AIM: To analyze the biological role of the surface antigen of Toxoplasma gondii(Tgondii) in development of vaccine. METHODS: The surface antigen of Tgondii (SAG1) was expressed in vitro. The immune response of t...AIM: To analyze the biological role of the surface antigen of Toxoplasma gondii(Tgondii) in development of vaccine. METHODS: The surface antigen of Tgondii (SAG1) was expressed in vitro. The immune response of the host to the antigen was investigated by detection of specific antibody reaction to SAG1 and production of cytokines. Mice were immunized with recombinant SAG1 and challenged with lethal strain of Tgondii RH. The monoclonal antibody to r-SAG1 was prepared and used to study the effects of SAG1 on Tgondii tachyzoites under electromicroscope. RESULTS: The mice immunized with recombinant SAG1 delayed death for 60 h compared to the control group. The recombinant SAG1 induced specific high titer of IgG and IgM antibodies as well as IFN-y, IL-2 and IL-4 cytokines in mice. In contrast, IL-12, IL-6 and TNF-α were undetectable. When T gondii tachyzoites were treated with the monoclonal antibody to r-SAG1, the parasites were gathered together, destroyed, deformed, swollen, and holes and gaps formed on the surface. CONCLUSION: SAG1 may be an excellent vaccine candidate against T gondii. The immune protection induced by SAG1 against Tgondii may be regulated by both hormone- and cell-mediated immune response.展开更多
AIM:It is known that toxoplasmosis rarely leads to various liver pathologies,most common of which is granulomatose hepatitis in patients having normal immune systems.Patients who have cirrhosis of the liver are subjec...AIM:It is known that toxoplasmosis rarely leads to various liver pathologies,most common of which is granulomatose hepatitis in patients having normal immune systems.Patients who have cirrhosis of the liver are subject to a variety of cellular as well as humoral immunity disorders.Therefore,it may be considered that toxoplasmosis can cause more frequent and more severe diseases in patients with cirrhosis and is capable of changing the course of the disease.The aim of this study was to investigate the frequency of toxoplasmosis in patients with cirrhosis. METHODS:Serum samples were taken from 108 patients with cirrhosis under observation in the Hepatology Polyclinic of the Gastroenterology Clinic,and a control group made up of 50 healthy blood donors.IFAT and ELISA methods were used to investigate the IgG and IgM antibodies,which had developed from these sera. RESULTS:Toxoplasma IgG and IgN antibody positivity was found in 74 (68.5%) of the 108 cirrhotic patients and 24 (48%) of the 50 people in the control group.The difference between them was significant (P<0.05). CONCLUSION:In conclusion,it was found that the toxopiasma sero-prevalence in the cirrhotic patients in this study was higher.Cirrhotic patients are likely to form a toxoplasma risk group.More detailed studies are needed on this subject.展开更多
In patients undergoing pancreaticoduodenectomy(PD),unrecognized hemodynamically significant celiac axis(CA) stenosis impairs hepatic arterial flow by suppressing the collateral pathways supplying arterial flow from th...In patients undergoing pancreaticoduodenectomy(PD),unrecognized hemodynamically significant celiac axis(CA) stenosis impairs hepatic arterial flow by suppressing the collateral pathways supplying arterial flow from the superior mesenteric artery and leads to serious hepatobiliary complications due to liver and biliary ischemia, with a high rate of mortality. CA stenosis is usually due to an extrinsic compression by a previously asymptomatic median arcuate ligament(MAL). MAL is diagnosed by computerized tomography in about 10% of the candidates for PD, but only half are found to be hemodynamically significant during the gastroduodenal artery clamping test with Doppler assessment, which is mandatory before any resection. MAL release is usually efficient to restore an adequate liver blood inflow and prevent ischemic complications. In cases of failure in MAL release, postponed PD with secondary stenting of the CA and reoperation for PD should be considered as an alternative to immediate hepatic artery re-construction, which involves the risk of postoperative thrombosis of the arterial reconstruction. We recently used this two-stage strategy in a patient undergoing surgery for pancreatic adenocarcinoma.展开更多
A commercial Navier-Stokes flow solver has been employed for simulating steady subsonic flow characteristics and analyzing the comparative features of flow fields between straight and bowed blades applied to the stato...A commercial Navier-Stokes flow solver has been employed for simulating steady subsonic flow characteristics and analyzing the comparative features of flow fields between straight and bowed blades applied to the stator of a high pressure steam turbine. For comparison, we have studied the effects of bowed blades on the wakes of stator trailing edge and horse shoe vortex in the rotor. It was found that the position of wakes for bowed blades is shifted toward the blade suction side. Also, we have discussed and compared the entropy generation and energy loss caused by dissipation mechanism within the boundary layers on the hub and shroud; and temperature gradient in meridional plane.展开更多
