Catheter ablation of ganglionated plexi (GPs) performed as cardioneuroablation in the left atrium (LA) has been reported previously as a treatment for vasovagal syncope (VVS). However, the efficacy and safety of catheter ablation in the treatment of VVS remains unclear. The objective of this study is to explore the efficacy and safety of catheter ablation in the treatment of VVS and to compare the different ganglion-mapping methods for prognostic effects. A total of 108 patients with refractory VVS who underwent catheter ablation were retrospectively enrolled. Patients preferred to use high-frequency stimulation (HFS) (n = 66), and anatomic landmark (n = 42) targeting is used when HFS failed to induce a positive reaction. The efficacy of the treatment is evaluated by comparing the location and probability of the intraoperative vagal reflex, the remission rate of postoperative syncope symptoms, and the rate of negative head-up tilt (HUT) results. Adverse events are analyzed, and safety is evaluated. After follow-up for 8 (5, 15) months, both HFS mapping and anatomical ablation can effectively improve the syncope symptoms in VVS patients, and 83.7% of patients no longer experienced syncope (<0.001). Both approaches to catheter ablation in the treatment of VVS effectively inhibit the recurrence of VVS; they are safe and effective. Therefore, catheter ablation can be used as a treatment option for patients with symptomatic VVS.
The legged robot has a strong ability to adapt to complex terrain. There are few researches on the adaptive fault tolerance of motion joint actuators of quadruped robots. Therefore, based on the basic principles of foot trajectory planning and gait planning, this paper plans the quadruped robot's foot trajectory and walking gait. Secondly, an adaptive fault-tolerant control law is designed for a quadruped robot's leg joint actuator fault. Finally, mathematical proof and simulation results show that the system can still safely complete the control task within the fault-tolerant range of the expected performance index after some actuator faults. This study provides direction for further research on the compliant motion of quadruped robots with partial actuator faults.
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