Cartilage Repair by Joint Distraction and Motion Using an External Fixator for Massive Cartilage Defect

The objective of the present study was to investigate our novel methods for the repair of massive cartilage defects by joint distraction and motion using an external fixator. In this study, we used a rabbit model of massive articular cartilage defect in order to evaluate the effectiveness of using joint distraction and motion with a ring-type external fixator. This external fixator has a hinged joint with a center of rotation along the femoral transepicondylar axis, which allows the knee joint to freely flex and extend. Mesenchymal cells from bone marrow, induced by spongialization, were differentiated into mature chondrocytes and formed hyaline-like cartilage as a result of joint distraction and movement. The transplantation of autologous cells expanded from bone-marrow-derived mesenchymal cells, concentrated autologous bone marrow aspirate, and concentrated autologous peripheral blood cells were all effective in promoting cartilage repair. The quality of the cartilage after long-term joint distraction for 6 months was inferior to that after 12 weeks. In general, weight bearing on the regenerated cartilage promoted cartilage repair, although this effect differed based on when gradual weight bearing was begun. Specifically, gradual weight bearing beginning at 9 weeks produced superior results to that beginning at 6 weeks. Our methods provide an optimal environment for cartilage regeneration.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

Estimation of the 2010 Mentawai tsunami earthquake rupture process from joint inversion of teleseismic and strong ground motion data

Joint inversion of teleseismic body-wave data and strong ground motion waveforms was applied to determine the rupture process of the 2010 Mentawai earthquake. To obtain stable solutions, smoothing and non-negative constraints were introduced. A total of 33 teleseismic stations and 5 strong ground motion stations supplied data. The teleseismic and strong ground motion data were separately windowed for 150 s and 250 s and bandpass filtered with frequencies of 0.001e1.0 Hz and 0.005e0.5 Hz, respectively. The finitefault model was established with length and width of 190 km and 70 km, and the initial seismic source parameters were set by referring to centroid moment tensor(CMT) solutions. Joint inversion results indicate that the focal mechanism of this earthquake is thrust fault type, and the strike, dip, and rake angles are generally in accordance with CMT results. The seismic moment was determined as 5.814 1020Nm(Mw7.8) and source duration was about 102 s, which is greater than those of other earthquakes of similar magnitude. The rupture nucleated near the hypocenter and then propagated along the strike direction to the northwest, with a maximum slip of 3.9 m. Large uncertainties regarding the amount of slip retrieved using different inversion methods still exist; however, the conclusion that the majority of slip occurred far from the islands at very shallow depths was found to be robust. The 2010 Mentawai earthquake was categorized as a tsunami earthquake because of the long rupture duration and the generation of a tsunami much larger than was expected for an earthquake of its magnitude.

Experimental Study of the Motion Modes of a Planar Mechanical System with Multi-Clearance Revolute Joints

Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can investigate the effects of the clearances on the dynamics of the multibody system. A revolute joint with clearance exhibits three motions which are;free-flight, impact and continuous contact motion modes. Therefore, a multibody system with n-number of revolute clearance joints will exhibit 3n motion modes which are a combination of the three motions in each joint. This study investigates experimentally the nine motion modes in a mechanical system with two revolute clearance joints. A slider crank mechanism has been used as the demonstrative example. We observed that the experimental curve exhibits a greater impact compared to the simulation curve. In conclusion, this experimental investigation offers valuable insights into the dynamics of planar mechanical systems with multiple clearance revolute joints. Utilizing a slider-crank mechanism for data acquisition, the study successfully confirmed seven out of nine motion modes previously identified in numerical research. The missing modes are attributed to inherent complexities in real-world systems, such as journal-bearing misalignment.

