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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">novtexmech</journal-id><journal-title-group><journal-title xml:lang="ru">Мехатроника, автоматизация, управление</journal-title><trans-title-group xml:lang="en"><trans-title>Mekhatronika, Avtomatizatsiya, Upravlenie</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">1684-6427</issn><issn pub-type="epub">2619-1253</issn><publisher><publisher-name>Commercial Publisher «New Technologies»</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.17587/mau.19.402-407</article-id><article-id custom-type="elpub" pub-id-type="custom">novtexmech-91</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>БИОМЕДИЦИНСКИЕ МЕХАТРОННЫЕ СИСТЕМЫ</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="en"><subject>BIOMEDICAL MECHATRONIC SYSTEMS</subject></subj-group></article-categories><title-group><article-title>Медицинский комплекс для лечения геморроя методом лазерной коагуляции под доплер-контролем</article-title><trans-title-group xml:lang="en"><trans-title>Medical Apparatus for Treatment of Hemorrhoids by Method of Laser Coagulation under Doppler Control</trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Грязнов</surname><given-names>Н. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Gryaznov</surname><given-names>N. A.</given-names></name></name-alternatives><email xlink:type="simple">gna@rtc.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Харламов</surname><given-names>В. В.</given-names></name><name name-style="western" xml:lang="en"><surname>Kharlamov</surname><given-names>V. V.</given-names></name></name-alternatives><email xlink:type="simple">sl@ltc.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Никитин</surname><given-names>С. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Nikitin</surname><given-names>S. A.</given-names></name></name-alternatives><email xlink:type="simple">s.nikitin@rtc.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Карсеева</surname><given-names>А. Ю.</given-names></name><name name-style="western" xml:lang="en"><surname>Karseeva</surname><given-names>A. Y.</given-names></name></name-alternatives><email xlink:type="simple">a.karseeva@rtc.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Киреева</surname><given-names>Г. С.</given-names></name><name name-style="western" xml:lang="en"><surname>Kireeva</surname><given-names>G. S.</given-names></name></name-alternatives><email xlink:type="simple">galinakireyeva@mail.ru</email><xref ref-type="aff" rid="aff-1"/></contrib></contrib-group><aff-alternatives id="aff-1"><aff xml:lang="ru"><institution>ГНЦ ЦНИИ РТК</institution><country>Россия</country></aff><aff xml:lang="en"><institution>Central Research Institute of Robotics and Technical Cybernetics</institution><country>Russian Federation</country></aff></aff-alternatives><pub-date pub-type="collection"><year>2018</year></pub-date><pub-date pub-type="epub"><day>23</day><month>08</month><year>2018</year></pub-date><volume>19</volume><issue>6</issue><fpage>402</fpage><lpage>407</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Commercial Publisher «New Technologies», 2018</copyright-statement><copyright-year>2018</copyright-year><copyright-holder xml:lang="ru">Commercial Publisher «New Technologies»</copyright-holder><copyright-holder xml:lang="en">Commercial Publisher «New Technologies»</copyright-holder><license xlink:href="https://mech.novtex.ru/jour/about/submissions#copyrightNotice" xlink:type="simple"><license-p>https://mech.novtex.ru/jour/about/submissions#copyrightNotice</license-p></license></permissions><self-uri xlink:href="https://mech.novtex.ru/jour/article/view/91">https://mech.novtex.ru/jour/article/view/91</self-uri><abstract><p>Перспективное развитие малоинвазивной лазерной хирургии в лечении геморроя связано с временным и пространственным совмещением диагностики и лечения. Целью проведенного авторами исследования являлась разработка структуры такого аппаратного комплекса, который позволял бы проводить малоинвазивное лечение геморроя методом лазерной коагуляции под контролем внутритканевой ультразвуковой визуализации в режиме реального времени.</p></abstract><trans-abstract xml:lang="en"><p>The promising development of minimally invasive laser surgery for the treatment of hemorrhoids is associated with a combination of diagnosis and treatment in time and space. The purpose of this study was to develop the structure of such a device allowing performing minimally invasive hemorrhoids treatment with laser coagulation under interstitial ultrasound visualization in real time. The medical complex includes a diagnostic unit, a laser unit and a control system. In turn, the diagnostics module, which allows real-time monitoring, includes a Doppler sensor for performing blood vessel search and measuring blood flow velocity, an ultrasonic sensor for visualization of soft tissues, and monitoring of the laser vascular coagulation operation. The laser unit consists of a laser emitter; a fiber-optic instrument serving to deliver laser radiation to the impact zone; the power and cooling system necessary to maintain the operating temperature of the laser. To carry out numerical calculations of laser radiation parameters, a mathematical model was developed. For its implementation, a computer program was developed that allows a numerical evaluation of the effects of laser vascular coagulation. The given program allows to estimate the influence of laser radiation on blood vessels and perivenous tissue and to analyze the degree of denaturation of tissue molecules. For calculations, optical and thermodynamic parameters of biological tissues are used, which ensure a satisfactory match of the simulation results with known literary data.</p></trans-abstract><kwd-group xml:lang="ru"><kwd>геморрой</kwd><kwd>малоинвазивная хирургия</kwd><kwd>лазерная коагуляция</kwd><kwd>доплеровский датчик</kwd><kwd>ультразвуковой датчик</kwd><kwd>hemorrhoids</kwd><kwd>minimally invasive surgery</kwd><kwd>laser coagulation</kwd><kwd>doppler sensor</kwd></kwd-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Dennison A. R., Paraskevopoulos J. A., Kerrigan D. D., Shorthouse A. J. New thoughts on the aetiology of haemorrhoids and the development of non-operative methods for their management // Minerva Chir. 1996. Vol. 51. P. 209-216.</mixed-citation><mixed-citation xml:lang="en">Dennison A. R., Paraskevopoulos J. A., Kerrigan D. D., Shorthouse A. J. 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