Bloodletting Puncture at Hand Twelve Jing-Well Points Relieves Brain Edema after Severe Traumatic Brain Injury in Rats via Inhibiting MAPK Signaling Pathway

Objective:To investigate whether blood-brain barrier(BBB)served a key role in the edema-relief effect of bloodletting puncture at hand twelve Jing-well points(HTWP)in traumatic brain injury(TBI)and the potential molecular signaling pathways.Methods:Adult male Sprague-Dawley rats were assigned to the shamoperated(sham),TBI,and bloodletting puncture(bloodletting)groups(n=24 per group)using a randomized number table.The TBI model rats were induced by cortical contusion and then bloodletting puncture were performed at HTWP twice a day for 2 days.The neurological function and cerebral edema were evaluated by modified neurological severity score(mNSS),cerebral water content,magnetic resonance imaging and hematoxylin and eosin staining.Cerebral blood flow was measured by laser speckles.The protein levels of aquaporin 4(AQP4),matrix metalloproteinases 9(MMP9)and mitogen-activated protein kinase pathway(MAPK)signaling were detected by immunofluorescence staining and Western blot.Results:Compared with TBI group,bloodletting puncture improved neurological function at 24 and 48 h,alleviated cerebral edema at 48 h,and reduced the permeability of BBB induced by TBI(all P<0.05).The AQP4 and MMP9 which would disrupt the integrity of BBB were downregulated by bloodletting puncture(P<0.05 or P<0.01).In addition,the extracellular signal-regulated kinase(ERK)and p38 signaling pathways were inhibited by bloodletting puncture(P<0.05).Conclusions:Bloodletting puncture at HTWP might play a significant role in protecting BBB through regulating the expressions of MMP9 and AQP4 as well as corresponding regulatory upstream ERK and p38 signaling pathways.Therefore,bloodletting puncture at HTWP may be a promising therapeutic strategy for TBI-induced cerebral edema.

Blood-letting punctures at twelve Jing-Well points of the hand can treat cerebral ischemia in a similar manner to mannitol

A rat model of middle cerebral artery permanent occlusion was established using the modified Longa method. Successfully established model animals were treated by blood-letting puncture at twelve Jing-Well points of the hand, and/or by injecting mannitol into the caudal vein twice daily. Brain tissue was collected at 24, 48 and 72 hours after modeling, and blood was collected through the retinal vein before Evans blue was injected, approximately 1 hour prior to harvesting of brain tissue. Results showed that Evans blue leakage into brain tissue and serum nitric oxide synthase activity were significantly increased in model rats. Treatment with blood-letting punctures at twelve Jing-Well points of the hand and/or injection of mannitol into the caudal vein reduced the amount of Evans blue leakage into the brain tissue and serum nitric oxide synthase activity to varying degrees. There was no significant difference between single treatment and combined treatment. Experimental findings indicate that blood-letting punctures at twelve Jing-Well points of the hand can decrease blood-brain barrier permeability and serum nitric oxide synthase activity in rats following middle cerebral artery occlusion, and its effect is similar to that of mannitol injection alone and Jing-Well points plus mannitol injection.

Wake-Promoting Effect of Bloodletting Puncture at Hand Twelve Jing-Well Points in Acute Stroke Patients:A Multi-center Randomized Controlled Trial

Objective To assess the effect and safety of bloodletting puncture at hand twelve Jing-Well points(HTWPs)in acute stroke patients with conscious disturbance.Methods In this multi-center and randomized controlled trial,360 patients suffered from ischemic or hemorrhagic stroke with conscious disturbance within 48 h from the onset of symptom were divided into bloodletting(180 cases)and control(180 cases)groups using a block randomization.Patients in both groups received routine Western medicine,and patients in the bloodletting group received additional bloodletting puncture at HTWPs on admission immediately before conventional treatment.The primary outcome measure was Glasgow Coma Scale(GCS)score and the secondary outcomes included blood pressure,respiratory rate and pulse rate.All variables were evaluated at baseline(before bloodletting),0(after bloodletting immediately),15,30,50 and 80 min post bloodletting.Results At 80 min post bloodletting,the proportion of patients with improved consciousness in the bloodletting group was greater than the control group(P<0.05).In the separate analysis of moderate consciousness disturbance subgroup,bloodletting therapy benefited ischemic patients,and improved the eye and language response of GCS score at 15,30,50,80 min post bloodletting(P<0.05 or P<0.01).No significant differences were observed regarding the secondary outcomes between two groups(P>0.05).Conclusion The bloodletting puncture at HTWPs was safe and could improve conscious levels of ischemic stroke patients,highlighting a first-aid intervention for acute stroke.