A new style of hydraulic steel gate based on the principle of bionics is proposed in this paper. It has a fish-like shape and consists of right arches, invert arches, connection components and a face plate. It would b...A new style of hydraulic steel gate based on the principle of bionics is proposed in this paper. It has a fish-like shape and consists of right arches, invert arches, connection components and a face plate. It would be first applied in the project of Caoe River Sluice, used as both tidal barrage and flood gate. Compared with conventional hydraulic steel gate of beam grids, this new style of hydraulic steel gate can save up to 30%-50% of steel consumption. The dynamic behavior of the new gate under the impact load of tidal bore is investigated. The impact load of tidal bore is considered by a load spectrum obtained by field observation over a long period of time. Then a numerical analysis of the gate under the load spectrum is carried out by finite element method. The fluid-structure interaction is considered in the analysis. And a comparison between the response of the gate under the impact load and the response of the gate under the corresponding static load is conducted and indicates that the gate has a dynamic magnification factor of 1.2.展开更多
Objective: To report two recent cases of pituitary adenoma associated with Toxoplasma gondii (T.Gondii) infection.Methods: Histological changes were observed in H & E and PAS staining sections microscopically.Immu...Objective: To report two recent cases of pituitary adenoma associated with Toxoplasma gondii (T.Gondii) infection.Methods: Histological changes were observed in H & E and PAS staining sections microscopically.Immunohistochemistry was performed to classify the pituitary tumors and to confirm the diagnosis of T.gondii.Results: The cases were 43- and 19-year-old females, in which the latter one was a recurring case, and radiology examination showed that tumors existed in sellar region.Microscopically, the tumors consisted of small homogenous polygonal or round cells with abundant eosinophilic granular cytoplasm.Immunohistochemistry revealed they were prolactin-producing adenomas.Interestingly, we found toxoplasma infection in the tumor tissues, being confirmed by T.gondii sepicific antibody immunohistochemistry.Conclusion: The association of pituitary adenoma with toxoplasma raises the possibility that T.gondii may be involved in the development of certain cases of pituitary adenoma.展开更多
Toxoplasmosis is an important cause of reproductive failure in man and farm animals resulting in significant socio-economic losses worldwide. The aim of this study was to avail large scale data-regarding the sero-prev...Toxoplasmosis is an important cause of reproductive failure in man and farm animals resulting in significant socio-economic losses worldwide. The aim of this study was to avail large scale data-regarding the sero-prevalence of T. gondii infection in dairy animals from the Khartoum State, Sudan using the commercially available Latex Agglutination Diagnostic kits. The study revealed that the overall seroprevalence of T. gondii infection at herd level of dairy animals in the State was 92.7%. The within herd seroprevalence was ranging from 8% up to 100% with mean of 51.3% in different herds of different dairy animals species in the State. Only 6 herds, 3 herds, 3 herds and 1 herd of cattle, camel sheep and goat respectively were found to be clean from anti-T, gondii antibody in the present study. Interestingly, most of the clean herds (12 herds) are located in the Khartoum district. The differences between the three districts, the seven localities and the four animal species were statistically highly significant (P 〈 0.01). The overall sero-prevalence of T. gondii infection in dairy animals--at individual level--was 45.3%. Sheep scored the highest seroprevalence rate (75.0%) followed by goats (64.0%), camels (54.1%) and cattle (40.9%) with high statistically significant differences (P 〈 0.01). The highest level of antibody titration was reported in sheep and goats. This is the first area-wide and large scale report on seroprevalence of T. gondii infection in dairy animals from the Sudan. It was concluded that dairy animals in the Sudan are widely exposed to T. gondii and people in the Sudan should be aware of the possibility of hyper-prevalence of human toxoplasmosis through these food animals. Research on clinical toxoplasmosis in dairy animals and human in the Sudan is recommended to evaluate the role T. gondii infection in economical losses in dairy farm industry and for building strategy of sustainable toxoplasmosis control.展开更多
