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Book ; Online: Geometry-based Graph Pruning for Lifelong SLAM

Kurz, Gerhard / Holoch, Matthias / Biber, Peter

2021

Abstract: Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the continuous growth of ...

Abstract	Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the continuous growth of the graph and the loss of sparsity. Both problems can be addressed by a graph pruning algorithm. It carefully removes vertices and edges to keep the graph size reasonable while preserving the information needed to provide good SLAM results. We propose a novel method that considers geometric criteria for choosing the vertices to be pruned. It is efficient, easy to implement, and leads to a graph with evenly spread vertices that remain part of the robot trajectory. Furthermore, we present a novel approach of marginalization that is more robust to wrong loop closures than existing methods. The proposed algorithm is evaluated on two publicly available real-world long-term datasets and compared to the unpruned case as well as ground truth. We show that even on a long dataset (25h), our approach manages to keep the graph sparse and the speed high while still providing good accuracy (40 times speed up, 6cm map error compared to unpruned case). Comment: Accepted at IROS 2021
Keywords	Computer Science - Robotics
Subject code	511
Publishing date	2021-10-04
Publishing country	us
Document type	Book ; Online
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Article ; Online: Separating the Wheat From the Chaff: An Evaluation of Readability, Quality, and Accuracy of Online Health Information for Treatment of Peyronie Disease.

Bompastore, Nicholas J / Cisu, Theodore / Holoch, Peter

Urology

2018 Volume 118, Page(s) 59–64

Abstract: Objective: To characterize available information about Peyronie disease online and evaluate its readability, quality, accuracy, and respective associations with HONcode certification and website category.: Methods: The search term "Peyronie disease" ... ...

Abstract	Objective: To characterize available information about Peyronie disease online and evaluate its readability, quality, accuracy, and respective associations with HONcode certification and website category. Methods: The search term "Peyronie disease" was queried on 3 major search engines (Google, Bing, and Yahoo) and the first 50 search results on each search engine were assessed. All websites were categorized as institutional or reference, commercial, charitable, personal or patient support, or alternative medicine, and cross-referenced with the Health on the Net (HON) Foundation. Websites that met the inclusion criteria were analyzed for readability using 3 validated algorithms, for quality using the DISCERN instrument, and for accuracy by a fellowship-trained urologist. Results: On average, online health information about treatment of Peyronie disease is written at or above the 11th grade level, exceeding the current reading guidelines of 6th-8th grade. The mean total DISCERN score for all website categories was 50.44 (standard deviation [SD] 11.94), the upper range of "fair" quality. The mean accuracy score of all online Peyronie treatment information was 2.76 (SD 1.23), corresponding to only 25%-50% accurate information. Both institutional or reference and HONcode-certified websites were of "good" quality (53.44, SD 11.64 and 60.86, SD 8.74, respectively). Institutional or reference websites were 50%-75% accurate (3.13, SD 1.20). Conclusion: Most of the online Peyronie disease treatment information is of mediocre quality and accuracy. The information from institutional or reference websites is of better quality and accuracy, and the information from HONcode-certified websites is of better quality. The mean readability of all websites exceeds the reading ability of most US adults by several grade levels.
MeSH term(s)	Access to Information ; Consumer Health Information/standards ; Data Accuracy ; Humans ; Internet/standards ; Male ; Penile Induration/therapy
Language	English
Publishing date	2018-04-30
Publishing country	United States
Document type	Journal Article ; Review
ZDB-ID	192062-5
ISSN	1527-9995 ; 0090-4295
ISSN (online)	1527-9995
ISSN	0090-4295
DOI	10.1016/j.urology.2018.02.054
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Article ; Online: Antioxidants and self-reported history of kidney stones: the National Health and Nutrition Examination Survey.

Holoch, Peter A / Tracy, Chad R

Journal of endourology

2011 Volume 25, Issue 12, Page(s) 1903–1908

Abstract: Background and purpose: Animal studies have demonstrated the likely role of oxidative tissue damage in the pathophysiology of stone disease; however, the effect of antioxidants on stone formation in the human population is unknown. We evaluated the ... ...