Principle and operation of Jing-well point temperatures' test

Principle and operation of Jing-well point temperatures' test is a method to diagnose and treat diseases by measuring and comparing the symmetrical Jing-well point temperature of human body 12 meridians.It is an important supplement to traditional Chinese medicine four diagnoses. The theoretical basis are that the Jing-well is closely related to Meridians and Viscera, the basic traditional Chinese medicine principle of 'governing exterior to infer interior' and the balancing phenomenon of Meridians. In this paper, the operation steps and treatment measures of Jing-well point temperatures' test are put forward, and 2 successful cases are given. At the end of this paper, the prospect of this method is discussed.

Interpretation of data and treatment of Jing-well point temperatures test

The Jing-well point temperatures test method is a method to diagnose and guide the treatment of diseases by measuring the subjects' symmetrical well point temperature. it is improved from the method of knowing heat sensitivity. The application of Jing-well point temperatures test method is wide, and it can be used in internal and external gynecology and pediatrics and facial features department. at the same time, it has the advantage of objective and accurate diagnosis. The old law has some shortcomings, such as poor intuition, unavoidable omission of information, incomplete interpretation of information and so on. In this paper, Excel software is used to transform the data into line chart form, which improves the intuition and comprehensiveness of this method, so that the data can be better interpreted and used. It is newly proposed in this article that in addition to observing the longitudinal di fference of well point temperature, more attention should be paid to the horizontal contrast difference of well point temperature in different meridians. The article also summarizes a number of treatment methods, including acupuncture, moxa moxibustion, cupping and scraping, and the selection of acupoints, including mother acupoints, tenderness points and heat-sensitive moxibustion, so that doctors can combine traditional Chinese medicine professional knowledge in clinic.

Bloodletting Acupuncture at Jing-Well Points on Hand Induced Autophagy to Alleviate Brain Injury in Acute Altitude Hypoxic Rats by Activating PINK1/Parkin Pathway

Objective: To explore the protective effect of bloodletting acupuncture at twelve Jing-well points on hand(BAJP) on acute hypobaric hypoxia(AHH)-induced brain injury in rats and its possible mechanisms.Methods: Seventy-five Sprague Dawley rats were divided into 5 groups by a random number table(n=15),including control, model, BAJP, BAJP+3-methyladenine(3-MA), and bloodletting acupuncture at non-acupoint(BANA, tail tip blooding) groups. After 7-day pre-treatment, AHH models were established using hypobaric oxygen chambers. The levels of S100B, glial fibrillary acidic protein(GFAP), superoxide dismutase(SOD), and malondialdehyde(MDA) in serum were measured by enzyme-linked immunosorbent assay. Hematoxylin-eosin staining and the terminal deoxynucleotidyl transferase-mediated dUTP-biotin nick end labeling method were used to assess hippocampal histopathology and apoptosis. Transmission electron microscopy assay was used to observe mitochondrial damage and autophagosomes in hippocampal tissues. Flow cytometry was used to detect mitochondrial membrane potential(MMP). The mitochondrial respiratory chain complexes Ⅰ, Ⅲ and Ⅳ activities and ATPase in hippocampal tissue were evaluated, respectively. Western blot analysis was used to detect the protein expressions of Beclin1, autophagy protein 5(ATG5), microtubule-associated protein 1 light chain 3 beta(LC3B), phosphatase and tensin homolog induced kinase 1(PINK1), and Parkin in hippocampal tissues. The mRNA expressions of Beclin1, ATG5 and LC3-Ⅱ were analyzed by quantitative real-time polymerase chain reaction. Results: BAJP treatment reduced hippocampal tissue injury and inhibited hippocampal cell apoptosis in AHH rats. BAJP reduced oxidative stress by decreasing S100B, GFAP and MDA levels and increasing SOD level in the serum of AHH rats(P<0.05 or P<0.01). Then, BAJP increased MMP, the mitochondrial respiratory chain complexes Ⅰ, Ⅲ and Ⅳ activities, and the mitochondrial ATPase activity in AHH rats(all P<0.01). BAJP improved mitochondrial swelling and increased the autophagosome number in hippocampal tissue of AHH rats. Moreover,BAJP treatment increased the protein and mRNA expressions of Beclin1 and ATG5 and LC3-Ⅱ/LC3-Ⅰratio in AHH rats(all P<0.01) and activated the PINK1/Parkin pathway(P<0.01). Finally, 3-MA attenuated the therapeutic effect of BAJP on AHH rats(P<0.05 or P<0.01). Conclusion: BAJP was an effective treatment for AHH-induced brain injury, and the mechanism might be through reducing hippocampal tissue injury via increasing the PINK1/Parkin pathway and enhancement of mitochondrial autophagy.

