简介：Atpresent,mostunderwaterpositioningalgorithmsimprovethepositioningaccuracybyincreasingthenumberofanchornodeswhichresultingintheincreasingenergyconsumption.Tosolvethisproblem,thepaperproposesalocalizationalgorithmassistedbymobileanchornodeandbasedonregiondetermination(LMRD),whichnotonlyimprovesthepositioningaccuracyofnodespositioningbutalsoreducestheenergyconsumption.Thisalgorithmisdividedintotwostages:regiondeterminationstageandlocationpositioningstage.Intheregiondeterminationstage,thetargetregionisdividedintoseveralsub-regionsbytheregiondivisionstrategywiththesmallestoverlapratewhichcanreducethenumberofvirtualanchornodesandlockthetargetnodetoasub-region,andthenthroughtheplanningofmobilenodestooptimizethetravelpath,reducethemovingdistance,andreducesystemenergyconsumption.Inthelocationpositioningstage,thetargetnodelocationcanbecalculatedusingtheHILBERTpathplanningandtrilateration.Thesimulationresultsshowthattheproposedalgorithmcanimprovethepositioningaccuracywhentheenergyconsumptionisreduced.

简介：Objective:ThepurposesofthisstudyweretoidentifyriskfactorsforcervicallymphnodemetastasisandtoexaminetheassociationbetweenBRAFV600Estatusandclinicalfeaturesinpapillarythyroidmicrocarcinoma(PTMC).Methods:Atotalof1,587patientswithPTMC,treatedinTianjinMedicalUniversityCancerInstituteandHospitalfromJanuary2011toMarch2013,underwentretrospectiveanalysis.Wereviewedandanalyzedfactorsincludingclinicalresults,pathologyrecords,ultrasoundresults,andBRAFV600Estatus.Results:Multivariatelogisticregressionanalysesdemonstratedthatgender(male)[oddsratio(OR)=1.845,P=0.000],age(<45years)(OR=1.606,P=0.000),tumorsize(>6mm)(OR=2.137,P=0.000),bilateralism(OR=2.011,P=0.000)andextrathyroidalextension(OR=1.555,P=0.001)servedasindependentpredictorsofcentrallymphnodemetastasis(CLNM).Moreover,CLNM(OR=29.354,P=0.000)servedasanindependentpredictoroflaterallymphnodemetastasis(LLNM).Amongpatientswithasolitaryprimarytumor,thosewithtumorlocationinthelowerthirdofthethyroidlobeortheisthmusweremorelikelytoexperienceCLNM(P<0.05).UnivariateanalysesindicatedthatCLNM,LLNM,extrathyroidalextension,andmultifocalitywerenotsignificantlyassociatedwithBRAFV600Emutation.Conclusions:ThepresentstudysuggestedthatprophylacticneckdissectionofthecentralcompartmentshouldbeconsideredinpatientswithPTMC,particularlyinmenwithtumorsizegreaterthan6mm,agelessthan45years,extrathyroidalextension,andtumorbilaterality.AmongpatientswithPTMC,BRAFV600Emutationisnotsignificantlyassociatedwithprognosticfactors.ForabetterunderstandingofsurgicalmanagementofPTMCandtheriskfactors,werecommendmulticenterresearchandlong-termfollow-up.