A serological survey of Toxoplasma gondii was conducted using LAT (Latex Agglutination Test) on 205 sera collected from working horses and donkeys in Khartoum State, Sudan. The overall sero-prevalence of the investi...A serological survey of Toxoplasma gondii was conducted using LAT (Latex Agglutination Test) on 205 sera collected from working horses and donkeys in Khartoum State, Sudan. The overall sero-prevalence of the investigated equines was 32.7%. Antibodies to T. gondii were found in 38% of 100 horses and 27.6% of 105 donkeys. The titers were 1:2 (4 heads), 1:4 (11 heads), 1:8 (13 heads), 1:16 (17 heads), 1:32 (5 heads), 1:64 (10 donkeys) and 1:128 (7 donkeys). Neither the area nor animal species showed significant differences between the investigated groups. However, age was reported to show significant (P 〈 0.05) effect on equine toxoplasmosis in the Sudan. This is the first report on equine toxoplasmosis in the Sudan.展开更多
Several researchers have investigated the association of numerous opportunistic pathogens with HIV, little is documented on its association with T. gondii in our environment. We investigated the prevalence of T. gondi...Several researchers have investigated the association of numerous opportunistic pathogens with HIV, little is documented on its association with T. gondii in our environment. We investigated the prevalence of T. gondii immunoglobulins G and M (IgG and IgM) in HIV positive individuals in relation to their cluster of differentiation 4 (CD4) cells count. IgG, IgM and CD4 were assayed using enzyme immunoassay (EIA) and flowcytometry respectively. 341 HIV positive individuals were studied in the present research, 30 (8.7%) of them had T. gondii IgG and IgM, 297 subjects had CD4 cells count a range of 200-400 cells/μL, 27 (9.7%) and 2 (0.6%) of which had T. gondii IgG and IgM respectively. Of the 44 HIV positive subjects with CD4 〉 400 cells/μL, one (2.2%) was positive for T. gondii IgG. In the control group, all the 177 had CD4 〉 400 cells/μL of which, one (0.5%) had T. gondii IgG. The prevalence of T. gondii infection was significantly higher in HIV positive individuals than in controls (P 〈 0.05). Male subjects in the age bracket 18-30 years had significantly higher prevalence when compared to other groups (P 〈 0.05). Although the present findings revealed a low prevalence of T. gondii antibodies in HIV infection, this suggests that a differential toxoplasmosis diagnosis is also necessary in cases of encephalitis in HIV infection.展开更多
The Jiaochang arcuate structure is one of the numerous arcuate structural belts in Sichuan. The present paper gives a further argument about the characteristics of that arcuate structure and the new activity of the So...The Jiaochang arcuate structure is one of the numerous arcuate structural belts in Sichuan. The present paper gives a further argument about the characteristics of that arcuate structure and the new activity of the Songpinggou fault and affirms that the Songpinggou fault is an active fault in the Holocene epoch. The Diexi M 7.5 earthquake took place in 1933 on the west wing of that arcuate structure, near the apex of the arc. Many authors have given quite different opinions about the genetic structure of that earthquake. The authors have made on the spot investigations time and again over recent years. Besides this, the authors have also further studied the shape of intensity contour lines, the distribution characteristics of ground surface seismic hazards, the left lateral dislocation of buildings along the Songpinggou fault, the NW trending ground fissures that developed on the ground surface after earthquake, and so on. On this basis, it is still considered that the seismogenic fault of the 1933 Diexi M 7.5 earthquake was the Songpinggou fault on the west wing of the Jiaochang arcuate structure.展开更多
The active and quiet phenomenon of moderate strong earthquakes one year before the earthquakes with M S≥7.0, the spatial distribution characteristics of the solid tide modulating and triggering earthquakes and the st...The active and quiet phenomenon of moderate strong earthquakes one year before the earthquakes with M S≥7.0, the spatial distribution characteristics of the solid tide modulating and triggering earthquakes and the strong earthquake mechanisms on the Chinese continent have been studied. The secondary arcuate tectonic zone composed of the west Kunlun-Anyêmaqên faults is believed to be a very important boundary to characterize strong earthquake activity of M S≥7.0 on the Chinese continent, that is, a boundary between the seismically active region and the quiet region of moderately strong earthquakes one year before earthquakes with M S≥7.0, and a boundary of the spatial distributions between the solid tide modulating strong earthquakes (M S≥7.0) and the non-modulating ones. It might be related with the characteristics of spatial distribution of focal mechanism solutions of strong earthquakes on the Chinese Continent.展开更多
