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1

Bebek, Ozkan. "ROBOTIC-ASSISTED BEATING HEART SURGERY." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1201289393.

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2

Kesner, Samuel Benjamin. "Robotic Catheters for Beating Heart Surgery." Thesis, Harvard University, 2011. http://dissertations.umi.com/gsas.harvard:10016.

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Compliant and flexible cardiac catheters provide direct access to the inside of the heart via the vascular system without requiring clinicians to stop the heart or open the chest. However, the fast motion of the intracardiac structures makes it difficult to modify and repair the cardiac tissue in a controlled and safe manner. In addition, rigid robotic tools for beating heart surgery require the chest to be opened and the heart exposed, making the procedures highly invasive. The novel robotic catheter system presented here enables minimally invasive repair on the fast-moving structures insid
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3

Daemen, Jan-Willem Henri Catharina. "Non-heart-beating kidney donors clinical implications /." [Maastricht : Maastricht : Universiteit Maastricht] ; University Library, Maastricht University [Host], 1998. http://arno.unimaas.nl/show.cgi?fid=8432.

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4

Aitchison, J. Douglas. "Functional assessment of the non-heart-beating donor lung." Thesis, University of Newcastle upon Tyne, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.397348.

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5

Wood, Nathan A. "Organ-Mounted Robots for Minimally Invasive Beating-Heart Surgery." Research Showcase @ CMU, 2015. http://repository.cmu.edu/dissertations/612.

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In the push to improve patient outcomes in cardiac interventions, minimally invasive beating-heart surgery is a major field of surgical research. However, interventions on a soft tissue organ under continuous motion through remote incisions pose a significant challenge. Endoscopic approaches eliminate the associated morbidity of median sternotomy, but they require either mechanical immobilization of the heart or robotic motion compensation of the tools, both of which have serious drawbacks. While mechanical immobilization may cause electrophysiological and hemodynamic changes in the performanc
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6

Reddy, Mettu. "Improving the preservation of the non-heart-beating-donor pancreas." Thesis, University of Sunderland, 2010. http://sure.sunderland.ac.uk/3539/.

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Successful pancreatic islet transplantation depends on the number of islets transplanted, islet viability and extent of early islet loss due to ischaemia reperfusion injury. Novel pancreas preservation techniques which can improve these variables can increase the utilisation of non-heart-beating-donor pancreases for islet transplantation. A non-heart-beating-donor rat pancreas preservation model was developed. Pancreases preserved by either static cold storage, hypothermic machine perfusion or portal venous oxygen persufflation underwent islet isolation and purification. The yield, viability a
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7

Donker, Dirk W. "Cardiac mechanomyopathy integrating the picture from cell to beating heart /." Maastricht : Maastricht : Universitaire Pers ; University Library, Universiteit Maastricht [host], 2008. http://arno.unimaas.nl/show.cgi?fid=13449.

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8

Varma, Avinash Ramesh. "Tracking points on a pacing lead in a beating heart." DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/1031.

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Heart failure is a common condition during which the pumping action of the heart is affected because the heart does not contract or relax properly. Heart failure affects about 5 million Americans, with 550,000 new cases diagnosed each year. Cardiac resynchronization therapy (CRT) is used to treat symptoms and other complications associated with a heart failure. While performing CRT, Implantation of a pacing lead in the left ventricle of the heart is a very challenging surgical procedure performed with fluoroscopy. The target location is often difficult to reach through the tortuous coronary ve
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9

Wilson, Colin Hugh. "Determining the optimal preservation regime for non-heart beating renal transplantation." Thesis, University of Newcastle Upon Tyne, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.438396.

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10

Kurz, Gerhard [Verfasser], and U. [Akademischer Betreuer] Hanebeck. "Directional Estimation for Robotic Beating Heart Surgery / Gerhard Kurz ; Betreuer: U. Hanebeck." Karlsruhe : KIT Scientific Publishing, 2015. http://d-nb.info/1185761055/34.