游泳运动对大鼠创伤性关节挛缩的影响及机制

背景:早期运动是预防创伤性关节挛缩的主要方式,也是近期研究热点。游泳运动借助水的特殊物理特性,可能是潜在有益的干预方式。目的:观察游泳运动对大鼠关节挛缩发展的影响,探究游泳运动预防关节挛缩的相关机制。方法:24只SD大鼠随机分为空白对照组(n=8)和关节挛缩造模组(n=16),手术制备膝关节挛缩模型后,再随机分为手术对照组(n=8)和游泳干预组(n=8)。游泳干预组在术后第2周开始游泳干预,共干预5周。在术后第6周,测试各组大鼠体质量、术侧膝关节活动度、股四头肌直径,计算直径-体质量指数;苏木精-伊红染色观察膝关节囊和股四头肌病理变化;Masson染色观察关节囊胶原纤维化改变;免疫组化检测膝关节囊中转化生长因子β1和Ⅰ型胶原蛋白表达;Western blot检测股四头肌中MuRF1蛋白的表达。结果与结论:①与空白对照组比较,手术对照组和游泳干预组大鼠膝关节活动度下降,总伸膝受限角度和关节源性伸膝受限角度均明显增加(P<0.01),股四头肌直径下降(P<0.01),关节囊出现明显纤维化表现,股四头肌萎缩,手术对照组直径-体质量指数降低(P<0.01);与手术对照组比较,游泳干预组大鼠膝关节活动度和股四头肌直径明显增加(P<0.01),关节囊纤维化病变和股四头肌萎缩明显改善;②与空白对照组比较,手术对照组和游泳干预组大鼠关节囊中胶原纤维含量、转化生长因子β1和Ⅰ型胶原蛋白表达均增加(P<0.01);与手术对照组比较,游泳干预组大鼠关节囊中胶原纤维含量、转化生长因子β1和Ⅰ型胶原蛋白表达均降低(P<0.01);③与空白对照组比较,手术对照组和游泳干预组大鼠股四头肌中MuRF1蛋白表达增加(P<0.05);与手术对照组比较,游泳干预组大鼠股四头肌中MuRF1蛋白表达降低(P<0.05)。结果表明:早期游泳干预能够降低创伤性挛缩大鼠关节囊中转化生长因子β1和Ⅰ型胶原蛋白表达,降低股四头肌中MuRF1蛋白表达,提高关节活动度和股四头肌直径,抑制关节挛缩的发展。

Numerical Simulation on Oscillation-Sliding-Uplift Rock Coupled Motion of Caisson Breakwater Under Wave Excitation

Corresponding to the sliding and the overturning failure,the elementary motion modes of caisson breakwater include the horizontal-rotational oscillation coupled motion,the horizontal sliding-rotational oscillation coupled motion,the horizontal vibrating-uplift rocking coupled motion,and the horizontal sliding-uplift rocking coupled motion.The motion mode of a caisson will transform from one to another depending on the wave forces and the motion behaviors of the caisson.The numerical models of four motion modes of caisson are developed,and the numerical simulation procedure for joint motion process of various modes of caisson breakwater under wave excitation is presented and tested by a physical model experiment.It is concluded that the simulation procedure is reliable and can be applied to the dynamic stability analysis of caisson breakwaters.

Obesity Effect on Children Hip and Knee Range of Motion

The aim of this study was to characterize the obesity effect on children knee and hip joint range of motion. A randomized controlled trial was performed with goniometry evaluation for hip flexion, extension, abduction, adduction, external and internal rotation, and knee flexion in fifty male children (20 obese and 30 non obese), with age ranging from 6 to 12 years old. The obesity effect was found to be non-uniform across the joint range of motion. In the obesity group, a statistically significant reduction in the range of motion of hip flexion and adduction, and knee flexion was observed;and also an increase in external rotation in the hip was observed. Conclusion: Obese and overweight children present alterations in hip and knee joints mobility when compared to eutrophic children. The obesity/overweight associated with factors previously described in the literature, such as joint overload, postural deviation and sedentariness may influence the musculoskeletal development and, consequently, the motor function.

