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Based on the biomechanical simulation curve of OpenSim, an open source software of biomechanical model, a spherical exoskeleton parallel mechanism with two degrees of freedom for hip joint is proposed in this paper for the rehabilitation therapy of patients with impaired leg motor function or elderly people with walking dysfunction. Firstly, the parallel mechanism is modeled and the position inverse solution of the parallel mechanism is obtained using inverse kinematics analysis. The velocity analysis expression of the mechanism is derived by deriving the inverse kinematics solution. The model is imported into the mechanical system dynamics analysis software ADAMS and matrix processing analysis software MATLAB to carry out simulation experiments. The correctness of the velocity analysis is verified by comparing the velocity simulation results of the two methods. Then, three singular types of the mechanism are analyzed according to the obtained Jacobian matrix. According to the inverse solution of the mechanism, the reachable workspace of the mechanism is obtained by programming in MATLAB with given mechanism parameters and restriction conditions. Finally, the prototype platform is built. The experimental results show that the exoskeleton hip joint using this parallel mechanism can satisfy the requirement of rotation angle of human hip joint movement, but also can be good to assist patients with leg flexion-extension movement and adduction-abduction movement, and it is helpful to carry out corresponding rehabilitation training. It also has theoretical significance and application value for the research work of human hip exoskeleton parallel mechanism.
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Humanos , Fenômenos Biomecânicos , Exoesqueleto Energizado , Articulação do Quadril , Fisiologia , Modelos Teóricos , Movimento , Reabilitação , Rotação , CaminhadaRESUMO
Objective To discuss the effect of α-asarone on the expression level of Cyt-c,Smac,Caspase3 mRNA and protein in human esophageal carcinoma Eca-109 cell mitochondria. Methods The Eca-109 cells were cultured in vitro,and divided into the negative control group and the α-asarone treatment groups(final concentration:25,50,100 μg·mL-1).After 48 h,the morphological changes of Eca-109 cells were observed by fluorescence inversion microscope.The total RNA of cells were extracted by TRIzol method,the expressions of Cyt-c、Smac and Caspase3 were measured by RT-PCR and Western blotting. Results After Eca-109 cells were treated with different concentrations of α-asarone for 48 h,and obvious changes in the morphology were observed,the expressions of Cyt-c,Smac and Caspase3 genes and protein were increased significantly compared to the negative control group( P<0.05). Conclusion α-asarone can induce the human Eca-109 cells apoptosis by regulating expressions of mitochondrial apoptosis pathway correlation genes such as Cyt-c,Smac and Caspase3.
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Objective To investigate the effects of different methods of volume therapy on the inflammatory response in patients undergoing liver cancer resection.Methods Forty ASA Ⅰ or Ⅱ patients,aged 40-60 yr,with body mass index 20-25 kg/m2,undergoing liver cancer resection,were randomly divided into 2 groups ( n =20 each):routine fluid replacement group (group Ⅰ ) and goal-directed fluid replacement group (group Ⅱ ).The fluid replacement regime in group Ⅰ =compensatory volume expansion (CVE) + physiological requirements + cumulative loss + confinued loss + the third space losses.CVE was replaced with lactated Ringer's (LR) solution 5 mg/kg before anesthesia induction.The physiological requirements and cumulative loss were replaced with LR solution according to the principle of 4-2-1.The continued loss equal to the intraoperative blood loss was replaced with the equal volume of 6％ hydroxyethyl s tarch ( HES 130/0.4).The 3rd space losses were replaced with LR solution 5 ml·kg-1 ·h-1.In group Ⅱ,CVE was replaced with LR sol6ution as in group Ⅰ.LR solution was infused after anesthesia induction at 5 ml·kg-1 ·h-1.6％ HES was infused to maintain left ventricular ejection time (LVETc) between 350-400 ms.When 350 ms ＜ LVETc ＜ 400 ms and the amplitude of stroke volume ( SV ) increased by ＞ 10％,6％ HES was infused continuously until the amplitude of SV increased by ≤ 10％.Blood samples were taken before anesthesia induction and at the end of operation for measurement of serum TNF-α,IL-2,IL-4,IL-6 and IL-8 concentrations.The adverse cardiovascular reactions were recorded.Results Compared with group Ⅰ,the serum TNF-α,IL-6,IL-8 concentrations were significantly decreased,the serum IL-2 and IL-4 concentrations were significantly increase,and the incidence of hypotension and tachycardia was significantly decreased in group Ⅱ ( P ＜ 0.05).No adverse cardiovascular reactions were found in both groups.Conclusion LVETc and SV-guided volume therapy can maintain the blood volume and inhibit the inflammatory response and is suitable for the patients undergoing liver cancer resection.
