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Effect of navigation endoscopy combined with threedimensional printing technology in the treatment of orbital blowout fractures
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作者 Jin-Hai Yu Yao-Hua Wang +3 位作者 Qi-Hua Xu Chao Xiong An-An Wang Hong-Fei Liao 《International Journal of Ophthalmology(English edition)》 SCIE CAS 2024年第3期570-576,共7页
●AIM:To explore the combined application of surgical navigation nasal endoscopy(NNE)and three-dimensional printing technology(3DPT)for the adjunctive treatment of orbital blowout fractures(OBF).●METHODS:Retrospectiv... ●AIM:To explore the combined application of surgical navigation nasal endoscopy(NNE)and three-dimensional printing technology(3DPT)for the adjunctive treatment of orbital blowout fractures(OBF).●METHODS:Retrospective analysis was conducted on the data of patients with OBF who underwent surgical treatment at the Affiliated Eye Hospital of Nanchang University between July 2012 and November 2022.The control group consisted of patients who received traditional surgical treatment(n=43),while the new surgical group(n=52)consisted of patients who received NNE with 3DPT.The difference in therapeutic effects between the two groups was evaluated by comparing the duration of the operation,best corrected visual acuity(BCVA),enophthalmos difference,recovery rate of eye movement disorder,recovery rate of diplopia,and incidence of postoperative complications.●RESULTS:The study included 95 cases(95 eyes),with 63 men and 32 women.The patients’age ranged from 5 to 67y(35.21±15.75y).The new surgical group and the control group exhibited no statistically significant differences in the duration of the operation,BCVA and enophthalmos difference.The recovery rates of diplopia in the new surgical group were significantly higher than those in the control group at 1mo[OR=0.03,95%CI(0.01–0.15),P<0.0000]and 3mo[OR=0.11,95%CI(0.03–0.36),P<0.0000]postoperation.Additionally,the recovery rates of eye movement disorders at 1 and 3mo after surgery were OR=0.08,95%CI(0.03–0.24),P<0.0000;and OR=0.01,95%CI(0.00–0.18),P<0.0000.The incidence of postoperative complications was lower in the new surgical group compared to the control group[OR=4.86,95%CI(0.95–24.78),P<0.05].●CONCLUSION:The combination of NNE and 3DPT can shorten the recovery time of diplopia and eye movement disorder in patients with OBF. 展开更多
关键词 orbital blowout fracture three-dimensional printing ENDOSCOPY surgical navigation
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Current trends in three-dimensional visualization and real-time navigation as well as robot-assisted technologies in hepatobiliary surgery 被引量:11
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作者 Yun Wang Di Cao +3 位作者 Si-Lin Chen Yu-Mei Li Yun-Wen Zheng Nobuhiro Ohkohchi 《World Journal of Gastrointestinal Surgery》 SCIE 2021年第9期904-922,共19页
With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary su... With the continuous development of digital medicine,minimally invasive precision and safety have become the primary development trends in hepatobiliary surgery.Due to the specificity and complexity of hepatobiliary surgery,traditional preoperative imaging techniques such as computed tomography and magnetic resonance imaging cannot meet the need for identification of fine anatomical regions.Imaging-based three-dimensional(3D)reconstruction,virtual simulation of surgery and 3D printing optimize the surgical plan through preoperative assessment,improving the controllability and safety of intraoperative operations,and in difficult-to-reach areas of the posterior and superior liver,assistive robots reproduce the surgeon’s natural movements with stable cameras,reducing natural vibrations.Electromagnetic navigation in abdominal surgery solves the problem of conventional surgery still relying on direct visual observation or preoperative image assessment.We summarize and compare these recent trends in digital medical solutions for the future development and refinement of digital medicine in hepatobiliary surgery. 展开更多
关键词 Hepatobiliary surgery three-dimensional visualization three-dimensional printing Electromagnetic tracking Real-time navigation Robot-assisted surgery
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Application of Digital Technology in Road and Bridge Design
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作者 Bai Fan 《Journal of Architectural Research and Development》 2024年第4期92-99,共8页
