1,721,198 research outputs found
Hepatocellular carcinoma: a global disease in need of individualized treatment strategies
No full textRationale for immunotherapy combination strategies in unresectable hepatocellular carcinoma
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Rescue robot module with sliding membrane locomotion
No full textPurpose - The purpose of this paper is to present a cost-effective design for a new rescue robot locomotion module using the principle of a continuous sliding membrane to achieve propulsion ratio (PR) near 1. Such high PR cannot be reached by other locomotion mechanisms that have been proposed. Design/methodology/approach - The paper first introduces the PR as a reference parameter to assess locomotion effectiveness of snake- and worm-like robots. The state-of-the-art is reviewed. A direction to step beyond getting PR near 1 is indicated. The way is by realizing a continuous sliding membrane. Two solutions in this direction which have been recently proposed are recalled. It is shown that none of them can be practically implemented to realize functioning systems with today's available technology. A new design with membrane actuation has been identified and it is described in detail. A prototype has been realized and earliest results and evidence of functioning described. Findings - Critical discussion of the concept of locomotion based on a sliding membrane was conducted. A new design for a robot locomotion module applying this concept was presented. Earliest evidence of functioning and effectiveness of the new system proposed was given. Research limitations/implications - A new locomotion principle is shown. The state-of-the-art background is discussed. A design to realize the new system in a cost-effective way is described. The research implications lie in the future development of new mobile robots with higher locomotion capability than today's available systems. Several future research and development directions are shown. Practical implications - A new generation of more locomotion-effective snake- and worm-robots, especially for rescue application in rubble, is foreseen. The design proposed takes cost-effectiveness and practical realizability into account. Originality/value - The continuous sliding membrane concept had been already proposed but no reasonable realization and actuation solutions had been singled out. The design of the new locomotion system is totally new and contains several breakthrough ideas. A prototype is available proving worthy in concept and functioning. It is cost-effective and this will allow shorter application to real robots
Cabozantinib in patients with hepatocellular carcinoma failing previous treatment with sorafenib
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Hepatocellular Carcinoma: Therapeutic Guidelines and Medical Treatment
Full text linkWestern and Eastern perspectives on therapeutic guidelines for hepatocellular carcinoma (HCC) have many commonalities but may also differ in certain aspects, as described in this article. In view of the limited therapeutic options for advanced HCC, evidence-based therapies are few, and thus there is a dependence on consensus-based guidelines. This article focuses on the Italian Association for the Study of the Liver guidelines and the Japanese approaches to therapy, while drawing attention to certain controversies from other academic bodies where applicable and appropriate
A variable stiffness joint with superelastic material
No full textThe aim of this paper is to provide the design of a variable stiffness joint able to perform large rotations without undergoing plastic strain. The joint comprises two leaf springs of variable length, allowing to adjust the stiffness of the joint according to the desired performance. Large rotations are achieved by employing superelastic material for the leaf springs, instead of common linear elastic material. The behaviour of the joint has been investigated by means of finite element analyses; in addition, the first attempt to develop a simple mathematical model for the superelastic material as alternative to finite element method is described
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