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Fulltext Mechanism of Hepatoprotective Effect of Boesenbergia rotunda in Thioacetamide-Induced Liver Damage in Rats

Salama SM, Abdulla MA, Alrashdi AS, Hadi AH

Evid Based Complement Alternat Med, 2013;2013:157456.
PMID: 23997791 DOI: 10.1155/2013/157456

Background. Researchers focused on developing traditional therapies as pharmacological medicines to treat liver cirrhosis. Objectives. Evaluating the hepatoprotective activity of Boesenbergia rotunda (BR) rhizome ethanolic extract on thioacetamide-induced liver cirrhosis in rats. Methods. Male Sprague-Dawley rats were intraperitoneally injected with 200 mg/kg TAA 3 times/week and daily oral administration of 250 mg/kg, 500 mg/kg of BR extract, and 50 mg/kg of the reference drug Silymarin for 8 weeks. At the end of the experiment, Masson's trichrome staining was used to measure the degree of liver fibrosis. Hepatic antioxidant enzymes (CAT and GPx), nitrotyrosine, cytochrome (P450 2E1), matrix metalloproteinase (MMP-2 and MMP-9), tissue inhibitor of metalloproteinase (TIMP-1), and urinary 8-hydroxyguanosine were measured. Serum levels of transforming growth factor TGF- β 1, nuclear transcription factor NF- κ B, proinflammatory cytokine IL-6, and caspase-3 were evaluated. Serum protein expression and immunohistochemistry of proapoptotic Bax and antiapoptotic Bcl-2 proteins were measured and confirmed by immunohistochemistry of Bax, Bcl-2, and proliferating cell nuclear antigen (PCNA). Results. BR treatment improved liver histopathology, immunohistochemistry, and biochemistry, triggered apoptosis, and inhibited cytokines, extracellular matrix proteins, and hepatocytes proliferation. Conclusion. Liver cirrhosis progression can be inhibited by the antioxidant and anti-inflammatory activities of BR ethanolic extract while preserving the normal liver status.
Fulltext The use of remdesivir for the management of patients with moderate-to-severe COVID-19: a systematic review

Thiruchelvam K, Kow CS, Hadi MA, Hasan SS

Expert Rev Anti Infect Ther, 2022 Feb;20(2):211-229.
PMID: 34192469 DOI: 10.1080/14787210.2021.1949984

OBJECTIVE: We systematically reviewed the evidence of published original research to determine the role of remdesivir in the management of patients with COVID-19 and a moderate-to-severe course of illness.
METHODS: A systematic search of articles was conducted in scientific databases, with the latest update in May 2021. This paper systematically reviewed the clinical evidence available (randomized controlled trials, compassionate use studies, and case reports) on the use of remdesivir for patients with moderate or severe COVID-19.
RESULTS: A total of eleven studies were included: four studies based on compassionate use of remdesivir, three randomized, double-blind, placebo-controlled, multicentre trials, three randomized, open-label, phase III trials, and one case report. Clinical improvement and mortality rates in patients who used remdesivir varied across studies.
CONCLUSION: Given the current evidence, there is insufficient data to confidently recommend the use of remdesivir alone for the treatment of adult hospitalized patients with moderate-to-severe COVID-19. However, remdesivir may be considered along with an anti-inflammatory agent in patients with pneumonia, on oxygen support, provided there is close monitoring of clinical and laboratory parameters and adverse events.
Fulltext Nanofiber Scaffold Based on Polylactic Acid-Polycaprolactone for Anterior Cruciate Ligament Injury