Bloodletting Acupuncture at Jing-Well Points Alleviates Myocardial Injury in Acute Altitude Hypoxic Rats by Activating HIF-1 α/BNIP3 Signaling-Mediated Mitochondrial Autophagyand Decreasing Oxidative Stress

Objective: To explore the protective effect and possible mechanisms of bloodletting acupuncture at Jing-well points(BAJP) pre-treatment on acute hypobaric hypoxia(AHH)-induced myocardium injury rat. Methods:Seventy-five rats were randomly divided into 5 groups by a random number table: a control group(n=15), a model group(n=15), a BAJP group(n=15), a BAJP+3-methyladenine(3-MA) group(n=15), and a BANA(bloodletting at nonacupoint;tail bleeding, n=15) group. Except for the control group, the AHH rat model was established in the other groups, and the corresponding treatment methods were adopted. Enzyme-linked immunosorbent assay(ELISA) was used to detect creatine kinase isoenzyme MB(CK-MB) and cardiac troponins I(CTn I) levels in serum and superoxide dismutase(SOD) and malondialdehyde(MDA) levels in myocardial tissue. Hematoxylin-eosin(HE)staining was used to observe myocardial injury, and terminal deoxynucleotidyltransferase-mediated d UTP-biotin nick end labeling(TUNEL) staining was used to observe cell apoptosis. Transmission electron microscopy detection was used to observe mitochondrial damage and autophagosomes in the myocardium. The mitochondrial membrane potential of the myocardium was analyzed with the fluorescent dye JC-1. Mitochondrial respiratory chain complex(complex Ⅰ, Ⅲ, and Ⅳ) activities and ATPase in the myocardium were detected by mitochondrial respiratory chain complex assay kits. Western blot analysis was used to detect the autophagy index and hypoxia inducible factor-1α(HIF-1α)/Bcl-2 and adenovirus E1B 19k Da-interacting protein 3(BNIP3) signaling. Results:BAJP reduced myocardial injury and inhibited myocardial cell apoptosis in AHH rats. BAJP pretreatment decreased MDA levels and increased SOD levels in AHH rats(all P<0.01). Moreover, BAJP pretreatment increased the mitochondrial membrane potential(P<0.01), mitochondrial respiratory chain complex(complexes Ⅰ, Ⅲ, and Ⅳ)activities(P<0.01), and mitochondrial ATPase activity in AHH rats(P<0.05). The results from electron microscopy demonstrated that BAJP pretreatment improved mitochondrial swelling and increased the autophagosome number in the myocardium of AHH rats. In addition, BAJP pretreatment activated the HIF-1α/BNIP3pathway and autophagy. Finally, the results of using 3-MA to inhibit autophagy in BAJP-treated AHH rats showed that suppression of autophagy attenuated the treatment effects of BAJP in AHH rats, further proving that autophagy constitutes a potential target for BAJP treatment of AHH. Conclusion: BAJP is an effective treatment for AHH-induced myocardial injury, and the mechanism might involve increasing HIF-1α/BNIP3 signaling-mediated autophagy and decreasing oxidative stress.

