ABSTRACT
From June 2017 to December 2018, 60 patients with large-volume prostatic hyperplasia underwent transurethral plasmakinetic enucleation of the prostate (PKEP) with shovel electrode in Luhe Hospital. During the procedure the resected glands were pushed into the bladder and the tissues were broken and sucked with STROZ Tissue Morcellator. All operations were performed successfully. The mean total operating time was (63.0±20.5) min, including (46.0±11.3)min for enucleation and (17.0±10.2) min for morcellation time. None of the 60 patients received blood transfusion perioperatively, and there was no transurethral resection prostate (TURP) syndrome. Four patients suffered the complication of transient stress urine incontinence after removed catheter, they were recovered within 4 weeks; no true urinary incontinence or urethral stricture occurred in 6 months of postoperative follow-up. Compared with the traditional technique of sheath+electric ring to enucleate the gland, the shovel electrode enucleation has shorter operation time, lower incidence of transient stress urine incontinence after operation, and reduced medical cost.
ABSTRACT
Objective To design and implement a control algorithm in a 6 degree of freedom (DOF) robotic manipulator, so as to simulate the spinal motion and provide stable and efficient testing plan for biomechanical tests on spinal implants. Methods The recognition method of stiffness matrix for L2-5 spinal system was firstly studied for decoupling purpose. Secondly, the direct force control system under each axial motion was established by combining the 6-axis manipulator control system with the incremental proportion integration differentiation (PID) control algorithm. By using the 6-axis direct force control system, pure moment of 7.5 N·m was applied in the direction of main motion axis to simulate flexion-extension (FE), lateral bending (LB) and axial rotation (AR) motion of L2-5 spinal segment. Results The range of motion (ROM) of L2-5 segment in FE, LB and AR direction was 23.01°,27.92°,9.81°, respectively. A 7.5 N·m pure moment could be achieved in the main motion axis, while maintaining zero force/moment in the unconstrained axis with root mean square (RMS) errors being less than 3 N and 0.1 N·m, respectively. Conclusions The proposed algorithm of direct force control using PID controller with predetermined stiffness decoupling matrix was capable of applying pure moment to the spine under FE, LB, AR motion. The research findings have a relatively high value of engineering application for various biomechanical testing of lumbar vertebrae.
ABSTRACT
Objective To design and implement a control algorithm in a 6 degree of freedom (DOF) robotic manipulator, so as to simulate the spinal motion and provide stable and efficient testing plan for biomechanical tests on spinal implants. Methods The recognition method of stiffness matrix for L2-5 spinal system was firstly studied for decoupling purpose. Secondly, the direct force control system under each axial motion was established by combining the 6-axis manipulator control system with the incremental proportion integration differentiation (PID) control algorithm. By using the 6-axis direct force control system, pure moment of 7.5 N·m was applied in the direction of main motion axis to simulate flexion-extension (FE), lateral bending (LB) and axial rotation (AR) motion of L2-5 spinal segment. Results The range of motion (ROM) of L2-5 segment in FE, LB and AR direction was 23.01°,27.92°,9.81°, respectively. A 7.5 N·m pure moment could be achieved in the main motion axis, while maintaining zero force/moment in the unconstrained axis with root mean square (RMS) errors being less than 3 N and 0.1 N·m, respectively. Conclusions The proposed algorithm of direct force control using PID controller with predetermined stiffness decoupling matrix was capable of applying pure moment to the spine under FE, LB, AR motion. The research findings have a relatively high value of engineering application for various biomechanical testing of lumbar vertebrae.