Aminatun, Huriah R, Hikmawati D, Hadi S, Amrillah T, Abdullah CAC

Polymers (Basel), 2022 Jul 23;14(15).
PMID: 35893947 DOI: 10.3390/polym14152983

Anterior Cruciate Ligament (ACL) injuries are becoming more prevalent in athletes. Anterior Cruciatum Ligament Reconstruction (ACLR) surgery was used to treat ACL injuries and resulted in a recurrence rate of 94% due to the biomechanically repaired tissue being weaker than the original tissue. As a result, biodegradable artificial ligaments must be developed that can withstand mechanical stress during neoligament formation and stabilize the ACL. The purpose of this study is to determine the effect of composition variations in polylactic acid (PLA) and polycaprolactone (PCL) used as ACL nanofiber scaffolds on ultimate tensile strength (UTS) and modulus of elasticity, fiber diameter, cytotoxicity level, and degradation level, as well as the PLA-PCL concentration that provides the best value as an ACL scaffold. Electrospinning was used to fabricate the nanofiber scaffold with the following PLA-PCL compositions: A (100:0), B (85:15), C (80:20), D (70:30), and E (0:100) (wt%). The functional group test revealed no new peaks in any of the samples, and the ester group could be identified in the C-O bond at wave numbers 1300-1100 cm-1 and in the C=O bond at wave numbers 1750-1730 cm-1. The average fiber diameter, as determined by SEM morphology, is between 1000 and 2000 nm. The unbraided sample had a UTS range of 1.578-4.387 MPa and an elastic modulus range of 8.351-141.901 MPa, respectively, whereas the braided sample had a range of 0.879-1.863 MPa and 2.739-4.746 MPa. The higher the PCL composition, the lower the percentage of viable cells and the faster the sample degrades. All samples had a cell viability percentage greater than 60%, and samples C, D, and E had a complete degradation period greater than six months. The ideal scaffold, Sample C, was composed of PLA-PCL 80:20 (wt%), had an average fiber diameter of 827 ± 271 nm, a living cell percentage of 97.416 ± 5.079, and a degradation time of approximately 219 days.
Fulltext Reliability and construct validity of the Malay version of the Job Content Questionnaire (JCQ) among secondary school teachers in Kota Bharu, Kelantan, Malaysia

Hadi AA, Naing NN, Daud A, Nordin R

Southeast Asian J Trop Med Public Health, 2006 Nov;37(6):1254-9.
PMID: 17333785

This study was conducted to assess the reliability and construct validity of the Malay version of Job Content Questionnaire (JCQ) among secondary school teachers in Kota Bharu, Kelantan. A total of 68 teachers consented to participate in the study and were administered the Malay version of JCQ. Reliability was determined using Cronbach's alpha for internal consistency whilst construct validity was assessed using factor analysis. The results indicated that Cronbach's alpha coefficients revealed decision latitude (0.75), psychological job demand (0.50) and social support (0.84). Factor analysis showed three meaningful common factors that could explain the construct of Karasek's demand-control-social support model. The study suggests the JCQ scales are reliable and valid tools for assessing job stress in school teachers.
Three-Dimensional Finite Element Analysis of Stress Distribution and Displacement of the Maxilla Following Surgically Assisted Rapid Maxillary Expansion with Tooth- and Bone-Borne Devices

Dalband M, Kashani J, Hashemzehi H

J Dent (Tehran), 2015 Apr;12(4):298-306.
PMID: 26622285

The aim of this study was to investigate the displacement and stress distribution during surgically assisted rapid maxillary expansion under different surgical conditions with tooth- and bone-borne devices.
Fulltext Knowledge and perception of medical and pharmacy students toward the usage of sunblock [Abstract]

Hadi H, Elkalmi R, Awadh A, Jamshed S, Al-Shami A

Value Health, 2014 Nov;17(7):A605.
PMID: 27202095 DOI: 10.1016/j.jval.2014.08.2105

Objectives: To evaluate the knowledge and perception of medical and pharmacy students toward the usage of sunblock as skin protection against ultraviolet (UV).
Methods: This cross-sectional study was conducted among the undergraduate final year medical and pharmacy students at the International Islamic University Malaysia (IIUM). Validated questionnaire were used to collect the data. The questionnaires were distributed to 134 students from medicine and 100 pharmacy students. Descriptive and inferential statistics are used whenever appropriate.
Results: Overall, 161 participants out of a total of 234 completed the questionnaire with 101 medical students (75.4%) and 60 pharmacy students (60.0%). Majority of the respondents were female 64 (63.4%) and 37 (36.6%) were male. The median of knowledge scores of the final year medical students was significantly lower than the final year pharmacy students (p<0.01). There is no significant differnce between the knowledge of the female and male students (Mann Whitney U Test value = 0.27, p<0.01). This study reported that 24 (39.3 %) of pharmacy students were influenced by the media to use sunblock whereas 35 (34.7%) of medical students had the highest influence from friends to use sunblock. However, this study showed there was no significant difference in the perception of pharmacy and medical students p=0.020.
Conclusion: In conclusion, the knowledge of pharmacy students is significantly higher than the knowledge of medical students had on the usage of sunblock. Both medical and pharmacy students have the same level of perception towards the usage of sunblock.
Tissue microarray immunohistochemical profiles of p53 and pRB in hepatocellular carcinoma and hepatoblastoma

