The morphogenesis of the sternum and the clavicle in whales was studied for the first time. The mode of development of these structures shows considerable differences between the toothed whales (Odontoceti) and the whalebone whales (Mysticeti). The toothed whales are, in this case, similar to all other mammals. Their sternum originates from three different embryonal elements. During development...

This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum positi...

Pectus arcuatum is a rare complex chest wall deformity. A 31-year-old female presented with a severely protruding upper sternum combined with a concave lower sternum. We planned a modified Ravitch-type operation. Through vertical mid-sternal incision, chondrectomies were performed from the second to fifth costal cartilages, saving the perichondrium. Horizontal osteotomy was performed in a wedge...

A 46-year-old man with Marfan syndrome was admitted for repair of annuloaortic etasia and funnel chest. Before median sternotomy, seven transverse skin incisions were made for resection of deformed ribs. The convex portions at the costochondral junctions of the right 4 , 7th and left 5 , 7th ribs were removed. Thereafter, the conventional median sternotomy was safely performed. Aortic root was ...