基于可变关节数的模块化两栖仿生机器人转弯控制

概述了一种具有模块化结构的两栖仿生机器人设计,结合其关节数可变和主从轮式驱动的特点,给出了任意关节数偏转转弯的地面转弯控制方法,并推导了其最小转弯半径.针对多关节两栖机器人的转弯推进方式,利用ADAMS下的运动学模型进行了仿真验证,给出了相应的仿真结果.同时,平衡性分析进一步表明了关节转弯推进方式在当前两栖机器人样机上的适用性.实验结果表明了该转弯方法的有效性,它能够满足机器人的地面运动需求.

关节活动度匹配联合协同家属干预改善类风湿关节炎患者睡眠质量的分析研究

目的:分析关节活动度匹配联合协同家属干预改善类风湿关节炎患者睡眠质量的影响。方法:选取2022年3月至2023年12月厦门大学附属第一医院风湿免疫科收治的类风湿关节炎患者92例作为研究对象,按照随机数字表法分为对照组和观察组,每组46例。对照组给予常规护理干预,观察组开展关节活动度匹配联合协同家属干预。采用匹兹堡睡眠质量指数(PSQI)比较2组患者干预前后睡眠质量的变化,比较2组患者夜间醒来次数、晨僵时间、关节压痛数、关节肿胀数指标的差异。结果:干预后,观察组PSQI评分显著低于对照组,夜间醒来次数显著低于对照组,观察组晨僵时间、关节压痛数、关节肿胀数显著低于对照组,差异均有统计学意义(均P<0.05)。结论:在对RA患者干预时开展关节活动度匹配联合协同家属干预,可以促进患者的康复进程,提升患者的睡眠质量及自护能力,降低患者夜间醒来次数,值得临床推广应用。

软件实现DAS28——评价类风湿关节炎疗效及病情的方法

评价类风湿关节炎疗效及病情的方法中,DAS28评分系统是一个非常重要、而且较实用的工具。但DAS28评分数据需要收集包括肿胀关节数、疼痛关节数等在内的各种数据,并进行复杂的计算,这给评分数据带来不便,且数据无法保存。为此,根据医院风湿骨病科的要求,专门设计了DAS28评分软件系统,以保存患者的相关信息,并可进行多次评分,方便医生进行相关治疗后的再次疗效评估,获得科室肯定。

小剂量来氟米特治疗类风湿关节炎的长期疗效评估

目的研究小剂量来氟米特对类风湿关节炎的长期治疗效果。方法80例类风湿关节炎患者在自愿前提下参与此次研究,均在2017年1月-2018年1月期间经本院风湿免疫科确诊为类风湿关节炎。本研究以先对比、后分析的形式展开,以分组(对照组、观察组)、不同治疗措施(对照组以柳氮磺吡啶肠溶片进行治疗,观察组患者以小剂量来氟米特片进行治疗)的实施来达到对比的目的,以统计患者观察指标[治疗前后的压痛关节数、肿胀关节数、ROS(关节活动度)、VAS(视觉模拟疼痛度)评分、满意度]的实施来达到分析治疗措施效果的目的。结果组间压痛关节数、肿胀关节数治疗前差异无统计学意义(P>0.05),治疗后均减少且观察组减少程度更大(P<0.05);治疗前,观察组患者ROS、VAS评分分别为(47.98±19.13)分、(6.68±1.57)分,与对照组患者差异无统计学意义(P>0.05),治疗后,观察组患者ROS、VAS评分分别为(112.06±23.54)分、(1.04±0.54)分,较对照组患者明显更佳(P<0.05);对照组29例患者对护理的评价为满意、较满意,11例不满意,总满意度为72.5%,观察组37例患者对护理的评价为满意、较满意,3例不满意,总满意度为92.5%,组间差异具有统计学意义(P<0.05)。结论对于类风湿关节炎患者的药物治疗工作来说,小剂量来氟米特的应用价值更高,疗效理想。

