期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
基于RSSI的仿生SLAM算法研究
1
作者 张志根 凌有铸 陈孟元 《陕西理工大学学报(自然科学版)》 2020年第1期27-33,共7页
针对室内环境下移动机器人的定位问题,依靠视觉里程计进行的RatSLAM模型,通过局部场景模板匹配实现重定位来减少视觉里程计产生的累计误差。在静态环境下具有不错的鲁棒性,但在动态的环境中,如移动障碍物的出现,视觉里程计会提供错误的... 针对室内环境下移动机器人的定位问题,依靠视觉里程计进行的RatSLAM模型,通过局部场景模板匹配实现重定位来减少视觉里程计产生的累计误差。在静态环境下具有不错的鲁棒性,但在动态的环境中,如移动障碍物的出现,视觉里程计会提供错误的信息导致航迹出现较大的偏差,局部模板匹配由于环境的变化也会有错误匹配,导致移动机器人的定位精度不高,构图不准确。提出将RSSI定位与RatSLAM算法融合,通过信号定位提供的粗略定位点,确定精准区域的范围,用来修正位姿细胞和剔除错误模板以及达到对经历图的修正,实现了对原有RatSLAM算法的改进。 展开更多
关键词 信号网络 位置指纹 模板匹配 SLAM
下载PDF
Pure transperitoneal laparoscopic correction of retrocaval ureter 被引量:4
2
作者 DING Guo-qing XU Li-wei +4 位作者 LI Xin-de LI Gong-hui YU Yan-lan YU Da-min zhang zhi-gen 《Chinese Medical Journal》 SCIE CAS CSCD 2012年第13期2382-2385,共4页
Background Retrocaval ureter is a rare congenital abnormality. Operative repair is always suggested in cases of significant functional obstruction. Laparoscopic procedures have been employed as the minimally invasive ... Background Retrocaval ureter is a rare congenital abnormality. Operative repair is always suggested in cases of significant functional obstruction. Laparoscopic procedures have been employed as the minimally invasive therapeutic option for retrocaval ureter. However, the laparoscopic techniques for retrocaval ureter might be technically challenging to some surgeons. The aim of this article was to present our experience and surgical techniques of pure transperitoneal laparoscopic pyelopyelostomy and ureteroureterostomy in nine patients with retrocaval ureter. Methods A total of nine patients of retrocaval ureter underwent pure laparoscopic pyelopyelostomy or ureteroureterostomy. The operation was performed with the patients placed in the 70-degree lateral decubitus position via a three port transperitoneal approach with two 10-mm and one 5-mm ports. The distal part of the dilated renal pelvis was transected at the ureteropelvic junction and the ureter was relocated anterior to the inferior vena cava. The tension-free pyeloureteral or ureteroureteral anastomosis was completed with the intracorporal freehand suturing and in situ knot-tying techniques combined with interrupted and continuous fashion. A double J ureteral stent was inserted in an antegrade manner during laparoscopy. Intravenous urography or computerized tomography and renal ultrasonography were performed after 3 months postoperatively. Results All operations were completed laparoscopically, and no open conversion was required. The mean operative time was 135 minutes (range, 70-250 minutes), with minimal blood loss (less than 60 ml). No intra-operative complications or significant bleeding occurred. All patients presented mild postoperative pain and quick convalescence. The symptoms disappeared and hydronephrosis decreased substantially after surgery. Conclusions Pure transperitoneal laparoscopic correction for retrocaval ureter was associated with an excellent outcome, minimal invasiveness and short hospital stay. It is technically feasible and reliable for retrocaval ureter treatment. Laparoscopic surqery could be the standard treatment for retrocaval ureter. 展开更多
关键词 URETER LAPAROSCOPY urogenital abnormalities vena cava inferior
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部