With the development and progress of science and technology,road and bridge design has experienced rapid development,from the initial manual drawing design to the popularity of Computer-Aided Design(CAD),and then to t... With the development and progress of science and technology,road and bridge design has experienced rapid development,from the initial manual drawing design to the popularity of Computer-Aided Design(CAD),and then to today’s digital software design era.Early designers relied on hand-drawn paper design forms which was time-consuming and error-prone.Digital support for road and bridge design not only saves the design time but the design quality has also achieved a qualitative leap.This paper engages in the application of digital technology in road and bridge design,to provide technical reference for China’s road and bridge engineering design units,to promote the popularity of Civil3D and other advanced design software in the field of engineering design and development,ultimately contributing to the sustainable development of China’s road and bridge engineering. 展开更多
关键词 Road and bridge design Digital technology Civil3D MODELLING three-dimensional view Earth calculation
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Current and future role of three-dimensional modelling technology in rectal cancer surgery:A systematic review 被引量:2
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作者 Anna Przedlacka Gianluca Pellino +3 位作者 Jordan Fletcher Fernando Bello Paris P Tekkis Christos Kontovounisios 《World Journal of Gastrointestinal Surgery》 SCIE 2021年第12期1754-1769,共16页
BACKGROUND Three-dimensional(3D)modelling technology translates the patient-specific anatomical information derived from two-dimensional radiological images into virtual or physical 3D models,which more closely resemb... BACKGROUND Three-dimensional(3D)modelling technology translates the patient-specific anatomical information derived from two-dimensional radiological images into virtual or physical 3D models,which more closely resemble the complex environment encountered during surgery.It has been successfully applied to surgical planning and navigation,as well as surgical training and patient education in several surgical specialties,but its uptake lags behind in colorectal surgery.Rectal cancer surgery poses specific challenges due to the complex anatomy of the pelvis,which is difficult to comprehend and visualise.AIM To review the current and emerging applications of the 3D models,both virtual and physical,in rectal cancer surgery。METHODS Medline/PubMed,Embase and Scopus databases were searched using the keywords“rectal surgery”,“colorectal surgery”,“three-dimensional”,“3D”,“modelling”,“3D printing”,“surgical planning”,“surgical navigation”,“surgical education”,“patient education”to identify the eligible full-text studies published in English between 2001 and 2020.Reference list from each article was manually reviewed to identify additional relevant papers.The conference abstracts,animal and cadaveric studies and studies describing 3D pelvimetry or radiotherapy planning were excluded.Data were extracted from the retrieved manuscripts and summarised in a descriptive way.The manuscript was prepared and revised in accordance with PRISMA 2009 checklist.RESULTS Sixteen studies,including 9 feasibility studies,were included in the systematic review.The studies were classified into four categories:feasibility of the use of 3D modelling technology in rectal cancer surgery,preoperative planning and intraoperative navigation,surgical education and surgical device design.Thirteen studies used virtual models,one 3D printed model and 2 both types of models.The construction of virtual and physical models depicting the normal pelvic anatomy and rectal cancer,was shown to be feasible.Within the clinical context,3D models were used to identify vascular anomalies,for surgical planning and navigation in lateral pelvic wall lymph node dissection and in management of recurrent rectal cancer.Both physical and virtual 3D models were found to be valuable in surgical education,with a preference for 3D printed models.The main limitations of the current technology identified in the studies were related to the restrictions of the segmentation process and the lack of 3D printing materials that could mimic the soft and deformable tissues.CONCLUSION 3D modelling technology has potential to be utilised in multiple aspects of rectal cancer surgery,however,it is still at the experimental stage of application in this setting. 展开更多
关键词 Rectal cancer three-dimensional modelling three-dimensional printing Image-guided surgery Surgical navigation Surgical education
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Three-dimensional printing technology for patient-matched instrument in treatment of cubitus varus deformity:A case report 被引量:1
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作者 Nithid Sri-utenchai Nachapan Pengrung +3 位作者 Korakod Srikong Chedtha Puncreobutr Boonrat Lohwongwatana Paphon Sa-ngasoongsong 《World Journal of Orthopedics》 2021年第5期338-345,共8页