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11

Wong, Yew Toh. "Pancreatic islet transplantation non-heart-beating donors as a source of islets." Thesis, University of Newcastle upon Tyne, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.438407.

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12

Gok, Muhammed Asim. "Solid Organ Assessment and Manipulation for Transplantation from Non Heart Beating Donors." Thesis, University of Newcastle upon Tyne, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.484819.

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Whilst kidney transplantation is accepted as a cost effective treabnent ofend stage renal failure, the shortage in the kidney donor pool has recently become critical. Historical series ofNHBD renal transplants have been associated with high rates ofallograft failure and dysfunction due to prolonged warm and cold ischaemia. Machine preservation of NHBD kidneys provides a useful tool to test viability pre-transplant and this PhD thesis was directed at improving the existing Newcastle NHBD programme. Newcastle machine preservation is described in which viability criteria is used to reduced primar
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13

Kimber, Rachel M. "A preclinical assessment of the non-heart beating donor pancreas for islet transplantation." Thesis, University of Leicester, 2005. http://hdl.handle.net/2381/29497.

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The results of islet transplantation have been significantly improved in recent years following major advances made by the Edmonton group in Canada. These included transplanting fresh islets from more than one donor combined with a new less diabetogenic immunosuppressive protocol. Clinical islet transplant programs will be limited by the declining numbers of organ donors. Non-heart beating donors have been used to expand the renal donor pool, however the pancreas in particularly susceptible to warm ischaemia and may therefore not be suitable for islet transplantation.;The aim of this thesis wa
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14

Wright, Nathan Victor. "Comparison of Vascular Pulsatility in the Native Beating Heart versus Direct Mechanical Ventricular Actuation Support of the Fibrillating Heart." Wright State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=wright1461580613.

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15

Hunter, Ian. "The Potential Role of Microdialysis in the Viability Assessment of Non-Heart-Beating Donor Kidneys." Thesis, St George's, University of London, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.517187.

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16

Booster, Maurits Harm. "The Non-Heart Beating donor, a new source of kidneys for transplantation clinical and experimental studies /." Maastricht : Maastricht : Universitaire Pers Maastricht ; University Library, Maastricht University [Host], 1995. http://arno.unimaas.nl/show.cgi?fid=6644.

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17

Nonaka, Michihito. "Differences in mitral valve-left ventricle dimensions between a beating heart and during saline injection test." Kyoto University, 2009. http://hdl.handle.net/2433/124306.

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18

Ruszkowski, Angelica. "On the development of a heart motion compensation system on the da Vinci research kit for minimally invasive surgery on the beating heart." Thesis, University of British Columbia, 2015. http://hdl.handle.net/2429/54686.

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This thesis describes the development of a heart motion compensation system on the da Vinci Research Kit for coronary artery bypass surgery. With this teleoperation robotic platform, minimally invasive surgery on a beating heart could be performed on an already clinically prevalent system. Semi-automation of the slave manipulators of the robot is introduced as they track the surface of the beating heart. The surgeons' regular teleoperation commands are superimposed on the automated trajectory. To achieve a virtually stabilized environment, a novel concept of maintaining the camera fixed relati
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19

Asher, John F. "To determine factors affecting outcome and the role of peritoneal cooling in non-heart beating donor renal transplantation." Thesis, University of Newcastle upon Tyne, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.442224.

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20

Schiller, Julia Virginie. "Venöse Revaskularisation bei Vorliegen einer Mikro- und Makroangiopathie." Doctoral thesis, Universitätsbibliothek Leipzig, 2011. http://nbn-resolving.de/urn:nbn:de:bsz:15-qucosa-71990.

