For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planni...For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.展开更多
Objective： The aim of this study was to explore a new method of lymph node tracing in radical gastrectomy for advanced gastric carcinoma （AGC）. Methods： Ninety-two patients who suffered from gastric angle carcinom...Objective： The aim of this study was to explore a new method of lymph node tracing in radical gastrectomy for advanced gastric carcinoma （AGC）. Methods： Ninety-two patients who suffered from gastric angle carcinoma with metastasis in No. 3 group lymph nodes were carried out radical gastrectomy. During the operation methylene blue was injected inside or around the circum of the metastatic No. 3 group lymph nodes. Secondary sentinel lymph nodes （SSLNs） were the near- est blue lymph nodes to No. 3 group lymph nodes that were searched in 5 to 10 rain after injecting methylene blue. These SSLNs were resected and carried out hematoxylin-eosin （HE） staining as well as immunohistochemistry （IHC） staining to demonstrate whether there were metastasis. Results： SSLNs were found successfully in 76 patients with a positive rate of 82.6% （76/92） by methylene blue staining, among which, 34 patients were demonstrated existing metastasis in SSLNs by HE staining, 26 patients were demonstrated existing metastasis in SSLNs by IHC staining which were not demonstrated exist- ing metastasis by HE staining. Totally, 60 patients were demonstrated existing metastasis in SSLNs by HE staining and IHC staining with a positive rate of 78.9% （60/76）. 136 SSLNs were found in total and 104 SSLNs were demonstrated existing metastasis with a positive rate of 76.4% （104/136）. There were 14, 18, 10, 80, 6 and 8 SSLNs in No. 4, No. 5, No. 6, No. 7, No. 8 and No. 9 group lymph nodes respectively. And there were 10, 18, 8, 62, 2 and 4 SSLNs were demonstrated existing metastasis with a positive rate of 71.4%, 100%, 80.0%, 77.5%, 33.3% and 50.0% in No. 4, No~ 5, No. 6, No. 7, No. 8 and No. 9 group lymph nodes respectively. However, there were no significant correlations between the tumor＇s size and the positive rate of SSLN as well as the degree of tumor＇s differentiation and the positive rate of SSLN. Conclusion： The technique of SSLN tracing expands the application range of sentinel lymph node （SLN） tracing and provides a new thinking for researching of SLN in AGC.展开更多
AIM： To investigate a dual labeling technique, which would enable real-time monitoring of transplanted em- bryonic stem cell （ESC） kinetics, as well as long-term tracking. METHODS： Liver damage was induced in C57/...AIM： To investigate a dual labeling technique, which would enable real-time monitoring of transplanted em- bryonic stem cell （ESC） kinetics, as well as long-term tracking. METHODS： Liver damage was induced in C57/BL6 male mice （n = 40） by acetaminophen （APAP） 300 mg/kg administered intraperitoneally. Green fluores- cence protein （GFP） positive C57/BL6 mouse ESCs were stained with the near-infrared fluorescent lipophilic tracer 1,1-dioctadecyl-3,3,3,3-tetramethylindotricarbo- cyanine iodide （DiR） immediately before transplantationinto the spleen. Each of the animals in the cell therapy group （n = 20） received 5 x 106 ESCs 4 h following treatment with APAP. The control group （n = 20） re- ceived the vehicle only. The distribution and dynamics of the cells were monitored in real-time with the IVIS lumina-2 at 30 rain post transplantation, then at 3, 12, 24, 48 and 72 h, and after one and 2 wk. Immunohisto- chemical examination of liver tissue was used to identify expression of GFP and albumin. Plasma alanine amino- transferase （ALT） was measured as an indication of liver damage.RESULTS： DiR-stained ESCs were easily tracked with the IVIS using the indocyanine green filter due to its high background passband with minimal background autofluorescence. The transplanted cells were confined inside the spleen at 30 min post-transplantation, gradu- ally moved into the splenic vein, and were detectable in parts of the liver at the 3 h time-point. Within 24 h of transplantation, homing of almost 90% of cells was confirmed in the liver. On day three, however, the DiR signal started to fade out, and ex vivo IVIS imaging of different organs allowed signal detection at time-points when the signal could not be detected by in vivo imag- ing, and confirmed that the highest photon emission was in the liver （P 〈 0.0001）. At 2 wk, the DiRsignal was no longer detectable in vivo; however, immuno- histochemistry analysis of constitutively-expressed GFP was used to provide an insight into the distribution of the cells. GFP ＋ve cells were detected in tissue sections resembling hepatocytes and were dispersed throughout the hepatic parenchyma, with the presence of a larger number of GFP ＋ve cells incorporated within the sinu- soidal endothelial lining. Very faint albumin expression was detected in the transplanted GFP ＋re cells at 72 h; however at 2 wk, few cells that were positive for GFP were also strongly positive for albumin. There was a significant improvement in serum levels of ALT, albumin and bilirubin in both groups at 2 wk when compared with the 72 h time-point. In the cell therapy group, serum ALT was significantly （P = 0.016） lower and al- bumin （P = 0.009） was significantly higher when com- pared with the control group at the 2 wk time-point;however there was no difference in mortality between the two groups. CONCLUSION： Dual labeling is an easy to use and cheap method for longitudinal monitoring of distribu- tion, survival and engraftment of transplanted cells, and could be used for cell therapy models.展开更多
基金Sponsored by the Science Foundation for Youths of Heilongjiang province (Grant No.QC08C05)
文摘For real-time and distributed features of multi-robot system,the strategy of combining the improved artificial potential field method and the rules based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method,so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots,collisions between robots can be detected,thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-based simulated environment.