Abstract	Background and purpose: Animal studies have demonstrated the likely role of oxidative tissue damage in the pathophysiology of stone disease; however, the effect of antioxidants on stone formation in the human population is unknown. We evaluated the association between serum antioxidant levels and the self-reported prevalence of kidney stones in a large cross-sectional population in a retrospective cohort study. Materials and methods: Serum levels of antioxidants among adult participants in the National Health and Nutrition Examination Survey (NHANES III) 1988-1994 were compared between those with and without a self-reported history of kidney stones, adjusting for covariates of age, sex, body mass index (BMI), race/ethnicity, diabetes, and hypertension. Results: The prevalence of kidney stones was 5.25% (95% confidence interval: 4.60%, 5.90%). The prevalence of kidney stones was higher in males, white/non-Hispanics, diabetics, and those with hypertension. The prevalence of kidney stones increased with BMI. After adjusting for covariates, mean levels of alpha-carotene, beta-carotene, and beta-cryptoxanthin were significantly lower in those with kidney stones (-9.36%, -10.79%, and -8.48%, respectively). When analyzed by quartile, higher serum levels of beta-carotene and beta-cryptoxanthin,, trended toward a decreasing prevalence of stones (P=0.007 and P=0.03, respectively), indicating that the highest levels of these antioxidants may protect against the formation of kidney stones. Conclusions: Lower levels of alpha-carotene, beta-carotene, and beta-cryptoxanthin are associated with a history of kidney stones and may indicate a role for these antioxidants in preventing stone formation.
MeSH term(s)	Animals ; Antioxidants/metabolism ; Humans ; Kidney Calculi/epidemiology ; Nutrition Surveys ; Odds Ratio ; Self Report ; United States/epidemiology
Chemical Substances	Antioxidants
Language	English
Publishing date	2011-12
Publishing country	United States
Document type	Journal Article
ZDB-ID	356931-7
ISSN	1557-900X ; 0892-7790
ISSN (online)	1557-900X
ISSN	0892-7790
DOI	10.1089/end.2011.0130
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Article ; Online: TNF-related apoptosis-inducing ligand (TRAIL): a new path to anti-cancer therapies.

Holoch, Peter A / Griffith, Thomas S

European journal of pharmacology

2009 Volume 625, Issue 1-3, Page(s) 63–72

Abstract: Since its discovery in 1995, tumor necrosis factor-related apoptosis-inducing ligand (TRAIL), a member of the tumor necrosis factor super family, has been under intense focus because of its remarkable ability to induce apoptosis in malignant human cells ... ...

Abstract	Since its discovery in 1995, tumor necrosis factor-related apoptosis-inducing ligand (TRAIL), a member of the tumor necrosis factor super family, has been under intense focus because of its remarkable ability to induce apoptosis in malignant human cells while leaving normal cells unscathed. Consequently, activation of the apoptotic signaling pathway from the death-inducing TRAIL receptors provides an attractive, biologically-targeted approach to cancer therapy. A great deal of research has focused on deciphering the TRAIL receptor signaling cascade and intracellular regulation of this pathway, as many human tumor cells possess mechanisms of resistance to TRAIL-induced apoptosis. This review focuses on the current state of knowledge regarding TRAIL signaling and resistance, the preclinical development of therapies targeted at TRAIL receptors and modulators of the pathway, and the results of clinical trials for cancer treatment that have emerged from this base of knowledge. TRAIL-based approaches to cancer therapy vary from systemic administration of recombinant, soluble TRAIL protein with or without the combination of traditional chemotherapy, radiation or novel anti-cancer agents to agonistic monoclonal antibodies directed against functional TRAIL receptors to TRAIL gene transfer therapy. A better understanding of TRAIL resistance mechanisms may allow for the development of more effective therapies that exploit this cell-mediated pathway to apoptosis.
MeSH term(s)	Animals ; Antineoplastic Agents/pharmacology ; Apoptosis ; Clinical Trials as Topic ; Drug Evaluation, Preclinical ; Drug Resistance, Neoplasm ; Genetic Therapy/methods ; Humans ; Neoplasms/drug therapy ; Neoplasms/physiopathology ; Neoplasms/therapy ; Signal Transduction/drug effects ; TNF-Related Apoptosis-Inducing Ligand/drug effects ; TNF-Related Apoptosis-Inducing Ligand/genetics ; TNF-Related Apoptosis-Inducing Ligand/metabolism
Chemical Substances	Antineoplastic Agents ; TNF-Related Apoptosis-Inducing Ligand
Language	English
Publishing date	2009-10-18
Publishing country	Netherlands
Document type	Journal Article ; Research Support, N.I.H., Extramural ; Research Support, Non-U.S. Gov't ; Review
ZDB-ID	80121-5
ISSN	1879-0712 ; 0014-2999
ISSN (online)	1879-0712
ISSN	0014-2999
DOI	10.1016/j.ejphar.2009.06.066
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Article ; Online: Impact of Policy Interventions on Postoperative Opioid Prescribing.