类风湿关节炎合并周围神经病变的临床分析

目的探讨类风湿关节炎合并周围神经病变患者的临床特点,为临床治疗提供依据。方法选取菏泽市立医院2017年3月至2020年3月收治的35例类风湿关节炎合并周围神经病变的患者为观察组,选取同期的35例无合并周围神经病变的单纯类风湿关节炎患者为对照组,分析对比两组患者的临床症状及相关指标。结果合并周围神经病变的患者肿胀关节数、关节疼痛评分、关节畸形数均高于对照组,但是在关节畸形时间方面,两组患者差异无统计学意义(P>0.05)。另外合并周围神经病变患者其类风湿因子(RF)及抗环瓜氨酸肽(CCP)抗体的数值均高于对照组,差异有统计学意义(P<0.05),但是两组患者的C反应蛋白(CRP)、血沉(ESR)比较,差异无统计学意义(P>0.05)。结论对于肿胀关节数多、病变活动度高、RF及CCP数值高的患者而言,应及早进行电生理检查,明确诊断后,需要及早治疗,尽可能地降低疾病活动度,改善临床症状,进而改善预后。

雷公藤多苷片治疗类风湿关节炎的疗效及不良反应观察

目的观察雷公藤多苷片治疗类风湿关节炎的临床疗效及药物不良反应发生情况。方法选取医院收治的类风湿性关节炎患者116例,随机分为观察组和对照组,每组58例。对照组采用历节胶囊治疗,观察组采用历节胶囊联合雷公藤多苷片治疗。观察2组治疗总有效率,治疗前后关节疼痛个数、关节功能分级及药物不良反应发生情况。结果观察组治疗总有效率为93.1%,高于对照组的77.6%(P<0.05)。治疗后,观察组关节压痛个数少于对照组,关节功能分级低于对照组(P<0.05)。2组不良反应发生率分别为5.2%、3.4%,组间比较差异无统计学意义(P>0.05)。结论雷公藤多苷片治疗类风湿关节炎能改善疗效,促进关节功能恢复,且不良反应少。

桂枝芍药知母汤加减治疗类风湿关节炎(RA)的临床疗效

目的:研讨桂枝芍药知母汤加减治疗类风湿关节炎(RA)的临床疗效。方法:选取2019年10月—2020年12月我中心收治的128例RA患者作为研究对象,遵从“完全双盲法”分为对照组(65例,常规西药)和观察组(63例,加用桂枝芍药知母汤加减治疗)。观察临床疗效。结果:观察组治疗总有效率(96.83%,61/63)高于对照组(84.62%,55/65),差异有统计学意义(P<0.05)。行桂枝芍药知母汤治疗的观察组,关节压痛数、肿胀数较少,晨僵时间较短,实验室指标水平较低(P<0.05)。结论:桂枝芍药知母汤加减治疗RA效果显著,可提高临床疗效并改善预后。

金骨莲胶囊联合右旋酮洛芬氨丁三醇治疗风湿痹阻型类风湿关节炎的临床研究

目的探讨金骨莲胶囊联合右旋酮洛芬氨丁三醇片治疗风湿痹阻型类风湿关节炎的疗效。方法选取2022年1月—2022年12月山西医科大学附属运城市中心医院收治的类风湿关节炎患者100例,根据治疗方案不同将患者分为对照组(50例)和治疗组(50例)。对照组患者口服右旋酮洛芬氨丁三醇片,12.5 mg/次,3次/d。治疗组在对照组基础上口服金骨莲胶囊,5粒/次,3次/d。两组患者均持续治疗4周。观察两组患者临床疗效,比较治疗前后两组患者中医证候积分、肿胀关节数、压痛关节数,及红细胞沉降率(ESR)、肿瘤坏死因子-α(TNF-α)和白细胞介素-6(IL-6)水平。结果治疗后,治疗组总有效率显著优于对照组(98.00%vs 86.00%,P<0.05)。治疗后,两组患者中医证候积分、肿胀关节数、压痛关节数及ESR、TNF-α、IL-6水平比治疗前显著降低(P<0.05),且治疗组明显低于对照组(P<0.05)。结论金骨莲胶囊联合右旋酮洛芬氨丁三醇片治疗风湿痹阻型类风湿关节炎疗效及安全性均较高,能有效降低患者炎性水平,减轻关节疼痛及改善中医证候。

