To improve the settling time for high-speed point-to-point motion, a piecewise-model feedforward controller is introduced which utilizes multiple inverse sub-models with bumpless transfer between them. As the transfer function of this bumpless feedforward controller is non-commutative and non-invertible, a set of special perturbation and reference inputs are designed to extract the signals required for computing the gradient of the cost function. In this way, the optimal parameters within different motion phases are found within an integrated process.
View Article and Find Full Text PDFThe KangDuo Surgical Robot-1500 (KD-SR-1500) is a newly developed surgical robot. We aim to evaluate the feasibility and efficiency of the KD-SR-1500 system for robot-assisted radical prostatectomy (RARP). This prospective, multicenter, single-arm clinical study was conducted among 18-75-year-old patients with suspected T1-2N0M0 prostate cancer scheduled for RARP.
View Article and Find Full Text PDFBackground: Pineal region tumors encompass a wide range of pathologies, presenting challenges in pre-surgical characterization and exhibiting variable prognostic outcomes across different tumor types. This study aims to identify key imaging features from pre-treatment magnetic resonance imaging (MRI) of pineal region tumors to aid in prognostic analysis.
Methods: We retrospectively enrolled 33 patients with pineal region tumors who underwent pre-treatment imaging at the Seventh Medical Center of the Chinese PLA General Hospital between January 2010 and June 2023.
The structure of soft tissues is often destroyed by injury and aging. Injectable fillers eliminate the need for surgery and enhance repair. Hyaluronic acid-based hydrogels are commonly employed for their effectiveness and biocompatibility.
View Article and Find Full Text PDFBackground: The aim of this study was to report our technique and medium-term outcomes of modified robot-assisted laparoscopic dismembered pyeloplasty (RALDP) in the Lithotomy Trendelenburg position for treating adult ureteropelvic junction obstruction (UPJO) with horseshoe kidney (HSK).
Methods: Between March 2021 and March 2023, 11 adult patients with UPJO and HSK underwent modified RALDP in the lithotomy Trendelenburg position. Patient demographic characteristics, perioperative parameters, and follow-up outcomes were collected prospectively and analyzed.
J Gastrointest Oncol
October 2024
Background: PANoptosis is a cell death pathway involved in pyroptosis, apoptosis and necrosis, and plays a key role in the development of malignant tumors. However, the molecular signature of PANoptosis in colorectal cancer (CRC) prognosis has not been thoroughly explored. The present study aimed to develop a novel prognostic model based on PANoptosis-related genes in CRC.
View Article and Find Full Text PDFBuccal mucosal graft (BMG) ureteroplasty, particularly with the anterior-onlay technique, shows promise for treating complex ureteral strictures. However, long and circumferential strictures remain challenging. This study aimed to present the surgical technique of the posterior-inlay and anterior-onlay technique in robotic ureteroplasty with a BMG (RU-BMG).
View Article and Find Full Text PDFBeijing Da Xue Xue Bao Yi Xue Ban
October 2024
Purpose: To develop a novel adaptation of the Whitaker test for assessing the surgical effects of ileal ureter replacement (IUR), and to evaluate its feasibility and effect in the postoperative evaluation.
Patients And Methods: From November 2021 to September 2023, patients undergoing the modified Whitaker test following IUR were prospectively enrolled. The relative pressure was defined as the pelvis pressure minus the bladder pressure.
This work shows how hydrophobicity and porosity can be incorporated into copper catalyst layers (CLs) for the efficient electroreduction of CO (CORR) in a flow cell. Oxide-derived (OD) Cu catalysts are synthesized using K and Cs as templates, termed respectively as OD-Cu-K and OD-Cu-Cs. CLs, assembled from OD-Cu-K and OD-Cu-Cs, exhibit enhanced CORR performance compared to "unmodified" OD-Cu CL.
View Article and Find Full Text PDFThe current study aimed to investigate associations of circRNAs and related genetic variants with the risk of prostate cancer (PCa) as well as to elucidate biological mechanisms underlying the associations. We first compared expression levels of circRNAs between 25 paired PCa and adjacent normal tissues to identify risk-associated circRNAs by using the MiOncoCirc database. We then used logistic regression models to evaluate associations between genetic variants in candidate circRNAs and PCa risk among 4662 prostate cancer patients and 3114 healthy controls, and identified rs11973492 T>C as a significant risk-associated variant (odds ratio = 1.
View Article and Find Full Text PDFThe development of an effective survival prediction tool is key for reducing colorectal cancer mortality. Here, we apply a three-stage study to devise a polygenic prognostic score (PPS) for stratifying colorectal cancer overall survival. Leveraging two cohorts of 3703 patients, we first perform a genome-wide survival association analysis to develop eight candidate PPSs.
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