BACKGROUND Recently,medical three-dimensional printing technology(3DPT)has demonstrated potential benefits for the treatment of cubitus varus deformity(CVD)by improving accuracy of the osteotomy through the use of an ... BACKGROUND Recently,medical three-dimensional printing technology(3DPT)has demonstrated potential benefits for the treatment of cubitus varus deformity(CVD)by improving accuracy of the osteotomy through the use of an osteotomy guide,with or without a patient-mated plate.Here,we present an interesting CVD case,involving a patient who was treated with corrective biplanar chevron osteotomy using an innovative customized osteotomy guide and a newly designed patient-matched monoblock crosslink plate created with 3DPT.CASE SUMMARY A 32-year-old female presented with a significant CVD from childhood injury.A computer simulation was processed using images from computerized tomography scans of both upper extremities.The biplanar chevron osteotomy was designed to create identical anatomy between the mirror image of the contralateral distal humerus and the osteotomized distal humerus.Next,the customized osteotomy guide and patient-matched monoblock crosslink plate were designed and printed.A simulation osteotomy was created for the real-sized bone model,and the operation was performed using the posterior paratricipital approach with k-wire positioning from the customized osteotomy guide as a predrilled hole for screw fixation to achieve immediate control of the reduction after osteotomy.Our method allowed for successful treatment of the CVD case,significantly improving the patient’s radiographic and clinical outcomes,with satisfactory result.CONCLUSION 3DPT-created patient-matched osteotomy guide and instrumentation provides accurate control during CVD correction. 展开更多
关键词 Cubitus varus deformity Post-trauma reconstruction three-dimensional printing technology Biplanar chevron osteotomy Customized osteotomy guide Patientmatched implant Case report
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Navigation technology/eye-tracking in ophthalmology:principles,applications and benefits-a narrative review 被引量:1
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作者 Igor Kozak Ulrike Rahn 《Annals of Eye Science》 2021年第1期33-45,共13页
Navigation technology in ophthalmology,colloquially called“eye-tracking”,has been applied to various areas of eye care.This approach encompasses motion-based navigation technology in both ophthalmic imaging and trea... Navigation technology in ophthalmology,colloquially called“eye-tracking”,has been applied to various areas of eye care.This approach encompasses motion-based navigation technology in both ophthalmic imaging and treatment.For instance,modern imaging instruments use a real-time eye-tracking system,which helps to reduce motion artefacts and increase signal-to-noise ratio in imaging acquisition such as optical coherence tomography(OCT),microperimetry,and fluorescence and color imaging.Navigation in ophthalmic surgery has been firstly applied in laser vision corrective surgery and spread to involve navigated retinal photocoagulation,and positioning guidance of intraocular lenses(IOL)during cataract surgery.It has emerged as one of the most reliable representatives of technology as it continues to transform surgical interventions into safer,more standardized,and more predictable procedures with better outcomes.Eye-tracking is essential in refractive surgery with excimer laser ablation.Using this technology for cataract surgery in patients with high preoperative astigmatism has produced better therapeutic outcomes.Navigated retinal laser has proven to be safer and more accurate compared to the use of conventional slit lamp lasers.Eye-tracking has also been used in imaging diagnostics,where it is essential for proper alignment of captured zones of interest and accurate follow-up imaging.This technology is not routinely discussed in the ophthalmic literature even though it has been truly impactful in our clinical practice and represents a small revolution in ophthalmology. 展开更多
关键词 navigation technology eye tracking imaging:refractive surgery excimer laser cataract surgery navigated retinal laser
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Application and Analysis of Computer Virtual Simulation Technology in Three-dimensional Animation Production
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作者 Le Qiu 《管理科学与研究(中英文版)》 2019年第1期19-21,共3页
With the continuous promotion of computer technology, the application system of virtual simulation technology has been further optimized and improved, and has been widely used in various fields of social development, ... With the continuous promotion of computer technology, the application system of virtual simulation technology has been further optimized and improved, and has been widely used in various fields of social development, such as urban construction, interior design, industrial simulation and tourism teaching. China's three-dimensional animation production started relatively late, but has achieved good results with the support of related advanced technology in the process of development. Computer virtual simulation technology is an important technical support in the production of three-dimensional animation. In this paper, firstly, the related content of computer virtual simulation technology was introduced. Then, the specific application of this technology in the production of three-dimensional animation was further elaborated, so as to provide some reference for the improvement of the production effect of three-dimensional animation in the future. 展开更多