A novel haptic device which is characterized by large workspace, high rigidity, simple kinematics and easy construction is presented. This device is a parallel mechanism which is composed of a base plate, three sub-ch...A novel haptic device which is characterized by large workspace, high rigidity, simple kinematics and easy construction is presented. This device is a parallel mechanism which is composed of a base plate, three sub-chains, and a mobile plate. Each sub-chain is attached to the base plate through a pin joint and to the top plate through a spherical joint. The sub-chain is derived from and kinematically equivalent to a pantograph linkage but is redesigned to solve the difficult problem of motor-fitting. The spherical joint is of the ball-in-socket type, but has much larger workspace than its regular counterpart. The kinematics is analyzed, and the inverse kinematics analysis is performed with a geometric approach. The complete workspace is readily obtained with the spherical coordinate system searching method. The optimal value of the cone angle of the spherical joint is shown to be 100°.展开更多
基金Supported by China Ministry of Human Affairs and Department of Science and Technology of Shandong Province, No. 031050115
文摘AIM: To analyze the biological role of the surface antigen of Toxoplasma gondii(Tgondii) in development of vaccine. METHODS: The surface antigen of Tgondii (SAG1) was expressed in vitro. The immune response of the host to the antigen was investigated by detection of specific antibody reaction to SAG1 and production of cytokines. Mice were immunized with recombinant SAG1 and challenged with lethal strain of Tgondii RH. The monoclonal antibody to r-SAG1 was prepared and used to study the effects of SAG1 on Tgondii tachyzoites under electromicroscope. RESULTS: The mice immunized with recombinant SAG1 delayed death for 60 h compared to the control group. The recombinant SAG1 induced specific high titer of IgG and IgM antibodies as well as IFN-y, IL-2 and IL-4 cytokines in mice. In contrast, IL-12, IL-6 and TNF-α were undetectable. When T gondii tachyzoites were treated with the monoclonal antibody to r-SAG1, the parasites were gathered together, destroyed, deformed, swollen, and holes and gaps formed on the surface. CONCLUSION: SAG1 may be an excellent vaccine candidate against T gondii. The immune protection induced by SAG1 against Tgondii may be regulated by both hormone- and cell-mediated immune response.
文摘AIM:It is known that toxoplasmosis rarely leads to various liver pathologies,most common of which is granulomatose hepatitis in patients having normal immune systems.Patients who have cirrhosis of the liver are subject to a variety of cellular as well as humoral immunity disorders.Therefore,it may be considered that toxoplasmosis can cause more frequent and more severe diseases in patients with cirrhosis and is capable of changing the course of the disease.The aim of this study was to investigate the frequency of toxoplasmosis in patients with cirrhosis. METHODS:Serum samples were taken from 108 patients with cirrhosis under observation in the Hepatology Polyclinic of the Gastroenterology Clinic,and a control group made up of 50 healthy blood donors.IFAT and ELISA methods were used to investigate the IgG and IgM antibodies,which had developed from these sera. RESULTS:Toxoplasma IgG and IgN antibody positivity was found in 74 (68.5%) of the 108 cirrhotic patients and 24 (48%) of the 50 people in the control group.The difference between them was significant (P<0.05). CONCLUSION:In conclusion,it was found that the toxopiasma sero-prevalence in the cirrhotic patients in this study was higher.Cirrhotic patients are likely to form a toxoplasma risk group.More detailed studies are needed on this subject.
文摘In patients undergoing pancreaticoduodenectomy(PD),unrecognized hemodynamically significant celiac axis(CA) stenosis impairs hepatic arterial flow by suppressing the collateral pathways supplying arterial flow from the superior mesenteric artery and leads to serious hepatobiliary complications due to liver and biliary ischemia, with a high rate of mortality. CA stenosis is usually due to an extrinsic compression by a previously asymptomatic median arcuate ligament(MAL). MAL is diagnosed by computerized tomography in about 10% of the candidates for PD, but only half are found to be hemodynamically significant during the gastroduodenal artery clamping test with Doppler assessment, which is mandatory before any resection. MAL release is usually efficient to restore an adequate liver blood inflow and prevent ischemic complications. In cases of failure in MAL release, postponed PD with secondary stenting of the CA and reoperation for PD should be considered as an alternative to immediate hepatic artery re-construction, which involves the risk of postoperative thrombosis of the arterial reconstruction. We recently used this two-stage strategy in a patient undergoing surgery for pancreatic adenocarcinoma.
