfully repaired by previous treatment, were reoperated with tunica vaginalis flap combined with urethral stent and elastic dressing. The multi-fistulas were located between glan and scrotum.