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Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits patients in terms of improved postoperative outcomes and short recovery time. The challenges in hand-eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades. This paper presents a systematic review of the state-of-the-art systems, picturing a detailed landscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures. The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.
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Objective To explore the carotid intima-media thickness and the value of uric acid in predicting the prognosis of coronary heart disease patients.Methods Using the random number table method,182 patients diagnosed with coronary heart disease were divided into two groups:group A was 92 cases of acute coronary syndrome (ACS),groups B was 90 cases of chronic stable angina,healthy check-up 90 cases as control group (group C),fasting blood test blood uric acid (UA),application of color Doppler ultrasound measurement carotid intima-media thick ness (IMT).Results Acute coronary syndrome (ACS) set of uric acid,IMT,plaque index were (428.5 ± 70.3) mmol/L,(1.58 ± 0.92) mm,(3.24 ± 1.81) and those in stable angina group were (356.4 ± 68.2) mmol/L,(1.32 ± 0.86) mm,(3.08 ± 1.62) and those of the control group were (251.2 ± 65.4) mmol/L,(0.92 ± 0.41) ram,(2.80 ± 1.18) to compare the difference was statistically significant(group A compared with group B(t =4.47,3.26,5.21,all P ＜ 0.05),group A compared with group C (t =8.23,9.36,7.48,all P ＜ 0.01);group SAP compared with control group the difference was statistically significant (t =6.34,5.26,7.12,all P ＜ 0.05);Linear correlation analysis showed that uric acid and carotid intima-media thickness were positively correlated,r value was 0.67.The ACS group soft carotid atherosclerosis plaque detection rate was 60.9％,SAP group was 26.7％ and the control group was 8.9％,the difference was statistically significant (x2 =21.60,P ＜ 0.05;x2 =69.11,P ＜ 0.01),group SAP compared with the control group,the difference was statistically significant (x2 =39.84,P ＜ 0.01).Conclusion Uric acid levels and carotid artery atherosclerosis and coronary artery disease are closely related,which can provide theoretical basis for the risk assessment and prognosis of coronary heart disease.Early intervention can prevent the occurrence of serious cardiovascular events.
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Objective:To investigate the effects of Nano-chitosan rhBMP-2 Gel(NCS/BMP-2 Gel)on the repair of mandibular de-fect.Methods:NCS/BMP-2 Gel and NCS Gel were prepared and respectively injected into the subcutaneous space on both sides of dorsum of 9 rats.3 rats were respectively sacrificed 10,20 and 30 d after injection.The subcutaneous nodules were histologicaly ex-amined.Mandibular defect was made in 54 SD rats and the rats were divided randomly and into 3 groups(n=18):NCS/BMP-2 Gel was implanted into the defects in group 1,NCS Gel in group 2,no injection in group 3.Animals were sacrificed 3,6 and 9 weeks after transplantation.X-ray examination,pathologic observation were conducted.Results:Subcutaneous nodules were found in both sides of the rat dorsum.The residual mandibular defect area in study group 1 was apparently smaller than that in group 2 and 3(P<0.05). More new bone formation was observed in the gel injected area in group 1 than in group 2 and 3.Conclusion:Nano-CS/BMP-2 Gel is biocompatible and can accelerate the healing of mandibular defect.
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BACKGROUND:Absorption and atrophy of the alveolar ridge always happen after tooth extraction. There are stil a lot of difficulties to be worked out to prevent the atrophy of the alveolar ridge. OBJECTIVE:To investigate the effect of the nano-chitosan/bone morphogenetic protein hydrogel on preventing absorption of the residual alveolar ridge of the rats. METHODS:Total y 54 Sprague-Dawley rats were divided randomly and equal y into three groups. A model of residual alveolar ridge was made by extraction of the left central incisor. Nano-chitosan bone morphogenetic protein hydrogel was implanted into the rat’s alveolar fossa of the experimental group;the alveolar fossa of the control group was implanted with nano-chitosan hydrogel;the alveolar fossa of the blank group was implanted with nothing. Rat’s mandible was ful y dissected after 3, 6, 9 weeks, respectively. Molybdenum target X-ray examination and pathological observation were evaluated. RESULTS AND CONCLUSION:At weeks 3, 6, 9 postoperation, the residual alveolar ridge was absorbed to different degrees, which was milder in the experimental group than the cotrol group and blank group (P<0.05). After 3 weeks, in the blank group, less new bone formed, but bleeding and a large amount of inflammatory cells were visible; in the control group, a few of osteoid tissues and lymphocytes were found; in the experimental group,new bone formed and a small amount of inflammatory cells were observed. After 6 weeks, new bone formed obviously in the experimental group, a little new bone formed in the control group, but less new bone formed in the blank group. After 9 weeks, a large amount of new bone formed in the experimental group with good osteogenic ability; only a few of new bone formed in the control and blank groups. Nano-chitosan/bone morphogenetic protein hydrogel can be used to prevent the absorption of the residual alveolar ridge after tooth extraction.
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Objective To explore the feasibility ,effectiveness ,recurrence rate and complications ,etc .of endoscopic retrograde stenting in treating acute appendicitis .Methods A retrospective analysis was conducted on seven patients with the clinical diagnosis of acute appendicitis ,complying with the following treatment steps :(1) normal saline for high cleansing enema in 2-3 times ;(2) en-doscopically douching ileocecal junction and observing the opening of appendix ;(3) placing the guide wire into the opening of appen-dix under the guidance of imaging tube ,and then conducting angiography imaging ;(4) repeatedly douching with metronidazole;(5) implant the appendix stent ,draining the inflammatory secretions out and then douching ;(6 ) observing postoperative abdominal pain ,fever ,bowel and other conditions;(7) reviewing with the enteroscopy and removing the stent 2 weeks later .At 2 before the surgery and 48 after it ,all patients were administrated with antibiotics for anti-infective treatment .The follow-up was made from 8-15 months after the surgery .Results Among these 7 patients ,4 patients had successful appendix stenting :the abdominal pain sig-nificantly alleviated after the surgery ;the proportional level of white blood cells(WBC)recovered during 24-48 after the surgery .15 after discharge ,two patients returned to hospital and their appendix stent removal was successful;during the operation ,smooth mu-cosa at the opening of appendix was observed .The stents of two patients spontaneously fell off ,and normal morphology of the ap-pendix opening was observed at review .During the postoperative follow-up of 8-15 months ,one patient relapsed and underwent sur-gical treatment in the general surgery department .The other three patients did not undergo appendix stenting due to the unsuccess-ful intubation .Conclusion The treatment of acute appendicitis with endoscopic stenting has the advantages of little trauma ,high safety and significant efficacy .However ,this method still requires large-scale and multicenter randomized controlled clinical trials to evaluate its feasibility and long-term efficacy .