MacLean, Charles D / Fujii, Mayo / Ahern, Thomas P / Holoch, Peter / Russell, Ruby / Hodges, Ashley / Moore, Jesse

Pain medicine (Malden, Mass.)

2018 Volume 20, Issue 6, Page(s) 1212–1218

Abstract: Objective: To assess postoperative opioid prescribing in response to state and organizational policy changes.: Methods: We used an observational study design at an academic medical center in the Northeast United States over a time during which there ... ...

Abstract	Objective: To assess postoperative opioid prescribing in response to state and organizational policy changes. Methods: We used an observational study design at an academic medical center in the Northeast United States over a time during which there were two important influences: 1) implementation of state rules regarding opioid prescribing and 2) changes in organization policies reflecting evolving standards of care. Results were summarized at the surgical specialty and procedure level and compared between baseline (July-December 2016) and postrule (July-December 2017) periods. Results: We analyzed data from 17,937 procedures from July 2016 to December 2017, two-thirds of which were outpatient. Schedule II opioids were prescribed in 61% of cases and no opioids at all in 28%. The median morphine milligram equivalent (MME) prescribed at discharge decreased 40%, from 113 MME in the baseline period to 68 MME in the postrule period. Decreases were seen across all the surgical specialties. Conclusions: Postoperative opioid prescribing at the time of hospital discharge decreased between 2016 and 2017 in the setting of targeted and replicable state and health care organizational policies. Policy implications: Policies governing the use of opioids are an effective and adoptable approach to reducing opioid prescribing following surgery.
MeSH term(s)	Adult ; Aged ; Analgesics, Opioid/therapeutic use ; Drug Prescriptions/standards ; Drug Utilization/standards ; Drug Utilization/trends ; Female ; Health Policy/legislation & jurisprudence ; Health Policy/trends ; Humans ; Male ; Middle Aged ; Pain, Postoperative/drug therapy ; Pain, Postoperative/epidemiology ; Vermont/epidemiology
Chemical Substances	Analgesics, Opioid
Language	English
Publishing date	2018-11-08
Publishing country	England
Document type	Journal Article ; Observational Study ; Pragmatic Clinical Trial ; Research Support, N.I.H., Extramural
ZDB-ID	2015903-1
ISSN	1526-4637 ; 1526-2375
ISSN (online)	1526-4637
ISSN	1526-2375
DOI	10.1093/pm/pny215
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Article: Creation of a neoinfundibulum and serial balloon dilations for the treatment of the excluded calyx: Two cases describing a novel technique.

Chopra, Prajna / Cleveland, Curtis H / Johnson, Mark / Michell, Hans / Holoch, Peter / Irwin, Brian / Scriver, Geoffrey M / Morris, Christopher S

Radiology case reports

2020 Volume 15, Issue 8, Page(s) 1121–1127

Abstract: An excluded calyx is a rare, acquired urologic condition where there is discontinuity between a portion of the renal collecting system with the remainder of the collecting system. Re-establishment of reliable long-term communication between the excluded ... ...

