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In this paper we present an approach to obstacle avoidance and local path planning for polygonal robots. It decomposes the task into a model stage and a planning stage. The model stage accounts for robot shape and dynamics using a reduced dynamic window. The planning stage produces collision-free local paths with a velocity profile. We present an analytical(More)
OBJECTIVE To evaluate feasibility and morbidity of robot assisted laparoscopic radical hysterectomy. METHODS From December 2005 to September 2008 robot assisted laparoscopic radical hysterectomy and pelvic lymphadenectomy was performed on 80 women. Using a prospective protocol, and an active investigation policy for defined adverse events, perioperative,(More)
OBJECTIVE To evaluate obstetric and maternal risk factors for stress urinary incontinence. METHODS We linked three national, Swedish, population-based registries with the use of unique personal identification numbers. All women born between 1932 and 1977 and operated on for stress urinary incontinence between 1987 and 1996 were identified from the(More)
In 1991, soil samples were taken from the long-term (40 years old) field trial at Ultuna in order to investigate soil P status and the distribution of its various forms. Among the treatments investigated, two were inorganic PK additions only – one to continuous fallow (PK-fallow) and the other to cropped fields (PK). There were also treatments amended with(More)
The aim of this prospective randomized multicenter study was to compare retropubic tension-free vaginal tape (TVT) with TVT Secur in terms of efficacy and safety. We set out to enrol 280 stress urinary incontinent (SUI) women with a half-time interim analysis of short-term cure and adverse events. The short-term results have previously been published. Of(More)
Land use in general and particularly agricultural practices can significantly influence soil carbon storage. In this paper, we investigate the long-term effects of management changes on soil carbon stock dynamics on a Swedish farm where C concentrations were measured in 1956 at 124 points in a regular grid. The soil was re-sampled at 65 points in 1984 and(More)
OBJECTIVE The aim of the study was to evaluate the sentinel node (SLN) concept for lymphatic mapping in early stage cervical cancer. METHODS 105 women with early stage (1a1-2a) cervical cancer were scheduled for the sentinel node procedure in conjunction with a complete pelvic lymphadenectomy. The day before surgery, 1-1.5 mL 120MBq Tc(99) albumin(More)
BACKGROUND Radical trachelectomy in conjunction with pelvic lymphadenectomy is an established method to preserve fertility in early cases of cervical cancer. The radical trachelectomy is usually performed vaginally despite the initial use of laparoscopy for the lymphadenectomy. The complexity of a laparoscopic abdominal trachelectomy may explain this dual(More)
We report a serious complication following a TVT-Secur procedure due to injury of the corona mortis requiring a surgical intervention for removal of 1 l of clotted blood from the space of Retzius. The corona mortis is an anomaly of the vessel combining the obturator and epigastric arteries passing over the superior pubic ramus, well known to hernia and(More)