通络除湿膏对类风湿关节炎寒湿痹阻证的中医护理研究

目的探讨通络除湿膏对类风湿关节炎寒湿痹阻证的中医护理方法与价值。方法选取2018年1月至2020年12月在本院风湿科收治的类风湿关节炎寒湿痹阻证患者120例为研究对象,根据随机信封抽签原则分为观察组与对照组各60例。对照组给予传统辨证施护,观察组在对照组的基础上给予通络除湿膏外用护理。结果观察组的总有效率为96.67%,显著高于对照组的83.33%(P<0.05)。观察组与对照组护理后的关节疼痛数与关节肿胀数显著低于护理前(P<0.05),且观察组也显著低于对照组(P<0.05)。结论通络除湿膏对类风湿关节炎寒湿痹阻证的中医护理能减少关节疼痛数与关节肿胀数,护理效果显著。

老年髋关节置换术应用不同麻醉方式的价值探析

目的探讨老年髋关节置换术应用不同麻醉方式的价值。方法回顾2016年1月—2017年2月84例老年髋关节置换术患者并分组。对照组用全麻方式,研究组用腰硬联合麻醉方式。比较两组老年髋关节置换术麻醉优良率;麻醉起效时间、麻醉后心率、血压变化;麻醉不良事件出现率。结果研究组老年髋关节置换术麻醉优良率高于对照组,P<0.05;研究组麻醉起效时间、麻醉后心率、血压变化优于对照组,P<0.05;研究组麻醉不良事件出现率低于对照组,P<0.05。结论老年髋关节置换术应用腰硬联合麻醉的价值高,可更快起效,稳定生命体征,减少并发症发生,安全和可行性高。

巴瑞替尼联合艾拉莫德治疗难治性类风湿关节炎的疗效

目的探讨巴瑞替尼联合艾拉莫德治疗难治性类风湿关节炎(RRA)的疗效和安全性。方法选取2021年8月至2022年12月在厦门大学附属东南医院收治的RRA患者15例,给予艾拉莫德(25 mg,bid)联合巴瑞替尼(4 mg,qd)治疗24周,观察治疗12周及24周后肿胀关节数(SJC)、压痛关节数(TJC)、超敏C反应蛋白(hs-CRP)、28个关节C反应蛋白的疾病活动评分(DAS28-CRP)的变化以及不良反应情况。结果15例RRA患者的病情都得到不同程度的缓解。与治疗前相比,治疗12周、治疗24周,TJC和SJC减少,hs-CRP水平和DAS28-CRP评分降低,差异有统计学意义(P<0.05)。经过24周的治疗,有3例达到病情缓解(DAS28-CRP≤2.6分),6例达到低活动度(2.6分<DAS28-CRP<3.2分),达标率为60.0%(9/15)。且所有患者都耐受性良好,未出现带状疱疹、血栓事件、肝肾功能损害等不良反应。结论巴瑞替尼联合艾拉莫德治疗RRA临床疗效显著,安全性良好。

Biomechanical research of knee joint during the process of running

To study the effect of speed on the biomechanics of a knee joint during running, a biomechanical model of human lower limb joints is established based on the Kane method and semi-physical simulation. Experiments on the running process were made at different speeds for healthy young men. The influence of running speed on knee Joint motion is analyzed quantitatively and a mathematical model of the knee angle is established with speed as the independent variable. Results show that, at the moment of the heel contacting with theground, with the increase of speed, the more, and the calf and thigh are closer to the same line. In the middle stage of a gait cycle, the thigh stretches back, and then the calf and thigh are close to collineation. At that moment, the stretch of the posterior cruciate ligament is the largest, and the slower the speed, the more obvious the collineation. The maximal joint angle of the calf relative to the thigh appears in the later stage, and themaximal joint angle increases with the increase of the velocity. With the increase of the running speed, the phase of the cure of knee angle moves forward. The results can be used in the field of rehabilitation robotics and humanoid robot.