Azlin AH, Looi LM, Cheah PL

Asian Pac J Cancer Prev, 2014;15(9):3959-63.
PMID: 24935581

The tumour suppressor genes, p53 and pRb, are known to play important roles in neoplastic transformation. While molecular routes to the uncontrolled growth of hepatocytes, leading to primary liver cancer have generated considerable interest, the roles of p53 and pRb mutations in hepatocellular carcinoma (HCC) and hepatoblastoma (HB) remain to be clarified. We examined the immunohistochemical expression of p53 and pRb gene products in 26 HCC and 9 HB, sampled into tissue microarray blocks. 10 (38%) of 26 HCC showed > 10% tumour nuclear staining for p53 protein, 3 of these also being HbsAg positive. Conversely, none of 9 HB expressed nuclear p53 immunopositivity. Some 24 (92%) HCC and 8 (89%) HB showed loss of pRb nuclear expression. Two of the 26 HCC and one of the 9 HB showed >10% tumour nuclear staining for pRb protein. Our results suggest that p53 does not have an important role in the development of HB but may contribute in HCC. There is also loss of pRb expression in the majority of HCC and HB, supporting loss of pRb gene function in the hepatocarcinogenesis pathway. However, a comparison of the staining profiles of p53 and pRb proteins in HCC and HB did not reveal a consistent pattern to differentiate between the two types of tumours immunohistochemically. Hence the use of p53 and pRB protein expression has no contribution in the situation where there is a diagnostic difficulty in deciding between HCC and HB.
Fulltext 4-Amino-N-(2,3-di-hydro-1,3-thia-zol-2-yl-idene)benzene-sulfonamide-2,4,6-tris-(pyr-idin-2-yl)-1,3,5-triazine (1/1)

Arman HD, Kaulgud T, Tiekink ER

Acta Crystallogr Sect E Struct Rep Online, 2014 Apr 1;70(Pt 4):o402-3.
PMID: 24826120 DOI: 10.1107/S1600536814004838

The sulfa-thia-zole mol-ecule in the title 1:1 co-crystal, C9H9N3O2S2·C18H12N6, adopts an approximate L-shape [dihedral angle between the five- and six-membered rings = 86.20 (9)°] and features an intra-molecular hypervalent S⋯O inter-action [2.8666 (15) Å]. Overall, the triazine mol-ecule has the shape of a disk as the pendant pyridine rings are relatively close to coplanar with the central ring [dihedral angles = 18.35 (9), 6.12 (9) and 4.67 (9)°]. In the crystal packing, a linear supra-molecular chain aligned along [01-1] is formed as a result of amino-pyridyl N-H⋯N hydrogen bonding with syn-disposed pyridyl mol-ecules of one triazine, and amine-pyridyl N-H⋯N hydrogen bonding with the third pydridyl ring of a second triazine mol-ecule. A three-dimensional architecture arises as the chains are connected by C-H⋯O inter-actions.
Fulltext Bis(2,9-dimethyl-1,10-phenanthrolin-1-ium) 2,5-di-carb-oxy-benzene-1,4-di-carb-oxyl-ate-2,9-dimethyl-1,10-phenanthroline-benzene-1,2,4,5-tetra-carb-oxy-lic acid (1/2/1)

Arman HD, Kaulgud T, Tiekink ER

Acta Crystallogr Sect E Struct Rep Online, 2013;69(Pt 9):o1445-6.
PMID: 24427073 DOI: 10.1107/S1600536813022691

The asymmetric unit of the title co-crystal, 2C14H13N2 (+)·C10H4O8 (2-)·2C14H12N2·C10H6O8, comprises a 2,9-dimethyl-1,10-phenanthrolin-1-ium cation (Me2PhenH(+)) and a 2,9-dimethyl-1,10-phenanthroline mol-ecule (Me2Phen), each in a general position, and half each of a 2,5-di-carb-oxy-benzene-1,4-di-carboxyl-ate dianion (LH2 (2-)) and a benzene-1,2,4,5-tetra-carb-oxy-lic acid mol-ecule (LH4), each being disposed about a centre of inversion. Small twists are evident in the dianion [the C-C-C-O torsion angles are 168.41 (18) and 16.2 (3)°], whereas a major twist is found for one carb-oxy-lic acid group in the neutral mol-ecule [C-C-C-O = 66.3 (2) and 18.2 (3)°]. The most prominent feature of the crystal packing is the formation of linear supra-molecular chains along [001] mediated by charge-assisted O-H⋯O(-) hydrogen bonding between alternating LH4 and LH2 (2-). These are connected to the Me2PhenH(+) and Me2Phen species by N-H⋯O and O-H⋯N hydrogen bonds, respectively. A three-dimensional architecture is formed by C-H⋯O and π-π inter-actions [inter-centroid distance = 3.5337 (17) Å].
Fulltext 4-Amino-N-(4,6-di-methyl-pyrimidin-2-yl)benzene-sulfonamide-1,4-di-aza-bicyclo-[2.2.2]octane (2/1)

