An extended statically equivalent serial chain-Identification of whole body center of mass with dynamic motion.

BACKGROUND: Tracking the whole body center of mass (CoM) trajectory of balance-impaired individuals with a personalized model is useful in the development of customized fall prevention strategies. A personalized CoM estimate can be obtained using the statically equivalent serial chain (SESC) method, but the subject has to perform an identification procedure to determine the set of subject-specific SESC parameters. During this identification, the subject must hold a series of static poses, some of which are unsuitable for balanced-impaired individuals. RESEARCH QUESTION: Can non-static poses be used to replace the static poses during SESC parameter identification? METHODS: A new method that extends the range of postures used to determine SESC parameters is presented. It takes advantage of CoM dynamics and can be executed by predominantly using dynamic motions with a few static frames. Furthermore, it is implemented using a Kalman filter to allow automatic switching between the dynamic and static models. The proposed method was tested with motion data obtained from seven healthy adults using a Vicon motion capture system and an AMTI force platform. RESULTS: We found that dynamic motions could be used to estimate the SESC parameter and even reproduce ground reaction forces; however a small number of static poses are still required to determine the subject's CoM position. The SESC-based CoM estimate obtained with this new approach was similar to that obtained using conventional full-static identification, except that the subject did not have to assume and maintain static poses. SIGNIFICANCE: Our proposed extension of the conventional SESC method would facilitate its application in the field of neuro-rehabilitation, especially in patients who need balance training. This personalized CoM method could be applicable for patients who are not able to maintain a static posture. In addition, this method helps minimize the total identification time by increasing the number of usable recorded frames.

Locomotor improvement of spinal cord-injured rats through treadmill training by forced plantar placement of hind paws.

STUDY DESIGN: Experimental training model of rats with spinal cord injury (SCI). SETTING: Osaka, JapanObjective:To investigate the effect of forced treadmill training by plantar placement (PP), as compared with dorsal placement (DP), of the dorsal paws on the locomotor behaviors of spinal cord-injured rats. METHODS: The spinal cord was contusion-injured at the thoracic level. Rats were divided into three groups: forced training involving stepping by PP and DP and non-forced training/assistance (nT). Training began 1 week after injury and was conducted for 4 weeks. Locomotor behaviors were estimated using Basso-Beattie-Bresnahan (BBB) scores, dorsiflexion of the hind paws and footprints of the hind paws. Histological and immunohistochemical examinations of the spinal cord lesions were conducted after 4 weeks of training. RESULTS: The values, respectively, of PP, DP and nT groups at 4 weeks of training were as follows: BBB scores were 15.6±0.8, 7.7±1.3 and 10.3±0.4. The paw dorsiflexion angles were 34.1±5.2, 16.4±2.4 and 23.6±3.0 degrees, respectively. The stride angles were 5.1±0.9, 13.7±4.9 and 17.8±4.0 degrees for the left paws. Cavity volumes were 10.3±2.1, 31.0±2.0 and 28.2±4.9%. In addition to cavities, there were astrocyte-devoid areas containing some loose tissues, through which many axons extended longitudinally. CONCLUSIONS: The BBB score, dorsiflexion angle and stride angle were consistently improved in the PP group. Cavity formation was more reduced, and many axons extended through coarse tissues formed in astrocyte-devoid areas at the lesion in the PP group. Forced training by PP of the hind paws promoted the behavioral and histological improvement of rats with SCI.

Preoperative planning system for surgical robotics setup with kinematics and haptics.

Recently, some useful robotic surgical systems have been developed and applied in many surgical situations. Systems such as the da Vinci surgical system of Intuitive Surgical Inc., which facilitates minimally invasive surgery with increased dexterity, are commercially available. Preoperative simulation and planning of surgical robot setups should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will play an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

Tele-surgery simulation with a patient organ model for robotic surgery training.

Robotic systems are increasingly being incorporated into general laparoscopic and thoracoscopic surgery to perform procedures such as cholecystectomy and prostatectomy. Robotic assisted surgery allows the surgeon to conduct minimally invasive surgery with increased accuracy and with potential benefits for patients. However, current robotic systems have their limitations. These include the narrow operative field of view, which can make instrument manipulation difficult. Current robotic applications are also tailored to specific surgical procedures. For these reasons, there is an increasing demand on surgeons to master the skills of instrument manipulation and their surgical application within a controlled environment. This study describes the development of a surgical simulator for training and mastering procedures performed with the da Vinci surgical system. The development of a tele-surgery simulator and the construction of a training center are also described, which will enable surgeons to simulate surgery from or in remote places, to collaborate over long distances, and for off-site expert assistance.

Laser-pointing endoscope system for natural 3D interface between robotic equipments and surgeons.