数字化作业训练在改善桡骨远端不稳定型骨折术后病人腕关节功能及活动度中的应用价值

目的:研究数字化作业训练对桡骨远端不稳定型骨折术后病人腕关节功能及活动度的影响。方法:选取2021年4月—2023年4月医院收治的124例桡骨远端不稳定型骨折术后病人为研究对象,按照随机数字表法将其分为对照组和观察组,每组62例,对照组给予常规关节活动度训练,观察组在对照组的基础上增加数字化作业训练。干预3个月后,比较两组骨折愈合时间、腕关节功能(Cooney腕关节功能评分)、各关节活动度、握力水平。结果:观察组干预3个月后骨折愈合时间短于对照组(P<0.05);观察组干预1、3个月后,患侧与健侧握力比值水平均高于对照组(P<0.05);观察组干预3个月后,腕尺偏、前臂旋前、腕背伸、前臂旋后、腕桡偏、腕背曲功能角度均大于对照组(P<0.05);观察组干预1、3个月后,Cooney腕关节功能评分高于对照组(P<0.05)。结论:数字化作业训练能够有效促进桡骨远端不稳定型骨折术后病人骨折愈合,增强患手握力水平,提高各关节活动度,改善腕关节功能。

玻璃酸钠腔内注射联合肩关节镜下肩袖修补术治疗肩袖损伤患者的效果

目的:观察玻璃酸钠腔内注射联合肩关节镜下肩袖修补术治疗肩袖损伤患者的效果。方法:选取2020年12月至2023年12月该院收治的86例肩袖损伤患者进行前瞻性研究,按照随机数字表法将其分为研究组和对照组各43例。对照组采用肩关节镜下肩袖修补术治疗,研究组在对照组基础上联合玻璃酸钠腔内注射治疗。比较两组临床疗效,治疗前后肩关节功能[美国加州大学洛杉矶分校肩关节评分系统(UCLA)、美国肩肘外科医师协会(ASES)]评分、肩关节活动度,以及并发症发生率。结果:研究组治疗总有效率为93.02%(40/43),高于对照组的76.74%(33/43),差异有统计学意义(P<0.05);治疗后,两组UCLA、ASES评分均高于治疗前,且研究组高于对照组,差异有统计学意义(P<0.05);治疗后,两组外旋、内旋、外展、前屈等肩关节活动度均大于治疗前,且研究组大于对照组,差异有统计学意义(P<0.05);两组并发症发生率比较,差异无统计学意义(P>0.05)。结论:玻璃酸钠腔内注射联合肩关节镜下肩袖修补术治疗肩袖损伤患者可提高治疗总有效率和肩关节功能评分,改善肩关节活动度,效果优于单纯肩关节镜下肩袖修补术治疗。

Effect of Spine Motion on Mobility in Quadruped Running

Most of current running quadruped robots have similar construction： a stiff body and four compliant legs. Many researches have indicated that the stiff body without spine motion is a main factor in limitation of robots’ mobility. Therefore, investigating spine motion is very important to build robots with better mobility. A planar quadruped robot is designed based on cheetahs’ morphology. There is a spinal driving joint in the body of the robot. When the spinal driving joint acts, the robot has spine motion; otherwise, the robot has not spine motion. Six group prototype experiments with the robot are carried out to study the effect of spine motion on mobility. In each group, there are two comparative experiments： the spinal driving joint acts in one experiment but does not in the other experiment. The results of the prototype experiments indicate that the average speeds of the robot with spine motion are 8.7%–15.9% larger than those of the robot without spine motion. Furthermore, a simplified sagittal plane model of quadruped mammals is introduced. The simplified model also has a spinal driving joint. Using a similar process as the prototype experiments, six group simulation experiments with the simplified model are conducted. The results of the simulation experiments show that the maximum rear leg horizontal thrusts of the simplified mode with spine motion are 68.2%–71.3% larger than those of the simplified mode without spine motion. Hence, it is found that spine motion can increase the average running speed and the intrinsic reason of speed increase is the improvement of the maximum rear leg horizontal thrust.