Arman HD, Kaulgud T, Tiekink ER

Acta Crystallogr Sect E Struct Rep Online, 2013 Oct 5;69(Pt 11):o1615.
PMID: 24454066 DOI: 10.1107/S1600536813027037

The asymmetric unit of the title co-crystal, C12H14N4O2S·0.5C6H12N2, comprises the sulfonamide mol-ecule and half a mol-ecule of 1,4-di-aza-bicyclo-[2.2.2]octane (DABCO), the latter being disposed about a crystallographic twofold rotation axis. In the sulfonamide mol-ecule, the aromatic rings are almost perpendicular to one another [dihedral angle = 75.01 (8)°]. In the crystal, mol-ecules are connected into a three-mol-ecule aggregate via amide-DABCO N-H⋯N hydrogen bonds, and these are connected into a three-dimensional architecture via amino-DABCO N-H⋯O and amino-pyrimidine N-H⋯N hydrogen bonds.
Fulltext 4-[2-(Pyridin-1-ium-4-yl)eth-yl]pyridin-1-ium bis-(2,6-di-nitro-benzoate)

Arman HD, Miller T, Tiekink ER

Acta Crystallogr Sect E Struct Rep Online, 2013 Oct 2;69(Pt 11):o1606.
PMID: 24454058 DOI: 10.1107/S1600536813026810

The asymmetric unit of the title salt, C12H14N2 (2+)·2C7H3N2O6 (-), comprises half a 4-[2-(pyridin-1-ium-4-yl)eth-yl]pyridin-1-ium dication, being disposed about a centre of inversion, and a 2,6-di-nitro-benzoate anion, in a general position. In the anion, the carboxyl-ate group is inclined to the benzene ring [dihedral angle = 85.45 (9)°], whereas near-coplanar and twisted arrangements are found for the nitro groups [O-N-C-C torsion angles = 179.80 (14) and 20.2 (2)°]. In the crystal, three-component aggregates sustained by charge-assisted N(+)-H⋯O(-) hydrogen bonds are found and these are consolidated into a three-dimensional architecture by C-H⋯O and π-π [inter-centroid distances = 3.6796 (14) and 3.7064 (14) Å] inter-actions.
Fulltext {[Eth-yl(pyridin-4-ylmeth-yl)carbamo-thio-yl]sulfanido-κ(2) S,S'}(1,4,7,10,13,16-hexa-oxa-cyclo-octa-decane-κ(6) O)potassium

Arman HD, Poplaukhin P, Tiekink ER

Acta Crystallogr Sect E Struct Rep Online, 2013;69(Pt 9):m479-80.
PMID: 24426981 DOI: 10.1107/S1600536813021569

The asymmetric unit of title salt co-crystal, [K(C9H11N2S2)(C12H24O6)], comprises a K(+) cation, an (-)S2CN(Et)py anion and a 18-crown-6 mol-ecule. Substantial delocalization of π-electron density is evident in the di-thio-carbamate anion, as indicated by the equivalent C-S bond lengths. The K(+) cation sits within an O6S2 donor set lying 0.7506 (6) Å out of the least-squares plane through the six O atoms (r.m.s. deviation = 0.1766 Å) of the 18-crown-6 mol-ecule with the two S atoms being on one side of this plane. Supra-molecular layers in the bc plane, sustained by C-H⋯O and C-H⋯π inter-actions, feature in the crystal packing.
Tumefactive fibroinflammatory lesion of the head and neck

Said H, Razi Hadi A, Akmal SN, Lokman S

J Laryngol Otol, 1988 Nov;102(11):1064-7.
PMID: 3209947 DOI: 10.1017/s0022215100107297

The term tumefactive fibroinflammatory lesion is used to describe an unusual fibrosclerosing disorder that behaves in a malignant way clinically but is histologically benign. Lesions in the head and neck are believed to be part of the broader fibrosclerosing syndrome which include pseudotumour of the orbit, Reidel's thyroiditis, sclerosing cholangitis and mediastinal fibrosis. Clinical diagnosis is often difficult and relies heavily on histopathology. Steroid therapy is suggested as the first line of management, while surgery or radiation therapy is reserved for failures.
Fulltext A one-dimensional coordination polymer, catena-poly[[[[N-ethyl-N-(pyridin-4-ylmeth-yl)di-thio-carbamato-κ(2)S,S']zinc(II)]-μ2-N-ethyl-N-(pyridin-4-ylmeth-yl)di-thio-carbamato-κ(3)S,S':N] 4-methyl-pyridine hemisolvate]

