Expression Imbalance of Cholinergic M₂and M₃Receptors Contributes to the Motility Reduction of the Small Intestine in Spleen Qi Deficiency

Objective: To study roles of cholinergic M2 and M3 receptors in the motility reduction of small intestine (SI) in spleen qi deficiency. Methods: 16 male SD rats were randomly divided in the control group and spleen qi deficiency group (model group)—8 rats each group;spleen qi deficiency model of the improper diet and overfatigue was established;the SI propelling rate (SIPR) was used to evaluate the SI motility;ELISA was used to measure concentrations of acetylcholine (ACh), cyclic adenosine monophosphate (cAMP) and protein kinase A (PKA) in the SI tissue;immohistochemistry was employed to detect expressions of cholinergic M2 and M3 receptors. Results: Compared with those in the control group, SIPR was reduced;expression of M2 receptors was increased;and expression of M3 receptors and concentrations of cAMP and PKA were decreased, significantly, in the model group. Conclusions: Expression imbalance of cholinergic M2 and M3 receptors might contribute to the motility reduction of the SI in spleen qi deficiency.

Mitophagy in the Skeletal Muscle Is Suppressed in Spleen Qi Deficiency

Objective: Mitochondrial impairment in the skeletal muscle contributes to useless of limbs in spleen qi deficiency;however the genesis of such impairment is not clear. Herein, PTEN-induced putative kinase 1 (PINK1)-Parkin pathway and mitophagy were studied to explore the machinery of mitochondrial impairment. Methods: 16 male SD rats were randomly divided in the control group and spleen qi deficiency group (model group);transmission electron microscope was used to observe mitochondrial morphology;mitochondrial oxidative phosphorylation was assessed by testing mitochondrial membrane potential (MMP) and levels of ATP and ROS;western blot was used to analyze expressions of PINK1, Parkin, microtubule-associated protein 1 light chain 3-II (LC3-II) and p62. Results: Compared with those in the control group, mitochondria became small, less and scattered, MMP and the ATP level were reduced, the ROS level was elevated, PINK1 expression was decreased, p62 expression was increased, but Parkin and LC3-II expressions were not altered, in the model group. Conclusions: Suppression of mitophagy might be related to the mitochondrial damage in the skeletal muscle when spleen qi deficiency develops.

Design and Fabrication of a Multi-motion Mode Soft Crawling Robot

This article proposes a novel pneumatic soft actuator,which can perform bending in different directions under positive or negative air pressure.The actuators are composed of multiple airbags,and the design of the airbags is analyzed.A pneumatic soft robot based on these soft actuators is designed and fabricated by 3D printing technology.This robot consists of three soft multi-bladder actuators,one soft sensor,middle layer,bottom layer,front barb,front feet and rear feet.According to the different positive or negative pressure control of the three soft multi-bladder actuators,the robot can perform both linear,crossing and climbing movements.The soft robot has excellent environmental adaptability and can pass through complex environments by combining three modes of motion.Then,we establish the closed-loop automatic control system using soft sensor.The soft sensor can be stretched and compressed as the soft robot's movement.Finally,the automatic control system is verified by linear,crossing and climbing movement experiments.Results indicate that the robot can pass through complex environments under the closed-loop control system.