简介：AbstractBackground:Transoral vestibular approach thyroidectomy using robotic system has advantages with articulating instrumentation. Transoral robotic thyroidectomy (TORT) can be done either using just two robot arms for instruments and an extra one for the endoscopic camera, or using three robot arms for instruments (third arm through axila) and an additional arm for the camera.Pros of additional axillary arm for TORT:The 4th arm through an additional axillary port is mainly responsible for a counter-traction of strap muscles and thyroid tissue. The additional axillary port tract is also an excellent passage for the specimen removal with lower risk of disruption or fragmentation. Ultimately, these merits from the additional axillary arm allows TORT to be performed safely in a wide range of patient groups.Cons of additional axillary arm for TORT:One of the issue with the additional axillary arm in TORT is that it leaves a cutaneous scar. Another issue to consider is the cost. In some places, robotic surgery operation fee varies with the number of arms used during the operation. Retraction of strap muscles through subcutaneous stitches applied after establishing the working space may make up for the lack of counter-traction.Conclusion:TORT can be done safely with or without the transaxillary arm and surgeon may consider pros and cons based on multiple factors.

简介：摘要：随着我国经济的不断发展，科学技术得到了迅速的发展，具有人机接口的嵌入式系统应用也越来越广泛。ARM单片机嵌入式系统可以实现信息的采集、对信息做出处理，还可以提升系统运行的安全性、稳定性、降低系统设计成本。在本文中将重点研究基于ARM单片机的嵌入式系统设计方案。介绍系统在ARM处理器强大功能的基础上，进行运算、处理、先是ADU3600板搜集数据的过程，在详细的阐述了系统综合性能指标的基础上展示了产品未来的应用前景。

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简介：摘要：随着北斗卫星导航系统的正式服务，卫星导航系统开始广泛应用于各行各业，GNSS接收机也在不断适应各行各业的应用需求，朝着智能化、功能丰富的方向发展。ARM处理器在嵌入式设备中应用尤为广泛，Linux系统则可以提供丰富的应用功能开发。为了满足更多的人机交互和运算，可采用ARM完成GNSS接收机底层硬件平台设计，利用Linux实现GNSS接收机丰富的功能。

简介：摘要目的比较O-arm导航辅助下与C形臂X线机透视辅助下经皮骶髂关节螺钉内固定治疗骶髂关节复合体损伤的临床疗效。方法采用回顾性病例对照研究分析2016年7月— 2019年1月陆军军医大学第二附属医院收治的32例骶髂关节复合体损伤患者临床资料，其中男21例，女11例；年龄20～59岁，平均41.3岁。骨折按Tile分型：B1型7例，B2型13例，B3型5例，C1型5例，C2型2例。17例采用O-arm导航辅助下经皮骶髂螺钉内固定治疗(A组)，15例采用C形臂X线机透视辅助下经皮骶髂螺钉内固定治疗(B组)。比较两组单枚螺钉置钉时间、术中透视时间、术中出血量、骨折愈合时间，采用Matta标准评分评价术后骨折复位质量。采用Majeed功能评分评价末次随访时关节功能，并观察并发症情况。结果患者均获随访6～37个月，平均18.6个月。A组单枚螺钉置钉时间为(27.3±5.1)min，B组为(52.3±5.9)min(P<0.05)。A组术中透视时间为(43.3±3.2)s，B组为(64.6±5.4)s(P<0.05)。A组术中出血量为(17.8±2.6)ml，B组为(20.7±3.1)ml；A组骨折愈合时间为(13.4±1.4)周，B组为(14.1±1.9)周；A组和B组Matta标准评分的优良率分别为88%(15/17)和87%(13/15)；A组和B组末次随访时Majeed评分的优良率分别为94%(16/17)和87%(13/15)(P均>0.05)。术后B组1例患者出现1枚螺钉稍突破椎体前皮质。两组均无血管、神经损伤、伤口感染、螺钉松动等并发症。结论与C形臂X线机透视辅助下相比，O-arm导航辅助下经皮骶髂关节螺钉内固定治疗骶髂关节复合体损伤具有置钉时间短、术中透视时间短等优势。