Abstract	An excluded calyx is a rare, acquired urologic condition where there is discontinuity between a portion of the renal collecting system with the remainder of the collecting system. Re-establishment of reliable long-term communication between the excluded calyx and the remaining collecting system is crucial for preservation of renal function and possible relief of symptoms. In this manuscript, we discuss two such cases where a previously undescribed novel procedure is used for treatment of this uncommon condition, where percutaneous antegrade transcatheter techniques were used to establish long-term urinary drainage. The first case discusses an excluded calyx in a 17-year-old male who suffered left renal injury after a high speed motor vehicle accident, where the kidney was divided by the injury and subsequently required creation of a neoinfundibulum in order to maintain continuity of the collecting system. The second case involves a 39-year-old female who underwent resection of a renal cell carcinoma, later developing an excluded calyx where radiofrequency wire recanalization was performed and the neoinfundibular track underwent serial retrograde balloon dilation, resulting in a continuous collecting system. Both patients have done well for more than 2 years after neoinfundibulum creation, showing that this novel technique should be considered a viable and safe procedure in the treatment of this rare condition.
Language	English
Publishing date	2020-06-01
Publishing country	Netherlands
Document type	Case Reports
ZDB-ID	2406300-9
ISSN	1930-0433
ISSN	1930-0433
DOI	10.1016/j.radcr.2020.04.038
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Article ; Online: Current options for preservation of fertility in the male.

Holoch, Peter / Wald, Moshe

Fertility and sterility

2011 Volume 96, Issue 2, Page(s) 286–290

Abstract: Modern cancer therapies have greatly improved survival rates in men of reproductive age and younger; however, surgery, chemotherapy, and irradiation may lead to male infertility. Men with cancer should be counseled about fertility preservation before ... ...

Abstract	Modern cancer therapies have greatly improved survival rates in men of reproductive age and younger; however, surgery, chemotherapy, and irradiation may lead to male infertility. Men with cancer should be counseled about fertility preservation before initiating therapy, when possible. Currently, options for male fertility preservation include cryopreservation of semen or testicular tissue. However, prepubertal boys pose a special problem in this area.
MeSH term(s)	Adolescent ; Adult ; Age Factors ; Antineoplastic Agents/adverse effects ; Counseling ; Cryopreservation ; Fertility/drug effects ; Fertility/radiation effects ; Humans ; Infertility, Male/etiology ; Infertility, Male/physiopathology ; Infertility, Male/therapy ; Male ; Radiotherapy/adverse effects ; Reproductive Techniques, Assisted ; Risk Assessment ; Risk Factors ; Semen Preservation ; Sperm Banks ; Sperm Retrieval ; Young Adult
Chemical Substances	Antineoplastic Agents
Language	English
Publishing date	2011-08
Publishing country	United States
Document type	Journal Article ; Review
ZDB-ID	80133-1
ISSN	1556-5653 ; 0015-0282
ISSN (online)	1556-5653
ISSN	0015-0282
DOI	10.1016/j.fertnstert.2011.06.028
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Article: Current options for preservation of fertility in the male

Holoch, Peter / Wald, Moshe

Fertility and sterility. 2011 Aug., v. 96, no. 2

2011

Abstract	Modern cancer therapies have greatly improved survival rates in men of reproductive age and younger; however, surgery, chemotherapy, and irradiation may lead to male infertility. Men with cancer should be counseled about fertility preservation before initiating therapy, when possible. Currently, options for male fertility preservation include cryopreservation of semen or testicular tissue. However, prepubertal boys pose a special problem in this area.
Keywords	boys ; chemotherapy ; cryopreservation ; irradiation ; male fertility ; men ; semen ; surgery ; survival rate
Language	English
Dates of publication	2011-08
Size	p. 286-290.
Publishing place	Elsevier Inc.
Document type	Article
ZDB-ID	80133-1
ISSN	1556-5653 ; 0015-0282
ISSN (online)	1556-5653
ISSN	0015-0282
DOI	10.1016/j.fertnstert.2011.06.028
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Article ; Online: Post-Discharge Opioid Prescribing and Use after Common Surgical Procedure.

Fujii, Mayo H / Hodges, Ashley C / Russell, Ruby L / Roensch, Kristin / Beynnon, Bruce / Ahern, Thomas P / Holoch, Peter / Moore, Jesse S / Ames, S Elizabeth / MacLean, Charles D

Journal of the American College of Surgeons

2018 Volume 226, Issue 6, Page(s) 1004–1012

Abstract: Background: The number of deaths from prescription opioids in the US continues to increase and remains a major public health concern. Opioid-related deaths parallel prescribing trends, and postoperative opioids are a significant source of opioids in the ...