基于双目eye in hand系统的多角度树干位姿估计方法

针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;利用半径滤波和体素滤波减少树干点云数据;利用闭环式手眼标定方法对双目eye in hand系统进行标定,并对同一树干多角度相机位置的点云数据进行拼接;利用随机抽样一致(RANSAC)算法与无约束最小二乘法估计并优化树干的位置和姿态,获取树干的圆柱体参数。通过对30幅标定板图像进行实验,闭环式手眼标定方法的平均欧式误差为3.7177 mm;采用半径滤波和体素滤波可减少98.470%的点云数据;采用RANSAC算法、圆柱体估计算法拟合树干点云数据,得到圆柱体的半径r=41.2771 mm,R_(MAE)=2.57156 mm,R_(RMSE)=2.98936 mm;无约束最小二乘法优化后r=39.4028 mm,R_(MAE)=1.98955 mm,R_(RMSE)=2.46588 mm。该文通过对双目eye in hand系统进行标定,建立坐标系转换关系,多角度采集环境信息,准确定位机器人与果树之间的相对位置,估计果树树干的姿态。

基于锚点的快速三维手部关键点检测算法

在人机协作任务中,手部关键点检测为机械臂提供目标点坐标,A2J(Anchor-to-Joint)是具有代表性的一种利用锚点进行关键点检测的方法。A2J以深度图为输入,可实现较好的检测效果,但对全局特征获取能力不足。文中设计了全局-局部特征融合模块(Global-Local Feature Fusion,GLFF)对骨干网络浅层和深层的特征进行融合。为了提升检测速度,文中将A2J的骨干网络替换为ShuffleNetv2并对其进行改造,用5×5深度可分离卷积替换3×3深度可分离卷积,增大感受野,有效提升了骨干网络对全局特征的提取能力。文中在锚点权重估计分支引入高效通道注意力模块(Efficient Channel Attention,ECA),提升了网络对重要锚点的关注度。在主流数据集ICVL和NYU上进行的训练和测试结果表明,相比于A2J,文中所提方法的平均误差分别降低了0.09 mm和0.15 mm。在GTX1080Ti显卡上实现了151 frame·s^(-1)的检测速率,满足人机协作任务对于实时性的要求。

基于point-of-care理念的手卫生设施设置现状调查

目的基于point-of-care(POC)理念调查某三级甲等综合性教学医院手卫生设施的设置现状。方法采用横断面方法调查该院各诊疗区域主要供医务人员使用的手卫生设施种类、数量、位置、设施完备程度,以及速干手消毒剂的消耗量。结果调查102个区域,1165间诊疗用房,手卫生设施配置率为96.48%,洗手池完备率为91.37%%,不同区域完备率比较,差异有统计学意义(P<0.01)。80.53%的速干手消毒剂设置符合POC理念,59.51%的普通病区病室速干手消毒剂设置符合POC理念,速干手消毒剂设置符合POC理念比例高的科室手消毒剂消耗量相对较高。结论手卫生设施的设置和改进应强化POC理念,以提高手卫生依从性和预防医院感染的发生。

基于经筋理论探讨“绕肩胛”与颈痛伴旋转功能障碍的对应关系

目的立足于经筋古籍原文,发现“绕肩胛”与手阳明、手太阳经筋相关,并从两条经筋与颈痛伴旋转功能障碍的联系入手,探讨“绕肩胛”相关经筋与颈痛伴旋转功能障碍是否存在对应关系。方法收集20例颈痛伴功能障碍的肩胛区域疼痛志愿者,对肩胛区8个阳性反应点进行触诊,根据疼痛部位以及颈部旋转功能障碍的类型,探索二者之间的对应规律。结果10例旋转伴后伸功能受限患者,在肩胛上区出现阳性反应点为9例,符合占比90%;10例旋转伴前屈功能受限患者,在肩胛下区出现阳性反应点为9例,符合占比90%。因而旋转伴后伸功能受限与肩胛上区、旋转伴前屈功能受限与肩胛下区存在对应关系。结论手阳明经筋与旋转伴后伸功能受限、手太阳经筋与旋转伴前屈功能受限存在对应关系。

