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At present, there still exist some limitations in the laparoscopic surgery robot represented by da Vinci surgical robot, such as the lack of force feedback function. Doctor can not feel the force feedback while operating. In this paper, a new minimally invasive laparoscopic surgery robot system is designed. Based on the master side surgeon's console, stereo vision subsystem and the slave side surgical cart, the multi-dimensional instrument force feedback technology and force feedback based safety protection strategy are introduced. The design realizes the force sensing function of full state operation. Besides, a number of different live pig experiments are carried out. The amount of bleeding in these experiments is relatively small compared with the data of the same kind of surgical robots, which effectively validates the force feedback and surgical safety protection strategies of the new robot system.
Subject(s)
Animals , Equipment Design , Laparoscopy , Minimally Invasive Surgical Procedures , Robotic Surgical Procedures , Robotics , SwineABSTRACT
Plantar fasciitis is one of the most common causes of inferior heel pain managed by many physical therapists in variety of clinical settings and wildly treated conservatively. It is usually caused by a biomechanical imbalance resulting in tension along the plantar fascia. It is estimated that 11% to 15% of all foot complaints requiring medical attention can be attributed to this condition. The patient typically presents with inferior heel pain on weight bearing. Pain associated with plantar fasciitis may be throbbing, searing, or piercing, especially with the first few steps in the morning or after periods of inactivity. This article present on overview of the current knowledge on plantar fasciitis and focuses on biomechanics, etiology, diagnosis and treatment strategies, conservative treatment including the physical therapy management are discussed. This information should assist health care practitioners who treat patients with this disorder.
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Objective To discuss the clinical effect of dynamic hip screw(DHS)and microtrauma dynamic hip screw(MTDHS)in treatment of comminuted intertrochanteric femur fractures in the elderly patients.Methods From September 2006 to July 2009,42 patients with comminuted intertrochanteric femur fractures were treated by DHS and MTDHS.According to Evans classification,there were 16 patients with type Ⅲ fractures and six with type Ⅳ fractures in MTDHS group and 15 patients with type Ⅲ fractures and five with type Ⅳ fractures in DHS group.The operation time,amount of bleeding,hospital stay and postoperative hip function were evaluated.Results All patients were followed up for 9-17 months(average 13 months).Harris score was 76.4 points in 20 patients treated by DHS and 89.8 points in 22 patients treated by MTDHS,with better functional restoration,shorter operation time and less amount of bleeding in MTDHS group than DHS group.Conclusions Compared with DHS,MTDHS has advantages of minimal invasion,minor trauma,sound recovery of hip joint function and low incidence of complications and hence is a good choice for treating intertrochanteric femur fractures.
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Objective To research the way of micro-traumatic ligation of PDA.Methods 40cases of PDA patient were ligated at auscultation triangle for PDA and the results were compared with 20cases of the passing chest methods.Results The results of new method were better than those of usual ligation in many studies.Conclusions This method could be used for all PDA patients except the patient combined with pulmonary hypertension or second operation and other cardic deformity.
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[Objective]To introduce micro-trauma technic with small incision treating the vertical fractures of the sacrum by intrasacral rod and evaluate the preliminary clinical outcomes.[Method]A total of 13 cases(9 males and 4 females) were treated with micro-trauma technic by intrasacral rod.The age ranged from 18 to 63 years,mean 36 years.Of all,6 cases were treated with anterior pelvis fixation,7 cases had sacral plexus injury.[Result]The operation lasted for 40～75 minutes(averaged 54 minutes) and hospitalisation period ranged from 8 to 20 days(averaged 11 days).A follow up lasted 9～24 months(averaged 17.5 months) in 12 patients.Ten cases were free from sacroiliac pain,2 cases had a slight pain. In 7 sacral plexus injury patients,6 cases completely recovered.[Conclusion]Micro-trauma technic with small incision treating the vertical fractures of the sacrum by intrasacral rod is a safe and effective method and has the advantages of minor trauma,less complication,short operation time and quick recovery.