目的:探讨风湿性心脏病二尖瓣狭窄患者并发左房活动性血栓危险因素及肝素钠的治疗效果。方法:回顾性分析159例风湿性心脏病并发二尖瓣狭窄的临床资料,根据其是否并发左房活动性血栓,分为血栓组( n=96)和无血栓组(n =63)。采用单因素分...目的:探讨风湿性心脏病二尖瓣狭窄患者并发左房活动性血栓危险因素及肝素钠的治疗效果。方法:回顾性分析159例风湿性心脏病并发二尖瓣狭窄的临床资料,根据其是否并发左房活动性血栓,分为血栓组( n=96)和无血栓组(n =63)。采用单因素分析和多因素Logistic回归分析法对风湿性心脏病并发二尖瓣狭窄患者出现左房活动性血栓的危险因素研究。另将血栓组患者按照是否进行肝素钠治疗分为观察组和对照组,每组各48例。对照组患者给予阿司匹林以及华法林治疗,观察组患者在上述治疗基础上肝素钠治疗。观察两组患者治疗前后的凝血功能变化,比较两组患者不良反应发生情况及临床治疗效果。结果:对风湿性心脏病并发二尖瓣狭窄患者并发左房活动性血栓的多因素Logistic回归分析结果显示,血栓发现年龄、MVO、无症状脑梗死以及明显MR例数是其独立危险因素( P =0.003,0.028,0.040,0.016)。与治疗前相比,两组患者的PAR值明显降低,APTT和PT值明显升高,且观察组患者凝血功能改善更为显著( t/P =8.150/<0.001,19.153/<0.001,7.859/<0.001)。观察组患者出血发生率高于对照组,其他不良反应发生率低于对照组;总发生率低于对照组,差异具有统计学意义(χ 2/ P =7.940/0.005)。观察组患者的治疗有效率为93.75%,明显高于对照组的66.67%,差异具有统计学意义(χ 2/ P =11.090/0.001)。结论:风湿性心脏病并发二尖瓣狭窄患者出现左房活动性血栓的独立危险因素为年龄、MVO、无症状脑梗死以及明显MR例数;肝素钠干预后,可以明显改善减轻左房活动性血栓情况,减少不良反应发生情况,增加临床治疗效果。展开更多
Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers stud...Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.展开更多
文摘目的:探讨风湿性心脏病二尖瓣狭窄患者并发左房活动性血栓危险因素及肝素钠的治疗效果。方法:回顾性分析159例风湿性心脏病并发二尖瓣狭窄的临床资料,根据其是否并发左房活动性血栓,分为血栓组( n=96)和无血栓组(n =63)。采用单因素分析和多因素Logistic回归分析法对风湿性心脏病并发二尖瓣狭窄患者出现左房活动性血栓的危险因素研究。另将血栓组患者按照是否进行肝素钠治疗分为观察组和对照组,每组各48例。对照组患者给予阿司匹林以及华法林治疗,观察组患者在上述治疗基础上肝素钠治疗。观察两组患者治疗前后的凝血功能变化,比较两组患者不良反应发生情况及临床治疗效果。结果:对风湿性心脏病并发二尖瓣狭窄患者并发左房活动性血栓的多因素Logistic回归分析结果显示,血栓发现年龄、MVO、无症状脑梗死以及明显MR例数是其独立危险因素( P =0.003,0.028,0.040,0.016)。与治疗前相比,两组患者的PAR值明显降低,APTT和PT值明显升高,且观察组患者凝血功能改善更为显著( t/P =8.150/<0.001,19.153/<0.001,7.859/<0.001)。观察组患者出血发生率高于对照组,其他不良反应发生率低于对照组;总发生率低于对照组,差异具有统计学意义(χ 2/ P =7.940/0.005)。观察组患者的治疗有效率为93.75%,明显高于对照组的66.67%,差异具有统计学意义(χ 2/ P =11.090/0.001)。结论:风湿性心脏病并发二尖瓣狭窄患者出现左房活动性血栓的独立危险因素为年龄、MVO、无症状脑梗死以及明显MR例数;肝素钠干预后,可以明显改善减轻左房活动性血栓情况,减少不良反应发生情况,增加临床治疗效果。
基金National Natural Science Foundation of China(Nos.51475328,61372143,61671321)
文摘Mobile robot navigation in unknown environment is an advanced research hotspot.Simultaneous localization and mapping(SLAM)is the key requirement for mobile robot to accomplish navigation.Recently,many researchers study SLAM by using laser scanners,sonar,camera,etc.This paper proposes a method that consists of a Kinect sensor along with a normal laptop to control a small mobile robot for collecting information and building a global map of an unknown environment on a remote workstation.The information(depth data)is communicated wirelessly.Gmapping(a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data)parameters have been optimized to improve the accuracy of the map generation and the laser scan.Experiment is performed on Turtlebot to verify the effectiveness of the proposed method.