The effects of total ankle replacement on ankle joint mechanics during walking

Background:End-stage ankle arthritis impairs joint function and patients' mobility.Total ankle replacement is a surgical procedure to treat severe ankle arthritis.Salto Talaris Anatomic Ankle^(TM)(STAA) was designed to mimic the normal ankle anatomy and flexion/extension of the ankle movement.The purpose of this study was to examine the effect of an STAA ankle replacement on ankle joint function and mechanics during gait.Methods:Five patients with end-stage unilateral ankle arthritis were recruited.Patients performed level walking in a laboratory setting on 2occasions,prior to and 3 months after the STAA ankle surgeries.American Orthopedic Foot and Ankle Society(AOFAS) hindfoot score was obtained.A 12-camera motion capture system was used to perform walking analysis.Gait temporo-spatial parameters and ankle joint mechanics were evaluated.Paired Student's t tests and non-parametric Wilcoxon matched tests were performed to examine the differences in biomechanical variables between the pre-and post-surgery walking conditions.Results:Compared to the pre-surgical condition,at 3 months of post-STAA surgery,patients experienced greater improvement in AOFAS hindfoot score(p = 0.0001);the STAA ankle demonstrated a 31% increase in ankle joint excursion(p = 0.045),a 22% increase in ankle plantarflexor moment(p = 0.075),a 60% increase in ankle power absorption(p = 0.023),and a 68% increase in ankle power production(p = 0.039).Patients also demonstrated a 26% increase in walking speed(p = 0.005),a 20% increase in stride length(p = 0.013),a 15% decrease in double support time(p = 0.043),and a 5% decrease in total stance time(p = 0.055).Conclusion:Three months after surgeries,the STAA patients experienced improvements in ankle function and gait parameters.The STAA ankle demonstrated improved ankle mechanics during daily activities such as walking.

Degradation of a discrete infilled joint shear strength subjected to repeated blast-induced vibrations

This paper presents the results of a series of numerical modeling experiments aimed at quantifying blast- induced degradation of shear strength of discontinuities. Near-field vibration history of a single-row pro- duction blast in a. limestone quarry was used as input to the nu .merical model. For this. purpose, two rock blocks, representing a stiff massive sulfide rock and a weaker limestone rock, were simulated using the 2D Particle Flow Code （PFC2D）. Rock mass conta!ning a single inclined joint was modeled as Mohr- Coulomb. The results show that the crack generation rate is increased in both samples after repetitive vibration loading. Joint shear strength degradation rate in !he stiffer massive sulfide rock sample is higher than the softer limestone rock, which is attributed to the higher seismic impedance mismatch. The results show that even low-amplitude blasting vibrations （〈80 mm/s）, when repeated as in multi-hole blasts, can significantly degrade joint shear strength in the nearby pit walls.

Hierarchical Detailed Description for Spatial Direction Relations

Direction relation is an important spatial relation. Descriptions and representations for direction relations have different levels of detail because of the varying dimensions of spatial objects and different scales of the embedding spaces. Based on a direction- relation matrix, the hierarchical frame of spatial direction relations which partitions direction relations orderly and thoroughly is built. Interior direction relations are used to perfect the representation of direction relations and the binary-encoding idea is creatively applied to construct an interior detailed matrix describing multiple interior direction relations by a uniform matrix. The model integrates topological information into the description model for direction relations, which will lay the foundations of spatial compositive reasoning.

Numerical investigation for anisotropy of compressive strength of rock mass with multiple natural joints

Based on Rock Failure Process Analysis model RFPA2D, the evolutionary proc- esses of failure process of rock mass with multiple natural joints were simulated. Numeri- cal simulations show that anisotropy of compressive strength of jointed rock mass varies with the number of natural joints and inclination of natural joints. As the number of natural joints in rock mass increases, the anisotropy becomes less and less. It is justifiable to treat approximately rock mass containing six or more natural joints instead of four or more joints that was described in literature of Hoek and Brown as isotropy.

Kinematic Study on Motoman HP6 Arc Welding Robot Based on Unigraphics

The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.

