Visual and Haptic Feedback Fusion Based on Force Tracking in Upper-limb Rehabilitation Robot System / 中国康复理论与实践

Objective:To solve the issue regarding a low correlation between visual and haptic feedback provided by the current upper-limb rehabilitation training system, this study was implemented based on the end-effector based upper-limb rehabilitation robot developed in the lab. A novel visual and haptic feedback fusion technology based on force tracking was investigated and its effect on upper-limb training was also studied. Methods:Based on the force model constructed in a virtual environment, two types of haptic feedbacks correlated to the visual feedback were designed, including the repulsive force when two objects getting close and the friction force when the object moving above medium surfaces. The haptic feedback constructed in the virtual environment was delivered to the trainees by using force tracking based on robot controlling algorithm. Eight health subjects were recruited and trained with and without feedback fusion. In the training process, the actual and expected haptic feedbacks as well as the surface electromyography (EMG) signals from anterior deltoid, posterior deltoid, biceps, and triceps were collected. The root means square error (RMSE) between the actual and expected haptic feedback was calculated under the feedback fusion training mode to characterize the force tracking-based multi-sensory feedback fusion technology. The integrated EMG values (iEMG) and EMG amplitudes per unit time (EMG/T) under two training modes were measured to explore the effect of feedback fusion technology on the upper-limb motor training. Results:Under feedback fusion training mode, the RMSE between actual and expected haptic feedback was (0.757±0.171) N. The values of iEMG from four muscles were significantly higher (|t| > 7.965, P < 0.001), and the values of EMG/T from the biceps, triceps and anterior deltoid were significantly larger under feedback fusion training mode than under the training mode without feedback fusion. Conclusion:The proposed upper-limb rehabilitation robot training system could accurately transmit the haptic feedback constructed under the virtual environment to the trainees. This system could increase the stimulation to trainees' peripheral nervous function through visual and haptic feedback fusion as well as increase the trainees' training effort. The advantages of force tracking-based visual and haptic feedback fusion technology are to freely construct the force model under the virtual environment and the haptic feedback mode is not constrained by the spatial position. Moreover, two or more types of force models can be superimposed in the same spatial position by using this technology that could improve the matching effect between haptic feedback and visual feedback under a virtual environment. The trainees' motor rehabilitation interest could be stimulated and the experience feeling of human-robot interaction could also be enhanced.

Application of Complications of Comprehensive Nursing Intervention in Laparoscopic Indirect Inguinal Hernia Repair in Children / 昆明医科大学学报

Objective To explore the application of comprehensive nursing intervention in the laparoscopic indirect inguinal hernia repair in children.Methods 167 patients with indirect inguinal hernia in children were analyzed from 2013 January to 2015 February in our hospital, according to the different nursing methods, 167 patients were randomly divided into the observation group (85 cases) and control group (82 cases).Control group was treated by conventional nursing, and the observation group was treated by comprehensive nursing intervention on the basis of conventional nursing.Results The healing rate of the two groups was 100％, there were no significant difference between two groups on unilateral, bilateral operation time (P ＞0.05) , hospitalization time in the observation group was significantly shorter than that in the control group, the difference was statistically significant (P ＜0.05).There were 2 cases of subcutaneous emphysema in the observation group, the incidence rate was 2.35％;4 cases in the control group, the incidence rate was 7.31％, That in the observation group was significantly lower than that in the control group, the difference was statistically significant (P＜0.05).There was 1 recurrent case in the control group, no recurrent case in the observation group, the difference was not statistically significant (P＞0.05).Conclusion Comprehensive nursing intervention can shorten the hospitalization time, reduce the incidence of postoperative complications, improve the treatment of children in the laparoscopic indirect inguinal hernia repair, so it is worthy of clinical promotion.

Magnitude of decrease in intraocular pressure depends upon intensity of exercise

The present study was planned to investigate the relationship between the magnitude of intraocular pressure (IOP) reduction after short-duration exercise and the intensity, duration and quantity of exercise in healthy subjects. Twenty-five healthy, sedentary male of the same age group, performed exercises at the levels of 80%, 60%, and 40% maximum heart rate (HRmax) for 15 minutes, 80% HRmax for 7.5 minutes, 60% HRmax for 10 minutes, and 40% HRmax for 30 minutes. IOP was measured with the Goldmann applanation tonometer. The IOP reduction at 5 minutes after 15 minutes of exercising at 80% HRmax, 60% HRmax, and 40% HRmax were 4.7 +/- 0.9, 3.5 +/- 0.7, and 0.9 +/- 0.4 mmHg, respectively. At five minutes, after exercising 7.5 minutes at 80% HRmax, 10 minutes at 60% HRmax, and 30 minutes at 40% HRmax, IOP reduced by 4.5 +/- 0.7, 3.3 +/- 0.9, and 2.9 +/- 1.1 mmHg, respectively. This study concludes that intensity of exercise seems responsible for the magnitude of the initial IOP decrease after short-term exercise. Furthermore, it seems that other factors such as duration of exercise or quantity of exercise, blood pressures, body mass index are not related to the amount of the initial fall in IOP.

Effect of seasons upon intraocular pressure in healthy population of China

Studies have been shown that intraocular pressure (IOP) shows a seasonal variation, but amount of change differs from study to study. The variability in their results may be due to negligence of factors that can affect IOP. Due to differences in environmental conditions of China than other countries, we investigated seasonal variations in IOP of 103 healthy male Chinese of Shanghai. IOP was measured each month over the course of fourteen months with the Goldmann applanation tonometer. The average intraocular pressures in the winter months were higher than those in the spring, summer, and autumn months. The IOP difference between winter and summer months was found to be 1.4 +/- 0.7 mmHg.This study confirms that season influences IOP. As compared to other nations, effect of seasons on IOP seems to be somewhat less pronounced in Chinese. The possible mechanisms, responsible for the seasonal variation of intraocular pressure, are also postulated.