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In der vorliegenden Arbeit wurde die venöse Revaskularisation bei Vorliegen einer Mikro- und Makroangiopathie untersucht. Die Zielgruppe dieser Methodik sind Patienten, die aus kardiologischer und herzchirurgischer Sicht austherapiert sind, für die weder ein Stent noch eine konventionelle Bypassoperation in Frage kommt. Das betrifft Patienten mit disseziierten Gefäßen, mit schwerer diffuser koronarer Herzerkrankung oder small vessel disease. Für diese Patienten ist derzeit keine optimale Therapie vorhanden. Es handelt sich somit um eine ultima ratio-Therapie. Zur Prüfung der Effektivität der M
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21

Damyanov, Ran [Verfasser], and Torsten [Akademischer Betreuer] Loop. "Wirkung von Prostazyklin bei verlängerter Warmischämie in einem "Non-Heart-Beating Donor"-Modell : Untersuchungen an isoliert perfundierten parakardialen Schweinelungenlappen." Freiburg : Universität, 2016. http://d-nb.info/1120021251/34.

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22

Kulli, Christoph Thomas Germain. "Hyperthermia induced HSP expression correlates with improved rat renal isograft viability and survival in kidneys harvested from non-heart-beating donors /." Bern : [s.n.], 2004. http://www.ub.unibe.ch/content/bibliotheken_sammlungen/sondersammlungen/dissen_bestellformular/index_ger.html.

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23

Sangster, Catriona. "A legal assessment of the impact of the Human Tissue Act 2004 upon unplanned non-heart beating donation and elective ventilation." Thesis, University of Liverpool, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.486449.

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This thesis addresses the development and scope of the law in England relating to unplanned non-heart beating donation and elective ventilation in providing a source of solid organs for transplantation from adult donors. The thesis analyses the legality of both preservation strategies under the Human Tissue Act 1961 and the Human Tissue Act 2004, and considers the interaction between organ preservation law and coroniallaw. The thesis is divided into three parts. Part one introduces some preliminary aspects of the English cadaveric donation system. Chapter one defines the scope ofthe thesis. Ch
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24

Navarro, Alex. "Clinical assessment of renal ischaemic injury and the role of cryopreservation : peritoneal cooling in non-heart-beating donation and topical cooling for laparoscopic surgery." Thesis, University of Sunderland, 2009. http://sure.sunderland.ac.uk/3313/.

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The project aims focussed on three main areas of study; ischaemic injury assessment, laparoscopic renal cryopreservation and peritoneal cooling for non-heart-beating organ donation. The effects of renal ischaemia represent significant challenges for transplantation and urological surgery in that with sufficient unchecked ischaemic duration, permanent loss of function is inevitable. Prior to consideration of novel approaches to ischaemic protection, aimed at producing improved graft quality for transplantation and an increased safe operating times for partial renal resections, deficiencies in t
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25

Capoun, Radek. "Shortening cardioplegic arrest time in patients undergoing combined valvular and coronary surgery : a multicentre randomized controlled trial (the SCAT trial)." Thesis, University of Bristol, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.681543.

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Background: Combined valvular and coronary artery bypass grafting (CAB G) surgery requires a long period of cardioplegic arrest (CA) that predisposes the heart to ischaemiareperfusion injury, low cardiac output syndrome, reperfusion dysrhythmias, inhospital mortality and increased costs. Procedures that can reduce the duration of CA would be expected to reduce intraoperative and postoperative complications. Mehods: Adults undergoing combined valvular and CABG surgery were randomized to either coronary surgery performed on the beating heart with cardiopulmonary bypass (CPB) support followed by
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26

Pakula, Guillaume. "Stratégies avancées d'imagerie multiphoton pour l'étude de processus périodiques rapides in vivo : des cils motiles au cœur battant." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLX018.

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Les oscillateurs biologiques régissent le monde vivant à toutes les échelles. En biologie du développement, le cœur battant et les cils motiles en sont deux représentations dont les dimensions temporelles et spatiales sont analogues. Leur observation dynamique est un enjeu majeur pour permettre la compréhension de leur fonctionnement et des processus biologiques dans lesquels ils sont impliqués. Dans ce manuscrit, nous nous proposons de résoudre leur mouvement tridimensionnel in vivo chez un organisme-modèle de vertébré : le poisson-zèbre. Pour contourner les limites actuelles de vitesse d’ima
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27

Bouchot, Olivier. "Oclusion temporaire des artères coronaires par un gel thermo-réversible : LeGoo®. De l'expérimentation à l'utilisation humaine." Thesis, Dijon, 2011. http://www.theses.fr/2011DIJOMU05/document.