文摘A commercial Navier-Stokes flow solver has been employed for simulating steady subsonic flow characteristics and analyzing the comparative features of flow fields between straight and bowed blades applied to the stator of a high pressure steam turbine. For comparison, we have studied the effects of bowed blades on the wakes of stator trailing edge and horse shoe vortex in the rotor. It was found that the position of wakes for bowed blades is shifted toward the blade suction side. Also, we have discussed and compared the entropy generation and energy loss caused by dissipation mechanism within the boundary layers on the hub and shroud; and temperature gradient in meridional plane.
文摘A new style of hydraulic steel gate based on the principle of bionics is proposed in this paper. It has a fish-like shape and consists of right arches, invert arches, connection components and a face plate. It would be first applied in the project of Caoe River Sluice, used as both tidal barrage and flood gate. Compared with conventional hydraulic steel gate of beam grids, this new style of hydraulic steel gate can save up to 30%-50% of steel consumption. The dynamic behavior of the new gate under the impact load of tidal bore is investigated. The impact load of tidal bore is considered by a load spectrum obtained by field observation over a long period of time. Then a numerical analysis of the gate under the load spectrum is carried out by finite element method. The fluid-structure interaction is considered in the analysis. And a comparison between the response of the gate under the impact load and the response of the gate under the corresponding static load is conducted and indicates that the gate has a dynamic magnification factor of 1.2.
文摘Objective: To report two recent cases of pituitary adenoma associated with Toxoplasma gondii (T.Gondii) infection.Methods: Histological changes were observed in H & E and PAS staining sections microscopically.Immunohistochemistry was performed to classify the pituitary tumors and to confirm the diagnosis of T.gondii.Results: The cases were 43- and 19-year-old females, in which the latter one was a recurring case, and radiology examination showed that tumors existed in sellar region.Microscopically, the tumors consisted of small homogenous polygonal or round cells with abundant eosinophilic granular cytoplasm.Immunohistochemistry revealed they were prolactin-producing adenomas.Interestingly, we found toxoplasma infection in the tumor tissues, being confirmed by T.gondii sepicific antibody immunohistochemistry.Conclusion: The association of pituitary adenoma with toxoplasma raises the possibility that T.gondii may be involved in the development of certain cases of pituitary adenoma.
文摘Toxoplasmosis is an important cause of reproductive failure in man and farm animals resulting in significant socio-economic losses worldwide. The aim of this study was to avail large scale data-regarding the sero-prevalence of T. gondii infection in dairy animals from the Khartoum State, Sudan using the commercially available Latex Agglutination Diagnostic kits. The study revealed that the overall seroprevalence of T. gondii infection at herd level of dairy animals in the State was 92.7%. The within herd seroprevalence was ranging from 8% up to 100% with mean of 51.3% in different herds of different dairy animals species in the State. Only 6 herds, 3 herds, 3 herds and 1 herd of cattle, camel sheep and goat respectively were found to be clean from anti-T, gondii antibody in the present study. Interestingly, most of the clean herds (12 herds) are located in the Khartoum district. The differences between the three districts, the seven localities and the four animal species were statistically highly significant (P 〈 0.01). The overall sero-prevalence of T. gondii infection in dairy animals--at individual level--was 45.3%. Sheep scored the highest seroprevalence rate (75.0%) followed by goats (64.0%), camels (54.1%) and cattle (40.9%) with high statistically significant differences (P 〈 0.01). The highest level of antibody titration was reported in sheep and goats. This is the first area-wide and large scale report on seroprevalence of T. gondii infection in dairy animals from the Sudan. It was concluded that dairy animals in the Sudan are widely exposed to T. gondii and people in the Sudan should be aware of the possibility of hyper-prevalence of human toxoplasmosis through these food animals. Research on clinical toxoplasmosis in dairy animals and human in the Sudan is recommended to evaluate the role T. gondii infection in economical losses in dairy farm industry and for building strategy of sustainable toxoplasmosis control.