考虑关节限位的捡球机械臂平滑运动减振控制

捡球机械臂在接近关节限位时会产生剧烈的振动,严重影响了捡球机械臂的运动精度和稳定性。为了确保捡球机械臂在不会超出关节限位的前提下实现捡球机械臂的平滑运动并减少振动,提出一种考虑关节限位的捡球机械臂平滑运动减振控制技术。考虑机械臂系统的动力学特性,根据D-H坐标下的捡球机械臂各关节参数,分别进行正、逆运动学求解,进而使用优化函数保证机械臂空间状态运动振动变化量和优化函数梯度的方向一致,以获得合理的关节限位设置。然而,过于严格的关节限位调整会使机械臂处于异常空间状态,对机械臂的运动范围和姿态控制产生影响,使机械臂在正常运动时出现发生牵引、扭曲或抖动等异常的空间状态和振动。由此对捡球机械臂进行外部控制和内部控制。外部控制通过直接调整电机驱动器的输出,调整关节的角度和速度,使机械臂的姿态保持稳定,确保末端执行器能够准确地到达目标位置。内部控制利用状态空间方法全面描述系统内部状态,实时监测机械臂的状态,并根据当前状态调整控制信号。并根据关节限位建立机械臂关节旋转条件约束,结合关节限位引起的阻尼力优化输入输出,保持机械臂的稳定运动,实现捡球机械臂平滑运动减振控制。实验结果表明,所提方法减振振动控制精度高,运动轨迹平滑,且系统响应时间极短,具有良好的控制效果。

Arm motion control model based on central pattern generator

According to the theory of Matsuoka neural oscillators and with the con- sideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator （CPG） neural network consisting of six neurons is pro- posed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established. By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.

Electrical Stimulation in Addition to Passive Exercise Has a Small Effect on Spasticity and Range of Motion in Bedridden Elderly Patients: A Pilot Randomized Crossover Study

Purpose: Belt electrode skeletal muscle electrical stimulation (B-SES) can stimulate large portions of muscles including deep sites without localisation of the stimulation area. The purpose of this study is to investigate both immediate treatment effects of B-SES and long-term treatment effects of B-SES with passive exercise on range of motion (ROM) and muscle tone of lower extremities in bedridden elderly patients. Methods: Outcome measures before and after B-SES treatment alone (4 Hz, 20 min, both lower extremities) were examined for the immediate effect. Outcome measures were: ROM and Modified Ashworth scale (MAS) of hip flexion and adduction;knee flexion and extension;and knee joint distance at position of flexion abduction in hip (distance of knee). A randomized crossover trial was conducted to examine the long-term effect of adding B-SES to passive exercise on ROM and MAS. Results and Discussion: The immediate effect study had 18 patients. ROM and MAS of 4 joint angles in 2 joints and distance of knee significantly improved after B-SES treatment. The long-term effect study had 11 patients. Friedman test revealed ROM and MAS of 4 joint angles in 2 joints and distance of knee significantly improved during B-SES intervention but not control intervention. B-SES in addition to passive stretch has a more statistically significant effect on contracture and spasticity in large portions of the lower extremities of bedridden elderly patients than passive stretching alone. Conclusions: We consider B-SES a useful tool to improve the ROM in lower extremities of bedridden patients.