Abstract	Background: The number of deaths from prescription opioids in the US continues to increase and remains a major public health concern. Opioid-related deaths parallel prescribing trends, and postoperative opioids are a significant source of opioids in the community. Our objective was to identify opioid prescribing and use patterns after surgery to inform evidence-based practices. Study design: Data from a 340-bed academic medical institution and its affiliated outpatient surgical facility included retrospective medical record data and prospective telephone questionnaire and medical record data. Retrospective data included patients discharged after 1 of 19 procedure types, from July 2015 to June 2016 (n = 10,112). Prospective data included a consecutive sample of general and orthopaedic surgery and urology patients undergoing 1 of 13 procedures, from July 2016 to February 2017 (n = 539). Primary outcomes were the quantity of opioid prescribed and used in morphine milligram equivalents (MME), and the proportion of patients receiving instructions on disposal and nonopioid strategies. Results: In the retrospective dataset, 76% of patients received an opioid after surgery, and 87% of prescriptions were prescribed by residents or advanced practice providers. Median prescription size ranged from 0 to 503 MME, with wide interquartile ranges (IQR) for most procedures. In the prospective dataset, there were 359 participants (67% participation rate). Of these, 92% of patients received an opioid and the median proportion used was 27%, or 24 MME (IQR 0 to 96). Only 18% of patients received disposal instructions, while 84% of all patients received instructions on nonopioid strategies. Conclusions: Median opioid use after surgery was 27% of the total prescribed, and only 18% of patients reported receiving disposal instructions. Significant variability in opioid prescribing and use after surgery warrants investigation into contributing factors.
MeSH term(s)	Adult ; Aged ; Analgesics, Opioid/administration & dosage ; Female ; Humans ; Male ; Middle Aged ; Pain Management/methods ; Pain, Postoperative/drug therapy ; Patient Discharge ; Practice Patterns, Physicians'/statistics & numerical data ; Retrospective Studies ; Surveys and Questionnaires
Chemical Substances	Analgesics, Opioid
Language	English
Publishing date	2018-02-28
Publishing country	United States
Document type	Journal Article ; Research Support, N.I.H., Extramural
ZDB-ID	1181115-8
ISSN	1879-1190 ; 1072-7515
ISSN (online)	1879-1190
ISSN	1072-7515
DOI	10.1016/j.jamcollsurg.2018.01.058
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Article ; Online: Creation of a neoinfundibulum and serial balloon dilations for the treatment of the excluded calyx

Prajna Chopra, MD / Curtis H. Cleveland, MD / Mark Johnson, MD / Hans Michell, MD / Peter Holoch, MD / Brian Irwin, MD / Geoffrey M. Scriver, MD / Christopher S. Morris, MD

Radiology Case Reports, Vol 15, Iss 8, Pp 1121-

Two cases describing a novel technique

2020 Volume 1127

Abstract	An excluded calyx is a rare, acquired urologic condition where there is discontinuity between a portion of the renal collecting system with the remainder of the collecting system. Re-establishment of reliable long-term communication between the excluded calyx and the remaining collecting system is crucial for preservation of renal function and possible relief of symptoms. In this manuscript, we discuss two such cases where a previously undescribed novel procedure is used for treatment of this uncommon condition, where percutaneous antegrade transcatheter techniques were used to establish long-term urinary drainage. The first case discusses an excluded calyx in a 17-year-old male who suffered left renal injury after a high speed motor vehicle accident, where the kidney was divided by the injury and subsequently required creation of a neoinfundibulum in order to maintain continuity of the collecting system. The second case involves a 39-year-old female who underwent resection of a renal cell carcinoma, later developing an excluded calyx where radiofrequency wire recanalization was performed and the neoinfundibular track underwent serial retrograde balloon dilation, resulting in a continuous collecting system. Both patients have done well for more than 2 years after neoinfundibulum creation, showing that this novel technique should be considered a viable and safe procedure in the treatment of this rare condition.
Keywords	Excluded calyx ; Sharp recanalization ; PowerWire recanalization ; Hydrocalyx ; Minimally invasive ; Medical physics. Medical radiology. Nuclear medicine ; R895-920
Subject code	616
Language	English
Publishing date	2020-08-01T00:00:00Z
Publisher	Elsevier
Document type	Article ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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