Poplaukhin P, Arman HD, Tiekink ERT

Acta Crystallogr E Crystallogr Commun, 2017 Jul 01;73(Pt 8):1162-1166.
PMID: 28932428 DOI: 10.1107/S2056989017010179

The title compound, {[Zn(C9H11N2S2)2]·0.5C6H7N} n , comprises two independent, but chemically similar, Zn[S2CN(Et)CH2py]2 residues and a 4-methyl-pyridine solvent mol-ecule in the asymmetric unit. The Zn-containing units are connected into a one-dimensional coordination polymer (zigzag topology) propagating in the [010] direction, with one di-thio-carbamate ligand bridging in a μ2-κ(3) mode, employing one pyridyl N and both di-thio-carbamate S atoms, while the other is κ(2)-chelating. In each case, the resultant ZnNS4 coordination geometry approximates a square pyramid, with the pyridyl N atom in the apical position. In the crystal, the chains are linked into a three-dimensional architecture by methyl- and pyridyl-C-H⋯S, methyl-ene-C-H⋯N(pyrid-yl) and pyridyl-C-H⋯π(ZnS2C) inter-actions. The connection between the chain and the 4-methyl-pyridine solvent mol-ecule is of the type pyridyl-C-H⋯N(4-methyl-pyridine).
Fulltext Characterization and stability of short-chain fatty acids modified starch Pickering emulsions

Abdul Hadi N, Marefati A, Matos M, Wiege B, Rayner M

Carbohydr Polym, 2020 Jul 15;240:116264.
PMID: 32475554 DOI: 10.1016/j.carbpol.2020.116264

Acetylated, propionylated and butyrylated rice and quinoa starches at different levels of modification and starch concentrations, were used to stabilize oil-in-water starch Pickering emulsions at 10% oil fraction. Short-chain fatty acid modified starch Pickering emulsions (SPEs) were characterized after emulsification and after 50 days of storage. The particle size distribution, microstructure, emulsion index, and stability were evaluated. An increase in starch concentration led to a decrease of emulsion droplet sizes. Quinoa starch has shown the capability of stabilizing Pickering emulsions in both the native and modified forms. The emulsifying capacity of SPEs was improved by increasing the chain length of SCFA. Modified quinoa starch with higher chain lengths (i.e. propionylated and butyrylated), at higher levels of modification, showed higher emulsion index (>71%) and stability over the entire 50 days storage. At optimized formulation, SCFA-starch particles have the potential in stabilizing emulsions for functional foods, pharmaceutical formulations, or industrial food applications.
Large breast lump with bloody nipple discharge: benign intraductal papilloma

Cheah SD, Imi Sairi AH

BMJ Case Rep, 2020 Nov 04;13(11).
PMID: 33148555 DOI: 10.1136/bcr-2020-236818

A 32-year-old woman presented with a 3 cm×3 cm left breast lump associated with bloody nipple discharge during her early pregnancy. Examination and ultrasonography showed benign features, whereas core needle biopsies revealed a benign papilloma. Six months after her delivery, a 6 cm×6 cm benign papilloma was completely excised via circumareolar incision. The majority of intraductal papillomas are small; however, they can also present as a large mass rarely. We should be wary of a malignant papillary lesion when there is the presence of atypia on core needle biopsy or imaging-histology discordance. A concordant benign papilloma with benign imaging findings is otherwise reassuring. Clinicians need to be aware of this uncommon presentation of large intraductal papilloma as a complete curative excision can be achieved through a cosmetically placed incision.
Fulltext Jammer Localization Using Wireless Devices with Mitigation by Self-Configuration

Ashraf QM, Habaebi MH, Islam MR

PLoS One, 2016;11(9):e0160311.
PMID: 27583378 DOI: 10.1371/journal.pone.0160311

Communication abilities of a wireless network decrease significantly in the presence of a jammer. This paper presents a reactive technique, to detect and locate the position of a jammer using a distributed collection of wireless sensor devices. We employ the theory of autonomic computing as a framework to design the same. Upon detection of a jammer, the affected nodes self-configure their power consumption which stops unnecessary waste of battery resources. The scheme then proceeds to determine the approximate location of the jammer by analysing the location of active nodes as well as the affected nodes. This is done by employing a circular curve fitting algorithm. Results indicate a high degree of accuracy in localizing a jammer has been achieved.
Fulltext Non-ST Elevation Myocardial Infarction and Coronary Artery Stenting in Pregnancy in a Woman with Resistant Familial Hyperlipidaemia