全膝关节置换中BrainlabKnee3导航辅助间隙平衡技术的应用优势

背景:近年来,计算机导航技术辅助关节置换逐渐受到医疗领域的关注。文献报道计算机导航在全膝关节置换中的应用临床效果不一。为了探索新一代Brainlab Knee 3导航系统的临床效果,进行了此项研究。目的:分析计算机导航系统(Brainlab Knee 3)结合间隙平衡技术在全膝关节置换中的应用效果。方法:2020年11月至2021年5月大连市第二人民医院关节外科收治71例行全膝关节置换患者,导航组35例,术中采用计算机导航结合间隙平衡技术行全膝关节置换;传统组36例,术中采用传统手术器械定位截骨。比较两组患者术中内、外侧关节间隙差;膝关节活动度、KSS评分;髋膝踝角;冠状面股骨组件角、冠状面胫骨组件角和矢状面胫骨组件角偏差值。结果与结论:①导航组伸直位内外侧间隙差0,1,2 mm的患者分别为19,14,2例;屈膝90°位内外侧间隙差0,1,2 mm的患者分别为18,15,2例。传统组伸直位内外侧间隙差0,1,2 mm的患者分别为10,20,6例;屈膝90°位内外侧间隙差0,1,2 mm的患者分别为10,15,8例。②导航组手术时间长于传统组(P<0.05),导航组有2例患者术后形成下肢肌间静脉血栓,传统组患者均无并发症。③置换后6,12个月两组患者膝关节活动度均明显增加,导航组膝关节活动度高于传统组(P<0.05)。④置换后12个月两组患者KSS评分均明显增加,导航组KSS评分高于传统组(P<0.05)。⑤置换后6个月髋膝踝角、冠状面股骨组件角、冠状面胫骨组件角、矢状面胫骨组件角偏差值均显著小于传统组(P<0.05)。⑥结果表明,采用计算机导航结合间隙平衡技术辅助全膝关节置换对关节活动度、下肢力线、胫骨假体组件位置的准确性方面具有优势,置换后关节功能恢复良好。

Safety of Early Application of Continuous Passive Motion in Patients after Total Knee Arthroplasty

ObjectiveThis research aimed to study the effect of early application of continuous passive motion (CPM) on the drainage volume of knee joints post total knee arthroplasty (TKA). MethodsThe drainage volume was measured 1 h before,during and after CPM on the day and next day of the operation. ResultsThere was no significant difference in the drainage volume before,during and after CPM(P >0.05). ConclusionEarly application of CPM is safe for TKA patients.

Radiographic Circularity of Capitellum and Its Relation to the Range of Motion

Background: The shape of the capitellum has been traditionally described in anatomy books as part of a sphere. Alteration in the capitellar morphology following pathologies such as fractures, osteochondrosis, and degenerative arthritis has been associated with less optimum functional results. Aim: To define the relationship between the sphericity of the capitellar morphology as measured on trauma series plain radiographs and the elbow range of motion. Methods: 40 patients were included in the study. All patients recruited from the upper limb clinics presented with non-elbow joint-related complaints. The elbow range of motion was measured using a standardized technique. Digital anteroposterior and lateral radiographs of patients’ elbows were used to measure capitellar circularity using the ImageJ processing program and circularity calculation equation. Correlation analyses were conducted between the degree of capitellar sphericity and elbow range of motion. Results: The results of measurements from the anteroposterior radiographs showed a positive correlation between increased circularity and an increase in the range of flexion, pronation, and supination. The range of extension decreased with the increased circularity of the capitellum. This trend was repeated with measures of lateral radiographs but was statistically not significant. Conclusion: Native capitellar circularity has an impact on the elbow range of motion. This should be put into consideration when dealing with pathologies that affect capitellar morphology.

