ABSTRACT
The difficulties such as how to accurately locate acupoints and safely insert needles are presented in acupuncture robot. The puncture robot with high technological similarity to acupuncture robot is getting mature, and a large number of human trials and animal experiments have been conducted for the development of puncture robot. Through comparing the similarities and differences between puncture robot and acupuncture robot in the aspects of through-skin puncture, needle insertion and needle removal, the valuable technology of puncture robot is analyzed for the development of acupuncture robot, and the crucial direction of technology migration is determined. ①Integrating the mechanical feedback and medical imaging technology and utilizing the multi-modal perception to achieve the safety of acupuncture operation. ②Emphasizing the integration of the existing designs of chest puncture robot to realize the acupuncture operation with inhalation and exhalation involved. ③Focusing on the development of relevant technology of automatic needle removal through conducting the actual scenario of treatment with acupuncture robot in patients under non-anaesthetic condition.
Subject(s)
Animals , Humans , Robotics , Feasibility Studies , Acupuncture Therapy , Punctures , Acupuncture , NeedlesABSTRACT
AIM: To observe the comparison of vitrectomy combined drug therapy ( Ranibizumab injection ) and single vitrectomy for proliferatived diabetic retinopathy ( PDR ) and the influence of the curative effect and prognosis of patients. METHODS:In this study, 112 cases (125 eyes) with PDR were selected and randomly divided into experimental group and control group ( n= 56 ) . Fifty-six cases ( 61 eyes ) in experimental group were injected by drug therapy of 0. 5mg ranibizumab and received vitrectomy;In control group, 56 cases ( 64 eyes ) were received single vitrectomy. The intraoperative and postoperative differences of clinical indicators were analyzed in two groups. RESULTS: The average operation time, intraoperative electric coagulation hemostasis rate and iatrogenic hiatal incidence of the experimental group were lower than that of the control group:(95. 00±13. 00) min vs (133. 00±14.5) min, 11% vs 34%, 5% vs 20%, respectively (PCONCLUSION: Patients with PDR injected with ranibizumab in vitreous cavity before vitrectomy can effectively reduce the operation time, less intraoperative blood loss, the incidence of iatrogenic hiatus, and intraoperative and postoperative complications. The postoperative visual acuity was better than before.