基金Supported by a grant from the Scientific Research Project of Sichuan Provincial Health Department (No. 050182)
文摘Objective： The aim of this study was to explore a new method of lymph node tracing in radical gastrectomy for advanced gastric carcinoma （AGC）. Methods： Ninety-two patients who suffered from gastric angle carcinoma with metastasis in No. 3 group lymph nodes were carried out radical gastrectomy. During the operation methylene blue was injected inside or around the circum of the metastatic No. 3 group lymph nodes. Secondary sentinel lymph nodes （SSLNs） were the near- est blue lymph nodes to No. 3 group lymph nodes that were searched in 5 to 10 rain after injecting methylene blue. These SSLNs were resected and carried out hematoxylin-eosin （HE） staining as well as immunohistochemistry （IHC） staining to demonstrate whether there were metastasis. Results： SSLNs were found successfully in 76 patients with a positive rate of 82.6% （76/92） by methylene blue staining, among which, 34 patients were demonstrated existing metastasis in SSLNs by HE staining, 26 patients were demonstrated existing metastasis in SSLNs by IHC staining which were not demonstrated exist- ing metastasis by HE staining. Totally, 60 patients were demonstrated existing metastasis in SSLNs by HE staining and IHC staining with a positive rate of 78.9% （60/76）. 136 SSLNs were found in total and 104 SSLNs were demonstrated existing metastasis with a positive rate of 76.4% （104/136）. There were 14, 18, 10, 80, 6 and 8 SSLNs in No. 4, No. 5, No. 6, No. 7, No. 8 and No. 9 group lymph nodes respectively. And there were 10, 18, 8, 62, 2 and 4 SSLNs were demonstrated existing metastasis with a positive rate of 71.4%, 100%, 80.0%, 77.5%, 33.3% and 50.0% in No. 4, No~ 5, No. 6, No. 7, No. 8 and No. 9 group lymph nodes respectively. However, there were no significant correlations between the tumor＇s size and the positive rate of SSLN as well as the degree of tumor＇s differentiation and the positive rate of SSLN. Conclusion： The technique of SSLN tracing expands the application range of sentinel lymph node （SLN） tracing and provides a new thinking for researching of SLN in AGC.
基金Supported by Citadel Capital Scholarship Foundation,EgyptDr. Leslie Borthwick/Ms. Anita Holme,Charitable Research Fund East and North Herts NHS TrusHertfordshire,United Kingdom
文摘AIM： To investigate a dual labeling technique, which would enable real-time monitoring of transplanted em- bryonic stem cell （ESC） kinetics, as well as long-term tracking. METHODS： Liver damage was induced in C57/BL6 male mice （n = 40） by acetaminophen （APAP） 300 mg/kg administered intraperitoneally. Green fluores- cence protein （GFP） positive C57/BL6 mouse ESCs were stained with the near-infrared fluorescent lipophilic tracer 1,1-dioctadecyl-3,3,3,3-tetramethylindotricarbo- cyanine iodide （DiR） immediately before transplantationinto the spleen. Each of the animals in the cell therapy group （n = 20） received 5 x 106 ESCs 4 h following treatment with APAP. The control group （n = 20） re- ceived the vehicle only. The distribution and dynamics of the cells were monitored in real-time with the IVIS lumina-2 at 30 rain post transplantation, then at 3, 12, 24, 48 and 72 h, and after one and 2 wk. Immunohisto- chemical examination of liver tissue was used to identify expression of GFP and albumin. Plasma alanine amino- transferase （ALT） was measured as an indication of liver damage.RESULTS： DiR-stained ESCs were easily tracked with the IVIS using the indocyanine green filter due to its high background passband with minimal background autofluorescence. The transplanted cells were confined inside the spleen at 30 min post-transplantation, gradu- ally moved into the splenic vein, and were detectable in parts of the liver at the 3 h time-point. Within 24 h of transplantation, homing of almost 90% of cells was confirmed in the liver. On day three, however, the DiR signal started to fade out, and ex vivo IVIS imaging of different organs allowed signal detection at time-points when the signal could not be detected by in vivo imag- ing, and confirmed that the highest photon emission was in the liver （P 〈 0.0001）. At 2 wk, the DiRsignal was no longer detectable in vivo; however, immuno- histochemistry analysis of constitutively-expressed GFP was used to provide an insight into the distribution of the cells. GFP ＋ve cells were detected in tissue sections resembling hepatocytes and were dispersed throughout the hepatic parenchyma, with the presence of a larger number of GFP ＋ve cells incorporated within the sinu- soidal endothelial lining. Very faint albumin expression was detected in the transplanted GFP ＋re cells at 72 h; however at 2 wk, few cells that were positive for GFP were also strongly positive for albumin. There was a significant improvement in serum levels of ALT, albumin and bilirubin in both groups at 2 wk when compared with the 72 h time-point. In the cell therapy group, serum ALT was significantly （P = 0.016） lower and al- bumin （P = 0.009） was significantly higher when com- pared with the control group at the 2 wk time-point;however there was no difference in mortality between the two groups. CONCLUSION： Dual labeling is an easy to use and cheap method for longitudinal monitoring of distribu- tion, survival and engraftment of transplanted cells, and could be used for cell therapy models.