关键词 COMPUTER VIRTUAL Simulation technology three-dimensional ANIMATION PRODUCTION APPLICATION
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Application Status and Prospect of Three-Dimensional Printing Technology in the Field of Medical Devices
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作者 Ma Fei 《Journal of Clinical and Nursing Research》 2018年第4期13-15,共3页
Three-dimensional(3D)printing technology belongs to a new manufacturing science and has been widely used in various fields of industry.This article will apply 3D printing technology as its main research topic,with emp... Three-dimensional(3D)printing technology belongs to a new manufacturing science and has been widely used in various fields of industry.This article will apply 3D printing technology as its main research topic,with emphasis on its application in the field of medical devices and prospects for contribution. 展开更多
关键词 three-dimensional PRINTING technology MEDICAL equipment application STATUS PROSPECTS
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International Symposium on Inertial Navigation Technology and Intelligent Traffic
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《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2005年第2期188-188,共1页
关键词 International Symposium on Inertial navigation technology and Intelligent Traffic
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Speech Recognition Technology Applied to Intelligent Mobile Navigation System
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作者 WANG Mi GUO Bingxuan LI Deren GONG Jianya 《Geo-Spatial Information Science》 2002年第4期37-40,共4页
The capability of human_computer interaction reflects the intelligent degree of mobile navigation system.The navigation data and functions of mobile navigation system are divided into system commands and non_system co... The capability of human_computer interaction reflects the intelligent degree of mobile navigation system.The navigation data and functions of mobile navigation system are divided into system commands and non_system commands in this paper.And then a group of speech commands are abstracted.This paper applies speech recognition technology to intelligent mobile navigation system to process speech commands and does some deep research on the integration of speech recognition technology with mobile navigation system.The navigation operation can be performed by speech commands,which makes human_computer interaction easy during navigation.Speech command interface of navigation system is implemented by Dutty ++ Software,which is based on speech recognition system _Via Voice of IBM.Through navigation experiments,navigation can be done almost without keyboard,which proved that human_computer interaction is very convenient by speech commands and the reliability is also higher. 展开更多
关键词 智能航海系统 语音识别技术 人机界面 航海数据 系统命令
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Application of Three-dimensional Laser Scanning Technology in the Teaching Practice of Surveying and Mapping of Ancient Buildings
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作者 Yapeng DUAN Junli LIU +2 位作者 Zhendong LIU Dingtao CAI Shaomin NI 《Asian Agricultural Research》 2019年第11期77-80,共4页
Based on the study of the application of three-dimensional laser scanning technology in ancient building surveying and mapping,this paper briefly describes the working principle and flow of three-dimensional laser sca... Based on the study of the application of three-dimensional laser scanning technology in ancient building surveying and mapping,this paper briefly describes the working principle and flow of three-dimensional laser scanning technology.Based on the practical application,this paper puts forward the discussion of related problems and matters needing attention.This has a certain reference significance for the study of new technology in surveying and mapping of ancient buildings. 展开更多
关键词 three-dimensional laser SCANNING technology SURVEYING and MAPPING of ANCIENT BUILDINGS
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Digital measurement of bone tumor volume by CT three-dimensional reconstruction technology
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作者 胡永成 《外科研究与新技术》 2011年第2期125-125,共1页
Objective To discuss the measurement of bone tumor volume on the basis of three dimensional images segmentation technology. Methods Twenty patients with lacunar bone tumor from Tianjin Hospital and Tongji Hospital wer... Objective To discuss the measurement of bone tumor volume on the basis of three dimensional images segmentation technology. Methods Twenty patients with lacunar bone tumor from Tianjin Hospital and Tongji Hospital were included in the 展开更多
关键词 BONE Digital measurement of bone tumor volume by CT three-dimensional reconstruction technology CT