Prediction of blast boulders in open pit mines via multiple regression and artificial neural networks

The most important objective of blasting in open pit mines is rock fragmentation.Prediction of produced boulders(oversized crushed rocks) is a key parameter in designing blast patterns.In this study,the amount of boulder produced in blasting operations of Golegohar iron ore open pit mine,Iran was predicted via multiple regression method and artificial neural networks.Results of 33 blasts in the mine were collected for modeling.Input variables were:joints spacing,density and uniaxial compressive strength of the intact rock,burden,spacing,stemming,bench height to burden ratio,and specific charge.The dependent variable was ratio of boulder volume to pattern volume.Both techniques were successful in predicting the ratio.In this study,the multiple regression method was superior with coefficient of determination and root mean squared error values of 0.89 and 0.19,respectively.

The use of the greater trochanter marker in the thigh segment model:Implications for hip and knee frontal and transverse plane motion

Background:The greater trochanter marker is commonly used in 3-dimensional(3D) models;however,its influence on hip and knee kinematics during gait is unclear.Understanding the influence of the greater trochanter marker is important when quantifying frontal and transverse plane hip and knee kinematics,parameters which are particularly relevant to investigate in individuals with conditions such as patellofemoral pain,knee osteoarthritis,anterior cruciate ligament(ACL) injury,and hip pain.The aim of this study was to evaluate the effect of including the greater trochanter in the construction of the thigh segment on hip and knee kinematics during gait.Methods:3D kinematics were collected in 19 healthy subjects during walking using a surface marker system.Hip and knee angles were compared across two thigh segment definitions(with and without greater trochanter) at two time points during stance:peak knee flexion(PKF) and minimum knee flexion(Min KF).Results:Hip and knee angles differed in magnitude and direction in the transverse plane at both time points.In the thigh model with the greater trochanter the hip was more externally rotated than in the thigh model without the greater trochanter(PKF:-9.34°± 5.21° vs.1.40°± 5.22°,Min KF:-5.68°± 4.24° vs.5.01°± 4.86°;p < 0.001).In the thigh model with the greater trochanter,the knee angle was more internally rotated compared to the knee angle calculated using the thigh definition without the greater trochanter(PKF:14.67°± 6.78° vs.4.33°± 4.18°,Min KF:10.54°± 6.71° vs.-0.01°± 2.69°;p < 0.001).Small but significant differences were detected in the sagittal and frontal plane angles at both time points(p < 0.001).Conclusion:Hip and knee kinematics differed across different segment definitions including or excluding the greater trochanter marker,especially in the transverse plane.Therefore when considering whether to include the greater trochanter in the thigh segment model when using a surface markers to calculate 3D kinematics for movement assessment,it is important to have a clear understanding of the effect of different marker sets and segment models in use.

甲氨蝶呤治疗类风湿关节炎对心功能的影响

将甲氨蝶呤药物治疗运用到类风湿关节炎患者中,探究其对患者心功能的影响。方法 本次研究遴选64例患者,所患病症均为类风湿关节炎,选取的时间范围定为2019.12月~2022.10月,1:1随机抽签法为本次分组的原则,将64例患者均分为两组进行比较分析,每组纳入32例。给对照组患者行双氯芬酸纳胶囊治疗,给观察组患者行甲氨蝶呤治疗,治疗观察周期拟定为4周,以治疗效果、心功能变化情况作为需要对比的指标。结果 治疗4周以后,分析两组总有效率,观察组96.9%大于对照组78.1%(P<0.05)。治疗4周以后,分析心功能变化,两组LVESD、LVEDD指标数值均较治疗前低,且观察组相对更低(P<0.05)。治疗4周以后,血清白细胞介素-1β、白细胞介素-6含量变化对比发现,两组均低于治疗前,且观察组更低(P<0.05)。治疗4周以后,分析关节疼痛数与关节肿胀数,两组数值均低于治疗前,且观察组更低(P<0.05)。结论 将甲氨蝶呤药物治疗运用到类风湿关节炎患者中,可使关节疼痛数与关节肿胀数降低,还可改善患者的心功能,抑制血清白细胞介素-1β、白细胞介素-6的表达。