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Aiming at the problems of complex space, long planning time, and insufficient path security of 3D path planning, an improved ant colony algorithm (TGACO) is proposed, which can be used to solve symmetric and asymmetric path planning problems. Firstly, the 3D array is used to access the environment information, which can record the flight environment and avoid the inefficiency of planning. Secondly, a multi-objective function of distance and angle is established to improve the efficiency and safety of the path. Then, a target-guided heuristic function is proposed, and an anti-deadlock mechanism is introduced to improve the efficiency of the ant colony algorithm. Next, the node pheromone update rules are improved to further improve the efficiency of the algorithm. Finally, experiments prove the effectiveness of the improved algorithm, TGACO, and its efficiency in complex environments has obvious advantages. In the 20 × 20 × 20 environment, compared with the ant colony algorithm (ACO), the improved algorithm (TGACO) in this paper improves the path length, total turning angle, and running time by 17.8%, 78.4%, and 95.3%, respectively.

ObjectiveThis study aimed to compare the effects of robot-assisted thoracic surgery (RATS), video-assisted thoracic surgery (VATS), and thoracotomy on the psychological status, medical coping mode, and quality of life of patients with lung cancer.MethodsA total of 158 patients with lung cancer were selected from the thoracic surgery center of a third-grade hospital in Hunan Province, China, from September to November 2020. The Self-Rating Anxiety Scale (SAS), Self-Rating Depression Scale (SDS), Medical Coping Modes Questionnaire (MCMQ), and Medical Outcomes Study (MOS) 36-item Short Form Health Survey (SF-36) were used to assess the effects of the surgical approaches on the study parameters before and 48–96 h after surgery. The t-test and analysis of variance were used to analyze the data.ResultsThe results revealed that the patients’ depression increased, their short-term quality of life decreased, and they tended to adopt a positive coping mode after surgery (p < 0.05). The RATS and VATS groups differed in avoidance dimension of medical coping modes (p < 0.05). The VATS and thoracotomy groups differed in the body pain dimension of quality of life (p < 0.05). Different surgical approaches had no effect on the psychological status, medical coping modes except the avoidance dimension, and quality of life except the body pain dimension.ConclusionSurgical approaches have little effect on the psychological status, medical coping modes, and quality of life of patients with lung cancer; however, their depression increased and quality of life decreased after the surgery.