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Local Scenario Perception and Web AR Navigation
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作者 SHI Wenzhe LIU Yanbin ZHOU Qinfen 《ZTE Communications》 2023年第4期54-59,共6页
This paper proposes a local point cloud map-based Web augmented reality(AR)indoor navigation system solution.By delivering the local point cloud map to the web front end for positioning,the real-time positioning can b... This paper proposes a local point cloud map-based Web augmented reality(AR)indoor navigation system solution.By delivering the local point cloud map to the web front end for positioning,the real-time positioning can be implemented only with the help of the computing power of the web front end.In addition,with the characteristics of short time consumption and accurate positioning,an optimization solution to the local point cloud map is proposed,which includes specific measures such as descriptor de-duplicating and outlier removal,thus improving the quality of the point cloud.In this document,interpolation and smoothing effects are introduced for local map positioning,enhancing the anchoring effect and improving the smoothness and appearance of user experience.In small-scale indoor scenarios,the positioning frequency on an iPhone 13 can reach 30 fps,and the positioning precision is within 50 cm.Compared with an existing mainstream visual-based positioning manner for AR navigation,this specification does not rely on any additional sensor or cloud computing device,thereby greatly saving computing resources.It takes a very short time to meet the real-time requirements and provide users with a smooth positioning effect. 展开更多
关键词 Web AR three-dimensional reconstruction navigation POSITIONING
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E-navigation发展与研究 被引量:3
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作者 廖又明 陈霖炜 《舰船科学技术》 北大核心 2015年第S1期13-20,共8页
阐述基于"大数据"理念、"互联网+"思维,及以"云技术"为支撑的由信息化技术、电子导航技术、E时代海事行业规范/标准、E-海事营运模式构架的新一代E-navigation技术及实现研究。
关键词 “大数据” “互联网+” “云技术” 电子导航 信息技术
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A tightly coupled rotational SINS/CNS integrated navigation method for aircraft 被引量:5
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作者 NING Xiaolin YUAN Weiping LIU Yanhong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第4期770-782,共13页
Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated... Strapdown inertial navigation system(SINS)/celestial navigation system(CNS)integrated navigation is widely used to achieve long-time and high-precision autonomous navigation for aircraft.In general,SINS/CNS integrated navigation can be divided into two integrated modes:loosely coupled integrated navigation and tightly coupled integrated navigation.Because the loosely coupled SINS/CNS integrated system is only available in the condition of at least three stars,the latter one is becoming a research hotspot.One major challenge of SINS/CNS integrated navigation is obtaining a high-precision horizon reference.To solve this problem,an innovative tightly coupled rotational SINS/CNS integrated navigation method is proposed.In this method,the rotational SINS error equation in the navigation frame is used as the state model,and the starlight vector and star altitude are used as measurements.Semi-physical simulations are conducted to test the performance of this integrated method.Results show that this tightly coupled rotational SINS/CNS method has the best navigation accuracy compared with SINS,rotational SINS,and traditional tightly coupled SINS/CNS integrated navigation method. 展开更多
关键词 celestial navigation system(CNS) rotation modulation technology ROTATIONAL STRAPDOWN INERTIAL navigation system(SINS) ROTATIONAL SINS/CNS integrated navigation
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Multiconstraint adaptive three-dimensional guidance law using convex optimization 被引量:5
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作者 FU Shengnan LIU Xiaodong +1 位作者 ZHANG Wenjie XIA Qunli 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第4期791-803,共13页
The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional na... The traditional guidance law only guarantees the accuracy of attacking a target. However, the look angle and acceleration constraints are indispensable in applications. A new adaptive three-dimensional proportional navigation(PN) guidance law is proposed based on convex optimization. Decomposition of the three-dimensional space is carried out to establish threedimensional kinematic engagements. The constraints and the performance index are disposed by using the convex optimization method. PN guidance gains can be obtained by solving the optimization problem. This solution is more rapid and programmatic than the traditional method and provides a foundation for future online guidance methods, which is of great value for engineering applications. 展开更多
关键词 proportional navigation(PN) adaptive guidance law three-dimensional space second-order cone programming(SOCP) convex optimal control