ABSTRACT
Objective To investigate the efficacy and safety of transurethral plasmakinetic enucleation of the prostate (PKEP)combined with suprapubic cystostomy rotary resection in the treatment of large volume(>100 ml)benign prostatic hyperplasia(BPH). Methods From June 2015 to December 2015,28 patients with BPH[volume,(112.6 ±9.8)ml]were given transurethral PKEP.The resected gland was pushed into the bladder and the vesical stoma was extended.Whereafter a 10 mm trocar was introduced via suprapubic cystostomy, and then rotary resection of glands was performed and removed under transurethral observation. Results All the operations were successfully completed.The operating time was(85.8 ±26.5)min,the enucleation time was(38.0 ±11.3)min, and the rotary resection time was(47.5 ±20.2)min.Two patients had much flushing fluid extravasated into retropubic space and were given no special treatment.Two patients suffered the complication of transient stress urine incontinence after removal of catheter,and they were recovered within 4 weeks.Follow-up for 3-6 months found no urethral stricture. The IPSS scores at 3 months after operation were(13.5 ±3.6)points. Conclusion Transurethral PKEP combined with suprapubic cystostomy rotary resection in the treatment of large BPH is safe.
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The clinical data of 9 patients with huge adrenal tumors (≥6 cm) undergoing retroperitoneal laparoscopic adrenalectomy between February 2015 and September 2016 were retrospectively analyzed.There were 2 males and 7 females aged 29-65 years.The tumors were detected due to investigation of paroxysmal hypertension in 4 cases, and during the health check-up in 5 cases.The lesions were located on the right side in 4 cases, on the left side in 4 cases and bilaterally in 1 case.The operations were all successful, there was no case transferring to open surgery.The average operation time was 70 min (50-100 min),mean bleeding volum was 100 ml(50-200 ml).The postoperative diagnosis: 4 cases of pheochromocytoma, 2 cases of cortical adenoma, 2 cases of neurilemmoma and 1 case of neuroinoma.The average follow-up time was 13.5 months (6-24 months) and no recurrence was found.
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OBJECTIVE:To standardize hospital purchasing management for medicinal material. METHODS:The separation of the four powers,including plan,purchase,supply,and payment,was practiced on the basis of centralized purchasing medicinal material in our hospital. SWOT method was used to analyze the strengths,weaknesses,opportunities and threats of the model;im-provement measures were formulated;finally the effects of the model were evaluated. RESULTS:This model played an active role in the professional advantage of purchasing management,made up for the lack of management system and manpower shortage dis-advantage;adapted to policies to seize the opportunities for improvement,reduced the threat of standard deletion and purchasing cost,and promoted reasonable consumption of medicinal materials. And then the purchasing cost of our hospital was reduced after system procedure improvement,fine management of medicinal material and professional level improvement,medicine ratio fell from 42% in 2010 to 37% in 2014;logistics support became stable and standard,and the level of medicinal material supply was improved. CONCLUSIONS:The purchasing model for medicinal material under separation of the four powers provides the refer-ence for the correct course of the standardized,normalized and modernized hospital purchasing management.
ABSTRACT
NS2 is a nonstructural protein of Periplaneta fuliginosa densovirus(PfDNV) with a molecular mass of 30 kD,whose function is not yet clearly understood. In order to study the expression,subcellular distribution and the function of NS2 protein,the coding region of NS2 was amplified from the hindgut tissue of cockroaches infected with PfDNV by RT-PCR and then the recombinant prokaryotic expression vector pET28a-NS2 was constructed. The recombinant plasmid was transformed into E. coli BL21(DE3) to express the 6?His fusion protein in the bacteria. After purification,the fusion protein was injected into New Zealand rabbits to prepare polyclonal antibody. The specificity of the anti-NS2 antibody was successfullyproved by western blotting on the eukaryotic expressed products of NS2 protein.Meanwhile,the full sequence of ns2 gene was also cloned into the eukaryotic expression vector pAC. The recombinant plasmid pAC-NS2 was then transfected into Schneider line 2(S2) cells to express NS2 protein in the insect cells. The subcellular localization of NS2 in the insect cells was then investigated by indirect immunofluorescence technique using the anti-NS2 polyclonal antiserum. The confocal laser scanning microscope observation showed that NS2 protein was located primarily in the cytoplasm with some punctate nuclear staining.