基于三维点云的大型铸件冒口切割轨迹规划

为解决人工切割大型铸件冒口对人体损害大,生产效率低和切割平面粗糙的问题,对视觉检测技术和机器人切割轨迹规划进行研究。首先,利用3D工业相机采集铸件三维场景点云信息;然后,通过提出的三点模板点云配准(three-point template point cloud registration, TTPCR)方法获取铸件切割点位的位姿信息,利用手眼标定变换矩阵把切割点位的信息变换到机械臂的基坐标系下;最后,利用空间圆弧的姿态插补求出切割轨迹的位姿信息,并用RoboDK软件开展实验。实验结果表明切割的误差小于1.3 mm,相对于传统的人工切割方法,切割豁口缝隙减少了37.5%,切割表面粗糙度降低了70.8%,切割表面平均粗糙深度降低了65.6%,满足铸件切割工艺要求,具有一定的工业应用价值。

面向工业机器人的非线性手眼标定方法研究

手眼标定是机器人视觉领域中的一个关键技术,主要包括眼在手上和眼在手外两种标定方式。标定的目的是得到相机坐标系与机器人坐标系之间的位姿关系,根据相机获取的图像重构三维场景,求出两个坐标系之间的转换参数,其结果将直接影响到机器人精准作业。受当前镜头工艺水平和机器误差限制,相机采集的图像存在非线性畸变,原有的手眼标定方法存在精确度不足的缺点。针对这个问题,文中提出面向工业机器人的非线性手眼标定方法,通过卷积原理使矩阵参数适应镜头下不同区域畸变的方法,减小相机镜头畸变影响。通过实验验证表明,该方法能够提高手眼标定结果的精确度,标定后的平均误差为0.4 mm,稳定性更强,可满足更多场景需求。

手十二井穴刺络放血疗法中枢响应特征的静息态fMRI研究方案

目的:探讨手十二井穴刺络放血疗法的中枢响应特征。方法:纳入30例健康志愿者作为受试对象,完成30 min基线静息态fMRI数据采集后,即刻行手十二井穴刺络放血操作,控制在5 min内。刺络放血后,立即行fMRI数据采集,参数同基线静息态扫描序列。预期结果:与基线相比,手十二井穴刺络放血后,静息态脑功能显著变化,其中脑干网状上行激活系统醒觉相关脑区变化尤为显著。

基于三维点云处理的自动化手眼标定系统设计与实现

为了解决手眼标定过程中存在的操作烦琐、人工选点误差大等问题,文章设计并实现了一个基于三维点云处理技术的自动化手眼标定系统。该系统通过简单的棋盘格标定板在10个不同姿态下扫描了三维点云,利用Harris算法自动提取了角点坐标,构建了AX=XB方程并利用Tsai方法求解方程,从而通过ICP配准算法对计算结果进行了补偿。实验结果证明,该系统具有高效稳定的标定性能,标定精度可达1 mm。

基于多深度相机融合的机械臂抓取系统

针对单深度相机视角下获取的物体深度图像存在噪声干扰、遮挡等问题,使物体点云形状缺失或变形,3D特征存在不稳定性,提出一种多深度相机融合方法。利用多相机标定结果拼接各个相机视角下的点云数据,通过k邻域去噪算法除去点云中的噪声点,再对去噪点云数据进行体素化降采样,使拼接后的点云在空间均匀分布,从而获取完整的物体形状。同时建立了一个端到端的神经网络,通过输入多相机拍摄的RGB-D图像来预测二指平行夹爪的3D位置和3D方向。为优化预测抓取结果,改进了神经网络中对预测结果的鲁棒性评估,提出力螺旋空间场评价方法,提高了4%的成功率。最后将该抓取系统应用于AR5机械臂,实现了91%的抓取成功率。

一类具有转点的右端不连续奇摄动边值问题

研究了一类具有转点的右端不连续二阶半线性奇摄动边值问题解的渐近性.首先,在间断处将原问题分为左右两个问题,通过修正左问题退化问题的正则化方程,提高了左问题渐近解的精度,并利用Nagumo定理证明了左问题光滑解的存在性.其次,证明了右问题具有空间对照结构的解,并通过在间断点的光滑缝接,得到了原问题的渐近解.最后,通过一个算例验证了结果的正确性.