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Microfluidic three-dimensional cell culture of stem cells for high-throughput analysis 被引量:4
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作者 Jeong Ah Kim Soohyun Hong Won Jong Rhee 《World Journal of Stem Cells》 SCIE 2019年第10期803-816,共14页
Although the recent advances in stem cell engineering have gained a great deal of attention due to their high potential in clinical research,the applicability of stem cells for preclinical screening in the drug discov... Although the recent advances in stem cell engineering have gained a great deal of attention due to their high potential in clinical research,the applicability of stem cells for preclinical screening in the drug discovery process is still challenging due to difficulties in controlling the stem cell microenvironment and the limited availability of high-throughput systems.Recently,researchers have been actively developing and evaluating three-dimensional(3D)cell culture-based platforms using microfluidic technologies,such as organ-on-a-chip and organoid-on-a-chip platforms,and they have achieved promising breakthroughs in stem cell engineering.In this review,we start with a comprehensive discussion on the importance of microfluidic 3D cell culture techniques in stem cell research and their technical strategies in the field of drug discovery.In a subsequent section,we discuss microfluidic 3D cell culture techniques for high-throughput analysis for use in stem cell research.In addition,some potential and practical applications of organ-on-a-chip or organoid-on-a-chip platforms using stem cells as drug screening and disease models are highlighted. 展开更多
关键词 STEM CELL Microfluidic technology three-dimensional CELL CULTURE Highthroughput SCREENING
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Cooperative Navigation for Autonomous Underwater Vehicles Based on Estimation of Motion Radius Vectors 被引量:1
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作者 李闻白 刘明雍 +1 位作者 刘富樯 徐飞 《Defence Technology(防务技术)》 SCIE EI CAS 2011年第1期9-14,共6页
A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acous... A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method. 展开更多
关键词 automatic control technology cooperative navigation autonomous underwater vehicle motion radius vector extended Kalman filter
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Three-dimensional printed talar prosthesis with biological function for giant cell tumor of the talus:A case report and review of the literature 被引量:2
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作者 Qian-Dong Yang Mi-Duo Mu +1 位作者 Xu Tao Kang-Lai Tang 《World Journal of Clinical Cases》 SCIE 2021年第13期3147-3156,共10页
BACKGROUND Giant cell tumors(GCT)are most commonly seen in the distal femur.These tumors are uncommon in the small bones of the hand and feet,and a very few cases have been reported.A giant cell tumor of the talus is ... BACKGROUND Giant cell tumors(GCT)are most commonly seen in the distal femur.These tumors are uncommon in the small bones of the hand and feet,and a very few cases have been reported.A giant cell tumor of the talus is rarely seen clinically and could be a challenge to physicians.CASE SUMMARY We report a rare case of GCT of the talus in one patient who underwent a new reconstructive surgery technique using a three-dimensional(3D)printing talar prosthesis.The prosthesis shape was designed by tomographic image processing and segmentation using technology to match the intact side by mirror symmetry with 3D post-processing technologies.The patient recovered nearly full range of motion of the ankle after 6 mo.The visual analogue scale and American Orthopaedic Foot and Ankle Society scores were 1 and 89 points,respectively.CONCLUSION We demonstrated that 3D printing of a talar prosthesis is a beneficial option for GCT of the talus. 展开更多
关键词 three-dimensional printing technology Giant cell tumor Talar prosthesis Case report
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Kalman filter applied in underwater integrated navigation system 被引量:1
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作者 Yan Xincun Ouyang Yongzhong +1 位作者 Sun Fuping Fan Hui 《Geodesy and Geodynamics》 2013年第1期46-50,共5页
For the underwater integrated navigation system, information fusion is an important technology. This paper introduces the Kalman filter as the most useful information fusion technology, and then gives a summary of the... For the underwater integrated navigation system, information fusion is an important technology. This paper introduces the Kalman filter as the most useful information fusion technology, and then gives a summary of the Kalman filter applied in underwater integrated navigation system at present, and points out the further research directions in this field. 展开更多
关键词 Kalman filter underwater integrated navigation system information fusion technology
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