冰水冷疗在关节手术患者术后行关节锻炼镇痛有效性研究

目的探究冰水冷疗在关节手术患者术后行关节锻炼镇痛中的有效性。方法选取钦州市第一人民医院行关节置换手术及关节镜手术的400例患者,随机数表法将其分为试验组和对照组,每组200例。2组进行关节锻炼后,对照组给予固体冰袋冷疗治疗;试验组行康玛士(Kindman)布冰袋冰水冷疗。比较2组患者术后疼痛程度[数字评分法(NPS)]、肿胀程度、关节活动度及并发症,并分析患者生活质量(SF-36量表)及对护理满意度。结果与对照组比较,试验组8、24、48 h NRS评分依次降低(P<0.05),且不同时间比较具有交互效应(P<0.05)。与对照组比较,试验组在8、24、48 h的肿胀程度降低效果更明显(P<0.05)。与对照组比较,试验组关节活动度优良率更高(P<0.05)。试验组并发症发生率低于对照组(P<0.05)。与对照组比较,试验组术后3、5 d SF-16评分均显著升高(P<0.05)。试验组护理满意度高于对照组(P<0.05)。结论康玛士布冰袋冰水冷疗在关节手术患者术后行关节锻炼中可明显降低患者疼痛程度,改善关节活动度,提高生活质量。

THEORETICAL DESIGN AND MOTION PLANNING OF NONHOLONOMIC MANIPULATOR

A new nonholonomic transmission mechanism is proposed based on thenonholonomic theory and nonlinear control principle, and combined with conditions of thenonholonomic motion planning and control, that is researched to compose method of the motiontransfer chain from this transmission mechanism, on which a new nonholonomic manipulator isdesigned. This nonholonomic manipulator is a controllable multi-joint manipulator that actuated onlyby two-servo electromotor. Its motion expresses the characteristic of nonholonomy constraint andnonlinear, and that also satisfies the chained form convertibility. And then, using the nonlinearcontrol principle of chained system, motion characteristic of the nonholonomic manipulator isapplied. From simulation verification and analysis, the usefulness of the theoretical design andcontrol strategies is shown, and that is important in design and research of handiness robot andmulti-finger robot hand.

手法复位小夹板外固定结合红白舒筋散治疗桡骨远端骨折的临床观察

目的 探讨手法复位小夹板外固定结合红白舒筋散治疗桡骨远端骨折的临床疗效。方法 选取2021年1月-2022年6月本院收治的80例桡骨远端骨折患者,按照随机数表法分为观察组与对照组,各40例。对照组以手法复位小夹板外固定治疗,观察组在对照组治疗基础上增加红白舒筋散外敷治疗。连续治疗1个月后评估2组的症状消退时间、骨折愈合时间、腕关节活动度、治疗安全性。结果 观察组症状包括疼痛、肿胀、畸形、瘀血消退、骨折愈合时间均短于对照组(P<0.05)。观察组腕关节活动度均高于对照组(P<0.05)。观察组满意度高于对照组(P<0.05)。2组不良反应发生率无统计学意义(P>0.05)。结论 红白舒筋散外敷结合手法复位小夹板外固定治疗桡骨远端骨折的效果良好,可促进患者症状消退,缩短骨折愈合时间,改善患者的腕关节活动度,降低炎症因子水平,改善血液流变学指标,治疗安全性良好。

具有柔性驱动关节的串并混联仿生机械臂

现有协作机器人多采用串联刚性结构,与人的共融性较差,限制了机器人的应用场景.为解决协作机器人在柔顺性和环境适应性上的不足,首先,基于人体手臂肌肉柔性并联驱动机理,设计一种6自由度串并混联机械臂SoftArm-6,由臂部3个串联自由度和腕部3个并联自由度组成,采用电机串联弹性驱动器(Series Elastic Actuator,SEA)构成柔性驱动关节,通过建立机械臂的运动学模型,基于机构等效原理实现串并混联机械臂的位姿解耦.其次,基于Kinect人体运动捕捉的在线轨迹示教方法,针对驱动关节中SEA柔性环节带来的位置精度降低、易抖动等问题,设计基于虚位移原理的前馈重力补偿算法.最后,针对SoftArm-6样机设计轨迹跟随、示教抓取等实验.研究结果表明:SoftArm-6在轨迹跟随任务中的偏差小于1.5%,抓取成功率达98%,显著提升了操作精度和环境适应性.该设计为协作机器人在复杂、不确定环境中的应用提供了新的技术支持.