火针手三阳经郄穴联合常规针刺治疗神经根型颈椎病的疗效观察

目的 观察火针手三阳经郄穴联合常规针刺治疗神经根型颈椎病的临床疗效。方法 将66例神经根型颈椎病患者随机分为观察组和对照组,每组33例。对照组予常规针刺治疗,观察组在对照组常规针刺治疗基础上,联合火针手三阳经郄穴治疗。观察治疗前后两组疼痛视觉模拟量表(visual analog scale,VAS)、颈椎功能障碍指数(neck disability index,NDI)和田中靖久颈椎病症状量表20分法(cervical spondylotic radiculopathy 20,CSR20)的评分变化,比较两组的临床疗效。结果 两组首次治疗后及治疗后VAS评分均较治疗前降低(P<0.05),且观察组首次治疗后及治疗后VAS评分均低于对照组(P<0.05)。两组治疗后NDI评分较治疗前降低(P<0.05),且观察组治疗后NDI评分低于对照组(P<0.05)。两组治疗后CSR20评分均较治疗前升高(P<0.05),且观察组治疗后CSR20评分高于对照组(P<0.05)。观察组总有效率高于对照组(P<0.05)。结论 火针手三阳经郄穴联合常规针刺能较快地改善神经根型颈椎病引起的疼痛、手臂麻木、功能障碍等症状,疗效优于单一常规针刺治疗。

腕踝针联合耳穴贴压治疗卒中后肩手综合征的疗效观察

目的 观察在常规治疗和常规针刺治疗基础上腕踝针联合耳穴贴压治疗卒中后肩手综合征的近期和远期疗效以及安全性。方法 将160例卒中后肩手综合征患者随机分为对照组、耳穴组、腕踝针组和联合组,每组40例。对照组予西医基础治疗、常规康复治疗和常规针刺治疗,耳穴组在对照组基础上加用耳穴贴压治疗,腕踝针组在对照组基础上加用腕踝针治疗,联合组在对照组基础上联合腕踝针和耳穴贴压治疗。观察治疗前后4组疼痛视觉模拟量表(visual analog scale,VAS)评分、Fugl-Meyer运动功能评分法(Fugl-Meyer assessment,FMA)上肢运动评分和肩关节活动度的变化,比较4组临床疗效和不良反应发生情况。治疗后2个月进行随访,观察4组Barthel指数(Barthel index,BI)分级的情况。结果 4组总有效率比较,差异具有统计学意义(P<0.05);且联合组总有效率高于其余3组,差异具有统计学意义(P<0.05)。治疗后,4组VAS评分、FMA上肢运动评分和肩关节活动度均较治疗前改善(P<0.05);联合组上述各项指标均优于其余3组(P<0.05)。治疗过程中4组均未发生严重不良反应事件。随访时,4组BI分级比较,差异无统计学意义(P>0.05)。结论 在常规治疗和常规针刺治疗基础上,腕踝针联合耳穴贴压治疗卒中后肩手综合征可缓解肩痛,改善肩关节活动度和上肢运动功能,提高临床疗效。

用于虚拟现实/增强现实人机交互的实时手势识别方法的研究

虚拟现实/增强现实(简称VR/AR)中的人机交互方式是一个重要的研究方向,将手势与VR/AR中的操作控制相结合,提出一种利用手势实现VR/AR操作的人机交互方式。在实验中使用MediaPipe框架采集实时手势图像,提取手部关键点,设计手势关键点算法进行实时手势识别,结果显示该方法具有良好的性能,为VR/AR提供了一种更为自然的人机交互方式。