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ObjectifsL’objectif de ce travail a été d’évaluer la faisabilité d’utiliser le gel LeGoo pour occlure temporairement les artères coronaires afin de réaliser des pontages coronariens à cœur battant initialement chez le porc puis chez l’humain. Les objectifs secondaires ont été d’étudier l’impact de l’injection du gel sur l’endothélium et le myocarde.MéthodesLa première étude a eu pour but d’évaluer la possibilité de réaliser chez le cochon des pontages coronariens sur l’artère interventriculaire antérieure ou l’artère coronaire droite avec une artère thoracique interne, et d’évaluer la fonction
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28

Levin, Noah Michael. "The Role of Death in The Moral Permissibility of Solid Organ Procurement After Cardiac Death and Its Implications." Bowling Green State University / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1383308740.

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29

Schön, Michael R. "Transplantation von Lebern nicht-herzschlagender Spender im Schweineleber-Transplantationsmodell." Doctoral thesis, Humboldt-Universität zu Berlin, Medizinische Fakultät - Universitätsklinikum Charité, 2000. http://dx.doi.org/10.18452/13727.

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Es wurde untersucht ob die normotherme extrakorporale Leberperfusion (NELP) als Methode geeignet ist, Lebern vor Transplantation zu konservieren, und ob sie warm ischämische Zellschäden beheben kann. Zum ersten Mal konnte experimentell gezeigt werden, daß eine erfolgreiche Transplantation nach 4 Stunden mit NELP möglich ist und sogar so zuverlässig, wie die Kaltkonservierung in der University of Wisconsin Lösung. Die NELP erhält die Leberfunktion und ermöglicht eine Regeneration warm ischämischer Schäden in Nicht-herzschlagenden Spendern. 36 Schweine der Deutschen Landrasse wurden in sechs G
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30

Morais, Lúcio Kenny. "Efeito do pré-condicionamento isquêmico remoto no transplante ortotópico de fígado de doadores em parada cardíaca. Estudo experimental em suínos." Universidade Federal de Goiás, 2012. http://repositorio.bc.ufg.br/tede/handle/tede/8061.

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Submitted by Marlene Santos (marlene.bc.ufg@gmail.com) on 2017-12-18T19:17:24Z No. of bitstreams: 2 Dissertação - Lúcio Kenny Morais - 2012.pdf: 9402569 bytes, checksum: 89e112868051e02f9a662b75b5fff235 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)<br>Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2017-12-19T12:09:12Z (GMT) No. of bitstreams: 2 Dissertação - Lúcio Kenny Morais - 2012.pdf: 9402569 bytes, checksum: 89e112868051e02f9a662b75b5fff235 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)<br>Made avail
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31

Kappadan, Vineesh [Verfasser]. "Ratiometric fluorescence imaging and marker-free motion tracking of Langendorff perfused beating rabbit hearts / Vineesh Kappadan." Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2021. http://d-nb.info/1224681673/34.

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32

Goodman, Lauren F. "A Heart, Beating, Hard." 2012. https://scholarworks.umass.edu/theses/799.

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33

Dominici, Michel Olivier. "Control Architectures for Robotic Assistance in Beating Heart Surgery." Doctoral thesis, 2016. http://hdl.handle.net/10316/28347.

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Tese de doutoramento em Engenharia Electrotécnica e de Computadores, no ramo de especialização em Automação e Robótica, apresentada ao Departamento de Engenharia Electrotécnica e de Computadores da Faculdade de Ciências e Tecnologia da Universidade de Coimbra<br>Doenças cardiovasculares são a primeira causa de morte no mundo. Todos os anos mais de 17 milhões de pessoas morrem, representando 29% do número total de mortes. As doenças coronárias são as mais críticas, atingindo mais de 7.2 milhões de mortes. Para reduzir o risco de morte, o "bypass" coronário é a intervenção cirúrgica mais comum.
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34

Thomson, Perry. "Soft expanding anchor mechanism for minimally invasive, beating heart surgery." Thesis, 2021. https://hdl.handle.net/2144/42611.