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Objective To study the common aetiology and the principle of treatment of neonatal hyponatremia.MethodsThe clinical data of 48 neonatal hyponatremia cases,admitted to our hospital from June 2006 to January 2010,were analyzed retrospectively. ResultsThe main manifestations of neonatal hyponatremia were poor response ( 37.5％ ) and anorexia ( 31.3％ ).The common causes included anoxic diseases during perinatal period,improper feeding,effects of specific diseases,premature birth et al.After active treatment,the serum sodium returned to normal in 47 neonate within three days,except for 1 premature infants died of serious respiratory distress syndrome.Conclusion Neonatal hyponatremia shows no special clinical manifestation.The aetiologies are complicated,which should be treated in different methods correspondingly.The inquiry of feeding history,the treatment of primary illness,the early detection of serum sodium levels and timely correction of the serum sodium levels are very important to improve the successful rate and reduce sequela.
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0.05).Contrast between the two groups after infusing PS,pH and PaO_2 gained obvious difference,which showed rectification of hypoxemia and acid-intoxication.Preventative group's incidence of HMD was 27.45% while the treat group's was 80%(?~2=16.26,P
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Objective:To observe the effect of different TCM prescriptions of JinKuiYaoLve on levels of noradrenaline(NE), dopamine(DA) and 5-hydroxytryptamine(5-HT) in lung and brain tissues of pulmonary fibrosis in the early stages. To investigate the effect and mechanism of TCM prescriptions and the nature of prescription-syndrome. Methods: The wistar rats were divided into groups randomly. Pulmonary fibrosis was induced by bleomycin A5 in all groups except normal group. Rats in drug group were killed after 7 days' treatment. The levels of NE, DA and 5-HT in the lung and brain tissues were detected. Results: The level of NE in the lung tissue of model group was higher than that of normal group, Gualouxiebai decoction(GLXB) group and prednisone group. The level of 5-HT of model group was lower than that of Shenqi Pills(SQW) group and prednisone group. The level of DA of SQW group was lower than that of GLXB group. The level of NE in the brain tissue of model group was higher than that of normal group, but the level of DA was lower than that of normal group, GLXB group and Maimendong decoction(MMD) group. The level of 5-HT of Dahuangzhechong pills (DHZCW) group was higher than that of other groups(P
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AIM: To investigate the effect and mechanism of Jingui Shenqi Pill(JGSQ) on pulmonary fibrosis. METHODS: Pulmonary fibrosis was induced by bleomycinA5 in SD rats.Rats in drug group were killed after being treated by taking JGSQ daily for 28 days.The lungs of all rats were harvested for histopathological studies.The contents of tumor necrosis factor ?(TNF-?)in lungs were measured and compared. RESULTS: The degree of the alveolitis and pulmonary fibrosis, the contents of TNF-? in lungs increased significantly in the model group as compared with the normal group and the JGSQ treated group(P
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AIM: To investigate the protecting mechanisms of adjusting blood pressure and blood fat capsule(Radix angelicae sinesis,Rhizoma alismatis,poria,Rhizoma attactylodis macrocephalae,Rhizoma Chuanxiong,Radix Paeoniae alba,semen arecae,Folium perillae) in diabetic nephropathy rats induced by streptozotocin. METHODS: Forty-eight health male Wister rats were randomly divided into normal group,diabetic nephropathy group,adjusting blood pressure and blood fat capsule group and valstatan group.After experiment urine,blood,kidney samples were taken,and immunohistochemistry were performed. RESULTS: 24 hour urinary microalbumin,creatinine clearance,?_2-microglobulin,creatinine clearance ET1 and NOS in kidneys had distinct difference among three gruops. CONCLUSION: The provention and cure of DN ' function of adjusting blood pressure and blood fat capsule bears relationship with inhibition of ET-1,NOS's expression.
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Objective:To investigate the effects of comprehensive intervention on the quality of life of middle school students. Methods:Eight classes were extracted with striated cluster sampling method from the first grade of two key junior middle schools in city and countryside; four classes (two classes of the urban and rural) were selected randomly as the experimental group and another four classes (two classes of the urban and rural) as the control group. The experimental group received mental-social intervention for three years. No intervention for the control group. The effect was evaluated with the subjective quality of life of children, and a questionnaire on mental health of middle school students. Results:The scores of life quality, cognitive component and emotion component of experimental group were higher than that of control:(172.6?12.8/145.4?17.4,98.7?10.8/85.0?13.3,73.9?4.3/60.4?7.7; t=20.83, 13.20, 25.29 respectively;the average P
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Objective: To explore the effect of comprehensive intervention to correct parental unhealthy rearing behavior on middle-school students. Methods: Eight freshman classes were randomly extracted from two key junior middle schools, four classes as the experimental groups, the other four as the control group. EMBU was applied to measure the difference before and after intervention of both groups. The comprehensive intervention was used, mainly the individual family mental health education and group family education. Results: After intervention, there were significant improvement in the parents' emotional warmth and understanding factors of experimental group(53.0?10.6/49.3?10.1, 55.7?10.9/50.4?10.5,t= 4.24 or 5.80,P