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In order to improve the motion fluency and coordination of lower extremity exoskeleton robots and wearers, a pace recognition method of exoskeleton wearer is proposed base on inertial sensors. Firstly, the triaxial acceleration and triaxial angular velocity signals at the thigh and calf were collected by inertial sensors. Then the signal segment of 0.5 seconds before the current time was extracted by the time window method. And the Fourier transform coefficients in the frequency domain signal were used as eigenvalues. Then the support vector machine (SVM) and hidden Markov model (HMM) were combined as a classification model, which was trained and tested for pace recognition. Finally, the pace change rule and the human-machine interaction force were combined in this model and the current pace was predicted by the model. The experimental results showed that the pace intention of the lower extremity exoskeleton wearer could be effectively identified by the method proposed in this article. And the recognition rate of the seven pace patterns could reach 92.14%. It provides a new way for the smooth control of the exoskeleton.
Subject(s)
Humans , Algorithms , Exoskeleton Device , Lower Extremity , Motion , Support Vector MachineABSTRACT
Objective:To study the role of indocyanine green(ICG)fluorescence imaging in laparoscopic partial splenectomy (LPS).Methods:The data of 4 patients who underwent ICG fluorescence imaging technology for LPS at Beijing Luhe Hospital Affiliated to Capital Medical University from May 2017 to May 2020 were retrospectively analyzed. There were 3 females and 1 male, aged 46, 41, 27 and 12 years respectively. The extents of spleen preservation were compared between ICG fluorescence imaging with ordinary white light during operation. The residual splenic remnants were tested with fluorescence imaging after splenectomy, which showed fluorescence fading indicating good vascular perfusion.Results:ICG fluorescence imaging was performed on 4 patients. The operation time ranged from 180.0 to 250.0 min, and the intraoperative blood loss ranged from 40.0 to 200.0 ml. The postoperative hospital stay ranged from 4 to 14 days. There were no serious complications. Postoperative histopathology showed: splenic cyst ( n=1), splenic hemangioma ( n=2), and splenic laceration ( n=1). Conclusions:ICG fluorescence imaging technology had a significant role to play in partial splenectomy. This study showed this technique to improve safety of laparoscopic partial splenectomy.
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Objective To investigate the diagnostic accuracies among laparoscopic ultrasonography (LUS),CT,MRCP and transabdominal ultrasonography in secondary choledocholithiasis,and to compare the procedural efficacy of LUS carried out by surgeons assisted by ultrasound physicians,and by surgeons alone.Methods Forty-two patients underwent laparoscopic transcystic common bile duct exploration (LTCBDE) in Beijing Luhe Hospital,Capital Medical University.All these patients underwent LUS examination.In 26 patients,LUS was carried out by surgeons alone while in 16 patients it was assisted by ultrasound physicians.The results of intraoperative choledochoscopy were used to verify the results in the two groups in scan time,and in its accuracies when compared with CT,MRCP and preoperative abdominal ultrasound.Results The accuracy of LUS was 92.9％,which was significantly better than that of CT (73.8％) and transabdominal ultrasonography (23.8％,P ＜0.05).It was also better than that of MRCP (89.7％),though the difference was not significant (P ＞ 0.05).Surgeons alone were faster than ultrasound physicians in performing LUS [(8.5 ± 3.0) min vs (13.2 ± 4.6) min,P ＜ 0.05].There were no statistically differences between the two groups in accuracy (92.3％ vs 93.8％,P ＞ 0.05).Conclusion LUS diagnosed common bile duct stones by surgeons who had adequate ultrasound training,with a high accuracy rate and good efficiency.
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<p><b>OBJECTIVE</b>To demonstrate the feasibility of extralevator abdominoperineal excision (ELAPE) for locally advanced low cancer in China.</p><p><b>METHODS</b>A prospective multicenter clinical trial was carried out by 7 general hospitals across China from August 2008 to October 2011. A total of 102 patients underwent ELAPE for primary locally advanced low rectal cancer. There were 60 male and 42 female patients. The patients' characteristics, complications and prognosis were recorded.</p><p><b>RESULTS</b>All patients underwent the ELAPE procedure successfully. The median operating time was 180 minutes (range 110-495 minutes) and median intraoperative blood loss was 200 ml (range 50-1000 ml). The rates of sexual dysfunction, perineal complications, urinary retention, and chronic perineal pain were 40.5%, 23.5%, 18.6% and 13.7%, respectively. Chronic perineal pain was associated with coccygectomy (12 months postoperatively, t = 8.06, P < 0.01), and the pain might gradually ease over time. Reconstruction of pelvic floor with biologic mesh was associated with lower rate of perineal dehiscence (χ(2) = 13.502, P = 0.006) and overall perineal wound complications (χ(2) = 5.836, P = 0.016) compared with primary closure. A positive circumferential margin (CRM) was demonstrated in 6 (5.9%) patients, and intraoperative perforations occurred in 4 (3.9%) patients. All CRM involvement and intraoperative perforation located at anteriorly and anterolaterally. The local recurrence was 4.9% at a median follow-up of 35 months (range, 18-58 months).</p><p><b>CONCLUSIONS</b>ELAPE performed in the prone position for low rectal cancer leads to a reduction in CRM involvement, intraoperative perforations, and local recurrence, but it might result in a little high rate of perineal wound related complications. Reconstruction of pelvic floor with biologic mesh might lower the rate of perineal wound complications.</p>
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Adult , Aged , Female , Humans , Male , Middle Aged , Digestive System Surgical Procedures , Methods , Perineum , General Surgery , Postoperative Complications , Prognosis , Prospective Studies , Rectal Neoplasms , General Surgery , Treatment OutcomeABSTRACT
Objective To investigate experience in adult inguinal hernia treated with the open preperitoneal herniorrhaphy.Methods Eight hundred and twenty-six cases were retrospectively analyzed from February 2004 to December 2011 in our hospital.The effect of operative methods and treatment were observed simultaneously.Results All the patients were cured completely without special complications; Followed up for 12 months,some negative factors such as incision infection,recurrence,special discomfort,and chronic pain have not been appeared.Conclusions The open preperitoneal herniorrhaphy under local anesthesia for adult inguinal hernia is safe,reliable and effective.