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This paper describes the design and development of a soft anchoring mechanism to be used in minimally invasive beating heart surgery. With the combination of layer jamming and soft actuation, this device is designed with the intent of providing a stable anchor point within the walls of the superior vena cava (SVC). Once deployed, additional soft manipulators can be used in tandem with this device to perform surgical procedures from within the heart, all without constricting blood flow or damaging the walls of the SVC. The anchor mechanism expands radially towards the inner wall of the SVC usin
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35

Trejos, Ana Luisa. "Feasibility study of a moving hand support for surgery on the beating heart." Thesis, 1999. http://hdl.handle.net/2429/10472.

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A method for performing coronary bypass surgery on the beating heart is proposed, and entails the use of a heart-tracking support to move the hands of the surgeon in synchrony with the heart motion. This method eliminates the damaging effects associated with stopping or stabilizing the heart, while preserving the surgeon's dexterity and accuracy. First, a feasibility study was performed in order to compare the accuracy attained and the completion time required to perform accurate tasks on stable and moving targets, both with and without a motion tracking support. The results demonstrate
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36

Hsieh, Ya-Ping, and 謝雅萍. "An Comparative Analysis of Medical Resource use and Clinical Outcome of Beating Heart Coronary Artery Bypass Surgery." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/2ntfv2.

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碩士<br>長榮大學<br>醫務管理學系(所)<br>98<br>Background — Off-pump coronary artery bypass graft surgery (OPCAB) has been performed for many years. The best approach myocardial revascularization remains controversial. Comparative analysis of medical resource use and clinical outcome of beating heart coronary bypass surgery by using a longitudinal health insurance database 2005(LHIID2005) of the national health insurance research database(NHIRD). Methods and Results — From January 2005 to November 2008, 588 patients received isolated myocardial revascularization in Taiwan. Among them , 150 underwent OPCAB(o
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37

Huang, Zhi-Wei, and 黃芝瑋. "The Study of Attitude and the Willingness of Common People and Hospital Personnel on Non-heart-beating Donor." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/mhvzfq.

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碩士<br>國立臺北科技大學<br>工業工程與管理研究所<br>98<br>With the progressing of medical skill getting improved in recent years, the topic of organ donation has been gradually concerned. Although the proficiency of organ transplantation in Taiwan is far more advancing than other countries, the proportion of organ donation is relatively low; making patients who are eagerly waiting for suitable organs being inescapable from the grim reaper. Religious belief, conception of completion of cadaver and the inadequate knowledge of brain death determination are reasons for people in Taiwan possess low tendency toward org
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38

Hsiung, Tzu Hao, and 熊子豪. "Investigation of age-associated beating behaviors between different heart chambers of Drosophilae using motion-corrected optical coherence tomography." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/cd7e49.

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碩士<br>長庚大學<br>電機工程學系<br>104<br>In order to study the information of cardiovascular disease, we use Drosophilae as an experiment model, which has a high degree of similarity of human genes. In this study, we use swept-source optical coherence tomography (SS-OCT) to observe the cardiac dynamics of Drosophilae, due to the advantages of high resolution, high sensitivity and real-time imaging. With OCT, the entire heart chambers of fly including conical chamber and four ostia portions can be observed. In addition, to remove the motion artifact resulting from heart contraction and body movement, a m
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39

Schiller, Julia Virginie. "Venöse Revaskularisation bei Vorliegen einer Mikro- und Makroangiopathie." Doctoral thesis, 2010. https://ul.qucosa.de/id/qucosa%3A11241.

