Objective: To compare the long-term results of mastoscopic axillary lymph node dissection (MALND) and conventional axillary lymph node dissection (CALND). Patients and Methods: From January 1, 2003, through December 31, 2005, a group of 1027 consecutive patients with operable breast cancer were randomly assigned to 1 of 2 study groups: MALND and CALND. The median follow-up was 63 months. The primary end points of the study were operative outcomes, complication reduction, function conservation, and cosmetics. The secondary end points were disease-free and overall survival. Results: The mean operative blood loss in the MALND group was less than in the CALND group (PϽ.001). The patients who underwent MALND had less axillary pain, numbness or paresthesias, and arm swelling (PϽ.001). The aesthetic appearance of the axilla in the MALND group was much better than that in the CALND group (Pϭ.001 at 6 months and Pϭ.002 at 24 months). A significant difference was found between the 2 groups in distant metastasis (Pϭ.04). The disease-free survival rate was 64.5% in the MALND group and 60.8% in the CALND group (Pϭ.88). The overall survival rate was 81.7% in the MALND group and 78.6% in the CALND group (Pϭ.95).
Although many studies exist on mobile robot path planning, the disadvantages of complex algorithms and many path nodes in logistics warehouses and manufacturing workshops are obvious, mainly due to the inconsistency of map environment construction and pathfinding strategies. In this study, to improve the efficiency of mobile robot path planning, the Delaunay triangulation algorithm was used to process complex obstacles and generate Voronoi points as pathfinding priority nodes. The concept of the grid was used to extract obstacle edges to provide obstacle avoidance strategies for robot pathfinding. Subsequently, the search for priority and regular path nodes used the improved A-star (A*) algorithm. The dynamic fusion pathfinding algorithm (DFPA), based on Delaunay triangulation and improved A*, was designed, which realizes the path planning of mobile robots. MATLAB 2016a was used as the simulation software, to firstly verify the correctness of the DFPA, and then to compare the algorithm with other methods. The results show that under the experimental environment with the same start point, goal point, and number of obstacles, the map construction method and pathfinding strategy proposed in this paper reduce the planned path length of the mobile robot, the number of path nodes, and the cost of overall turn consumption, and increase the success rate of obtaining a path. The new dynamic map construction method and pathfinding strategy have important reference significance for processing chaotic maps, promoting intelligent navigation, and site selection planning.INDEX TERMS Delaunay triangulation, A-star algorithm, mobile robot, map modeling, path planning.
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