文摘A serological survey of Toxoplasma gondii was conducted using LAT (Latex Agglutination Test) on 205 sera collected from working horses and donkeys in Khartoum State, Sudan. The overall sero-prevalence of the investigated equines was 32.7%. Antibodies to T. gondii were found in 38% of 100 horses and 27.6% of 105 donkeys. The titers were 1:2 (4 heads), 1:4 (11 heads), 1:8 (13 heads), 1:16 (17 heads), 1:32 (5 heads), 1:64 (10 donkeys) and 1:128 (7 donkeys). Neither the area nor animal species showed significant differences between the investigated groups. However, age was reported to show significant (P 〈 0.05) effect on equine toxoplasmosis in the Sudan. This is the first report on equine toxoplasmosis in the Sudan.
文摘Several researchers have investigated the association of numerous opportunistic pathogens with HIV, little is documented on its association with T. gondii in our environment. We investigated the prevalence of T. gondii immunoglobulins G and M (IgG and IgM) in HIV positive individuals in relation to their cluster of differentiation 4 (CD4) cells count. IgG, IgM and CD4 were assayed using enzyme immunoassay (EIA) and flowcytometry respectively. 341 HIV positive individuals were studied in the present research, 30 (8.7%) of them had T. gondii IgG and IgM, 297 subjects had CD4 cells count a range of 200-400 cells/μL, 27 (9.7%) and 2 (0.6%) of which had T. gondii IgG and IgM respectively. Of the 44 HIV positive subjects with CD4 〉 400 cells/μL, one (2.2%) was positive for T. gondii IgG. In the control group, all the 177 had CD4 〉 400 cells/μL of which, one (0.5%) had T. gondii IgG. The prevalence of T. gondii infection was significantly higher in HIV positive individuals than in controls (P 〈 0.05). Male subjects in the age bracket 18-30 years had significantly higher prevalence when compared to other groups (P 〈 0.05). Although the present findings revealed a low prevalence of T. gondii antibodies in HIV infection, this suggests that a differential toxoplasmosis diagnosis is also necessary in cases of encephalitis in HIV infection.
文摘The Jiaochang arcuate structure is one of the numerous arcuate structural belts in Sichuan. The present paper gives a further argument about the characteristics of that arcuate structure and the new activity of the Songpinggou fault and affirms that the Songpinggou fault is an active fault in the Holocene epoch. The Diexi M 7.5 earthquake took place in 1933 on the west wing of that arcuate structure, near the apex of the arc. Many authors have given quite different opinions about the genetic structure of that earthquake. The authors have made on the spot investigations time and again over recent years. Besides this, the authors have also further studied the shape of intensity contour lines, the distribution characteristics of ground surface seismic hazards, the left lateral dislocation of buildings along the Songpinggou fault, the NW trending ground fissures that developed on the ground surface after earthquake, and so on. On this basis, it is still considered that the seismogenic fault of the 1933 Diexi M 7.5 earthquake was the Songpinggou fault on the west wing of the Jiaochang arcuate structure.
文摘The active and quiet phenomenon of moderate strong earthquakes one year before the earthquakes with M S≥7.0, the spatial distribution characteristics of the solid tide modulating and triggering earthquakes and the strong earthquake mechanisms on the Chinese continent have been studied. The secondary arcuate tectonic zone composed of the west Kunlun-Anyêmaqên faults is believed to be a very important boundary to characterize strong earthquake activity of M S≥7.0 on the Chinese continent, that is, a boundary between the seismically active region and the quiet region of moderately strong earthquakes one year before earthquakes with M S≥7.0, and a boundary of the spatial distributions between the solid tide modulating strong earthquakes (M S≥7.0) and the non-modulating ones. It might be related with the characteristics of spatial distribution of focal mechanism solutions of strong earthquakes on the Chinese Continent.
基金the High Technology Research and Development Programme of China(No.2002AA420100)
文摘A novel haptic device which is characterized by large workspace, high rigidity, simple kinematics and easy construction is presented. This device is a parallel mechanism which is composed of a base plate, three sub-chains, and a mobile plate. Each sub-chain is attached to the base plate through a pin joint and to the top plate through a spherical joint. The sub-chain is derived from and kinematically equivalent to a pantograph linkage but is redesigned to solve the difficult problem of motor-fitting. The spherical joint is of the ball-in-socket type, but has much larger workspace than its regular counterpart. The kinematics is analyzed, and the inverse kinematics analysis is performed with a geometric approach. The complete workspace is readily obtained with the spherical coordinate system searching method. The optimal value of the cone angle of the spherical joint is shown to be 100°.