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In der vorliegenden Arbeit wurde die venöse Revaskularisation bei Vorliegen einer Mikro- und Makroangiopathie untersucht. Die Zielgruppe dieser Methodik sind Patienten, die aus kardiologischer und herzchirurgischer Sicht austherapiert sind, für die weder ein Stent noch eine konventionelle Bypassoperation in Frage kommt. Das betrifft Patienten mit disseziierten Gefäßen, mit schwerer diffuser koronarer Herzerkrankung oder small vessel disease. Für diese Patienten ist derzeit keine optimale Therapie vorhanden. Es handelt sich somit um eine ultima ratio-Therapie. Zur Prüfung der Effektivität der
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40

Yin, Wei Chun, and 殷維駿. "Imaging and evaluation of beating behavior within entire heart chambers of Drosophila with noninvasive optical coherence tomography in NIR spectral range." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/fqg984.

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41

Dickson, Lindy. "A survey of medical doctor's views on cadaveric organ donation and transplantation." Thesis, 2001. http://hdl.handle.net/10413/5245.

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The views of medical doctors regarding organ donation and transplantation in the Durban Metropolitan Region were examined in an exploratory and explanatory study, which included a descriptive, convenience sampled study of 43 graduate and postgraduate professionals, practicing in the private and provincial sectors. Characteristics were obtained from a 1 D6-item questionnaire that were later divided into component contributions according to Fazio's attitude to behavior process model (Fazio, 1989; Fazio & RoskosEewoldson, 1994). Variables which were analysed included personal demographics, person
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42

Zhang, J., Lijun Shang, T. Wang, Y. Ni, and A. Ma. "Effects of Isoproterenol on IhERG during K+ changes in HEK293 cells." 2017. http://hdl.handle.net/10454/12480.

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no<br>Introduction:The human ether-a-go-go related gene (hERG) encodes the pore forming protein which mediates the rapid delayed rectifier K+ current in the heart (IKr). Together with other ion channels hERG determines the cardiac action potential and regulates the heart beating. Dysfuction of the hERG ion channel will lead to acquired long QT syndrome (LQTS). Therefore, new drug candidates must pass the test for a potential inhibitory effect on the hERG current as a first step in a nonclinical testing strategy. Arrhythmias in patients with LQTS are typically triggered during physical or emo
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43

Mesquita, Pedro Daniel Marques. "Robot Control in the Presence of Cardiac Motion." Master's thesis, 2018. http://hdl.handle.net/10316/86430.

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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e Tecnologia<br>As doenças cardiovasculares são a causa número um de mortes no mundo, sendo que, entreestas, a doença coronária tem uma das maiores taxas de mortalidade. Posto isto, de formaa reduzir o potencial risco de morte associado a este tipo de patologia, a revascularizaçãomiocárdica é um dos procedimentos mais comummente utilizados. Não obstante e, emborase trate de um procedimento devidamente estudado, desenvolvido e, portanto, já maduro,ainda existe um conjunto de risc
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44

"Coronary Artery Plaque Assessment with Fast Switched Dual Energy X-Ray Computed Tomography Angiography." Doctoral diss., 2013. http://hdl.handle.net/2286/R.I.20831.

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abstract: Coronary computed tomography angiography (CTA) has a high negative predictive value for ruling out coronary artery disease with non-invasive evaluation of the coronary arteries. My work has attempted to provide metrics that could increase the positive predictive value of coronary CTA through the use of dual energy CTA imaging. After developing an algorithm for obtaining calcium scores from a CTA exam, a dual energy CTA exam was performed on patients at dose levels equivalent to levels for single energy CTA with a calcium scoring exam. Calcium Agatston scores obtained from the dual en
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45

Schröder-Schetelig, Johannes. "Multimodal high-resolution mapping of contracting intact Langendorff-perfused hearts". Doctoral thesis, 2020. http://hdl.handle.net/21.11130/00-1735-0000-0005-1551-8.

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46

Kappadan, Vineesh. "Ratiometric fluorescence imaging and marker-free motion tracking of Langendorff perfused beating rabbit hearts." Doctoral thesis, 2020. http://hdl.handle.net/21.11130/00-1735-0000-0005-1538-5.

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