Precise measurements of reference points would be mandatory of robotic equipments would be introduced in operation rooms. We develop a real-time laser-pointing endoscope using an optical galvano scanner and a 955fps high-speed camera. This system provides the scanned 3D image of the liver under the endoscopic surgery and a touch screen interface so that surgeons can intuitively indicate points of interest with precise 3D position. Some results of in-vivo experiments on a liver of pig are shown to verify the effectiveness of the proposed.

Pharmacological and pharmacokinetic studies of the newly synthesized thiazolidinedione derivative 5-(4-(1-phenyl-1-cyclopropanecarbonylamino)benzyl)-thiazolidine-2 ,4-dio ne.

DN-108 (5-(4-(1-phenyl-1-cyclopropanecarbonylamino)benzyl)thiazolidine-2, 4-dione, CAS 195604-21-8) is a newly synthesized thiazolidinedione derivative. Pharmacological and pharmacokinetic studies of DN-108 were done. In diabetic animal models KKAy and db/db mice, DN-108, orally given at doses of 3-30 mg/kg for 10 consecutive days, improved hyperglycemia, hypertriglyceridemia or hyperinsulinemia from day 1 or day 4 and the effects were almost maintained through the experiment. In KKAy mice, DN-108, orally given at doses of 3-30 mg/kg for 4 consecutive days, potently decreased serum glucose level as compared with troglitazone (CAS 97322-87-7) and the ED25 values of DN-108 and troglitazone were 7 and 283 mg/kg/day, respectively. DN-108 increased 2-deoxyglucose uptake in L6 muscle cell line to the same extent as troglitazone. Moreover, DN-108 inhibited aldose reductase activity in vitro as potently as troglitazone did. Pharmacokinetic parameters, Cmax and AUC of DN-108 after oral administration in rats were higher than those of troglitazone. These results suggest that DN-108 has antidiabetic effect with tissue sensitization for glucose uptake and high absorption after oral administration. It is expected that DN-108 will be a promising oral antidiabetic agent.

[Production of a monoclonal antibody against Cry j 2].

The peptide possessing N-terminal 10 amino acid sequence of Cry j 2 was chemically synthesized and conjugated to KLH-carrier protein. Rabbits were immunized with this haptenized protein and the antibody (N-10 antibody) was obtained. Cross-blot analysis revealed that N-10 antibody recognized the hapten moiety. Purification of Cry j 2 was carried out with monitoring its reactivity with N-10 antibody. The substance reactive to N-10 antibody existed in the DEAE-Sephadex unadsorbed fraction. The substance reactive to N-10 antibody was subjected to CM-Sephadex equilibrated with 10 mM acetate buffer (pH 5.0). In contrast to the previous report on Cry j 2, the substance reactive to N-10 antibody existed in the CM-Sephadex unadsorbed fraction. The CM-Sephadex unadsorbed fraction was concentrated with 80% saturated ammonium sulfate, and applied to a Superdex pg 200 column. The major peak of protein was regarded as the final preparation and was subjected to SDS-PAGE. The substance reactive to N-10 antibody had a MW of 40 kDa under reducing and 37 kDa under non-reducing conditions, respectively. Furthermore, the substance reactive to N-10 antibody showed potent allergenic activity. These data completely agreed with the previous data on Cry j 2 and strongly suggested that the final preparation contained a large amount of Cry j 2. BALB/c mice were immunized intraperitoneally with the final preparation to produce a monoclonal antibody against Cry j 2. Eleven clones reacting to the final preparation were obtained, and the antibodies produced from these clones did not react with purified Cry j 1.(ABSTRACT TRUNCATED AT 250 WORDS)

Germination and outgrowth of Schizosaccharomyces pombe ascospores isolated by Urografin density gradient centrifugation.

A simple method for the isolation of single ascospores of the fission yeast Schizosaccharomyces pombe was examined. Single spores in the 7-day-old sporulating culture of a homothallic strain were separated from remaining vegetative cells by isopycnic centrifugation in the linear gradient from 10 to 60% of Urografin solution at 700 X g for 20 min. Protein content of isolated spores was very low as compared with that of vegetative cells. The isolated spores germinated through the following steps when cultured in a liquid medium at 25--35 degrees C; loss of refractility (darkening) under a phase-contrast microscope, spherical growth (swelling), emergence of germ tubes, elongation of germ tubes, cell plate formation, and cell separation. The absorbance at 650 nm of the spore suspension initially decreased, accompanied by darkening of spores, and then increased with spherical growth. The germination rate of isolated spores reached almost 100%.

Mode of increase in cell wall polysaccharides in synchronously growing Sachharomyces cerevisiae.

The mode of increase in cell wall polysaccharides of yeast (glucan and mannan) during cell cycle was analyzed using cell wall samples obtained from a synchronous culture. The increase in mannan and total glucan proceeded almost linearly throughout the cell cycle except for a short period of their leveling off at the time of cell division. However, the constituents of glucan behaved characteristically: Alkalisoluble glucan and insoluble glucan increased mainly in the former and the later half of the cell cycle, respectively.