Roslani AL, Jaafar AH, Ruhani AI

J Obstet Gynaecol India, 2016 Oct;66(Suppl 2):698-702.
PMID: 27803548
TUBE VERSUS TRABECULECTOMY IN JUVENILE-ONSET OPEN ANGLE GLAUCOMA - TREATMENT OUTCOMES IN TERTIARY HOSPITALS IN MALAYSIA

Abd H, Ang, Raja N, Norhalwani H, Azhany Y, Liza-Sharmini

Cesk Slov Oftalmol, 2022;78(6):298-303.
PMID: 36543596 DOI: 10.31348/2022/29

AIM OF THE STUDY: To compare the intraocular pressure (IOP) lowering effect and postoperative complications between primary augmented trabeculectomy and glaucoma drainage device (GDD) implantation as primary surgical intervention in patients with juvenile-onset open angle glaucoma (JOAG).
PATIENTS AND METHODS: A retrospective review study involving 20 eyes that underwent primary augmented trabeculectomy with mitomycin (MMC) and 10 eyes GDD implantation in 3 tertiary centres in Malaysia between 1 January 2013 and 31 December 2019. They were followed up for at least 12 months postsurgical intervention. Intraocular pressure (IOP), number of topical IOP lowering medication and complications were evaluated at 1, 3, 6 and 12 months post-intervention. Based on the IOP, the success was divided into complete and partial success, and failure. IOP and postsurgical complications were compared using the Repetitive Measure Analysis of Variance (RM ANOVA) and the Pearson chi-square test.
RESULTS: Both methods were effective in lowering the IOP. Eyes with primary augmented trabeculectomy have significant lower IOP compared to GDD implantation (p = 0.037). There was a higher incidence of postoperative hypotony (30%) in the trabeculectomy group. There was also a significant reduction of mean number of topical pressure-lowering drugs required postoperatively (p = 0.015). Complete success was achieved in 100% of eyes with trabeculectomy and 67% in GDD implantation (p = 0.047).
CONCLUSIONS: Primary augmented trabeculectomy and GDD implantation are good surgical options for the treatment of JOAG. Both methods provide IOP lowering at 1 year. However, trabeculectomy provides better pressure lowering, compared to GDD implantation in patients with JOAG.
Fulltext Semantic visual simultaneous localization and mapping (SLAM) using deep learning for dynamic scenes

Zhang XY, Abd Rahman AH, Qamar F

PeerJ Comput Sci, 2023;9:e1628.
PMID: 37869467 DOI: 10.7717/peerj-cs.1628

Simultaneous localization and mapping (SLAM) is a fundamental problem in robotics and computer vision. It involves the task of a robot or an autonomous system navigating an unknown environment, simultaneously creating a map of the surroundings, and accurately estimating its position within that map. While significant progress has been made in SLAM over the years, challenges still need to be addressed. One prominent issue is robustness and accuracy in dynamic environments, which can cause uncertainties and errors in the estimation process. Traditional methods using temporal information to differentiate static and dynamic objects have limitations in accuracy and applicability. Nowadays, many research trends have leaned towards utilizing deep learning-based methods which leverage the capabilities to handle dynamic objects, semantic segmentation, and motion estimation, aiming to improve accuracy and adaptability in complex scenes. This article proposed an approach to enhance monocular visual odometry's robustness and precision in dynamic environments. An enhanced algorithm using the semantic segmentation algorithm DeeplabV3+ is used to identify dynamic objects in the image and then apply the motion consistency check to remove feature points belonging to dynamic objects. The remaining static feature points are then used for feature matching and pose estimation based on ORB-SLAM2 using the Technical University of Munich (TUM) dataset. Experimental results show that our method outperforms traditional visual odometry methods in accuracy and robustness, especially in dynamic environments. By eliminating the influence of moving objects, our method improves the accuracy and robustness of visual odometry in dynamic environments. Compared to the traditional ORB-SLAM2, the results show that the system significantly reduces the absolute trajectory error and the relative pose error in dynamic scenes. Our approach has significantly improved the accuracy and robustness of the SLAM system's pose estimation.

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