This paper presents the properties of Pneumatic artificial muscles and its application in medical robots. The linear model construction and minimum predictive error control algorithm for artificial muscles are discussed here too. This paper provides the experimental results of linear adaptive control, which show the control algorithm has certain applicable value.
Algorithms ; Artificial Organs ; Equipment Design ; Linear Models ; Muscle, Skeletal ; Robotics ; instrumentation ; methods

Objective To explore the effectiveness of pate functional exercise gymnastics on difficulty in opening mouth among nasopharyngeal carcinoma patients receiving postradiotherapy. Methods 60 nasopharyngeal carcinoma patients receiving postradiotherapy were randomly divided into experimental and control group (30 cases in each group). The patients in control group were received exercises of opening mouth naturally, while those in experimental group were received pate functional exercise gymnastics, thready gingival swelling of fore-tooth were measured after 1 and 12 months radiotherapy. Results The incidence of difficulty in opening mouth was 26.7% and 46.7% after 1 and 12 months radiotherapy in experimental group, while it was 63.3% and 86.7% in control group, the difference was significant. Condusions Pate functional exercise gymnastics is effective to prevent the incidence of difficulty in opening mouth among nasopharyngeal carcinoma patients.

OBJECTIVETo study the effect of endothelin-1 (ET-1) and its antagonists on the expression of endothelin and its receptors mRNA in HSC-T6 cells.

METHODSCultured HSC-T6 cells were randomly divided into 7 groups: Sham control group, ET-1 group (10 nmol/L ET-1), BQ-123 group [1 micromol/L BQ-123, a selective endothelin receptor A (ETRA) antagonist], BQ-788 group [1 micromol/L BQ-788, a selective endothelin receptor B (ETRB) antagonist], ET-1 + BQ123 group (10 nmol/L ET-1 + 1 micromol/L BQ-123), ET-1 + BQ-788 group (10 nmol/L ET-1 + 1 micromol/L BQ-788) and ET-1 + BQ-788 group (10 nmol/L ET-1 + 1 micromol/L BQ-123 + 1 micromol/L BQ-788). The expression of endothelin receptor mRNA of HSC-T6 cells was determined by reverse-transcription polymerase chain reaction (RT-PCR).

RESULTSThe expression of ETRA mRNA in ET-1 + BQ123 + BQ788 and ET-1 + BQ788 group was significantly lower than ET-1 group (0.329 +/- 0.044 and 0.292 +/- 0.023 vs. 0.440 +/- 0.030 P < 0.05). Compared with ET-1 group, the expression of ETRB mRNA in ET-1 + BQ788 group was down regulated obviously (0.499 +/- 0.136 vs. 0.153 +/- 0.071, P < 0.05). There was no significant difference in ET-1 + BQ123 group and ET-1 + BQ123 + BQ788 group when compared with ET-1 group (0.499 +/- 0.136 vs. 0.496 +/- 0.103 and 0.299 +/- 0.129, P > 0.05).

CONCLUSIONSET-1 has no obvious effect on the expression of ETRA mRNA in HSC-T6. ET-1 may up-regulate the expression of ETRB mRNA. Act on ETRA receptor, ET-1 can inhibit the expression of ETRB mRNA.

Animals ; Cells, Cultured ; Endothelin-1 ; pharmacology ; Gene Expression Regulation ; drug effects ; Hepatocytes ; drug effects ; metabolism ; Oligopeptides ; pharmacology ; Peptides, Cyclic ; pharmacology ; Piperidines ; pharmacology ; RNA, Messenger ; genetics ; Rats ; Rats, Sprague-Dawley ; Receptor, Endothelin A ; biosynthesis ; drug effects ; genetics ; Receptor, Endothelin B ; biosynthesis ; drug effects ; genetics

OBJECTIVETo observe the effect of the compound Chinese traditional drug Xianling Gubao Capsule on the semen quality of infertile males.

METHODSWe treated 66 infertile men with Xianling Gubao Capsule for 24 months, and analyzed the semen quality and sperm morphology before and after the treatment.

RESULTSTwo months after the medication, sperm concentration was increased by a small margin, but no statistically significant changes were observed in sperm vitality and motility (P > 0.05), the rate of morphologically normal sperm was significantly raised from 25.8% before treatment to 57.6% (P < 0.05) in those with the normal rate > or = 15%, but decreased from 53.0% to 25.8% (P < 0.05) in those with the normal rate < 9%. Among the 7 cases of oligospermia, the rate of morphologically normal sperm was elevated to an average of 10.9% after the 4-month medication, significantly different from the baseline rate of 5.8% (P < 0.05). Five spontaneous pregnancies and 1 successful IVF-ICSI were achieved during the treatment.

CONCLUSIONXianling Gubao Capsule can improve semen quality and significantly increase the percentage of morphologically normal sperm.

Adult ; Capsules ; Female ; Humans ; Infertility, Male ; drug therapy ; Male ; Phytotherapy ; Pregnancy ; Semen Analysis ; Sperm Count ; Sperm Motility ; Treatment Outcome

OBJECTIVETo investigate the association of heptitis B virus (HBV) genotypes and precore(PreC)/basal core promoter(BCP) mutation with interruption failure of HBV vaccination in mother-to-infant transmission.

METHODSA total number of 208 serum samples were collected from infants and mothers,including 16 infants who had become HBsAg-positive despite a complete and timely course of immunization and another 88 infants successfully protected from mother-to infant HBV transmission. HBV genotypes were determined by type-specific primers PCR method. PreC/BCP mutations were detected by direct sequencing of PCR products, and Clustal W 1.8 software was applied to analyzing the sequences.

RESULTSOf 16 mothers who were having vaccine failure infants, 15 (93.8%) were HBeAg positive and infected with genotype C (15/15, 100%). Among 88 mothers of having children being protected by vaccine, 51 (58.0%) were HBeAg positive, with 45.1% (23/51) of genotype C. The proportion of genotype C in HBeAg mothers of infants with vaccine failure, was significantly higher than that of mothers with vaccine protected infants (chi2 = 14.3, P = 0.003). However, the frequencies of T1762/A1764 mutations had no significant differences between genotype C HBeAg positive mothers with vaccine failure or protected infants (33.3% and 13.3%, respectively, P = 0.4). No A1896 mutation was found in these two groups.

CONCLUSIONHBV genotype C might contribute to the immune failure of HBV vaccination in mother-to-infant transmission, while PreC/BCP mutation might not have correlation with it.

Adult ; Female ; Genes, Viral ; Genotype ; Hepatitis B ; immunology ; prevention & control ; transmission ; Hepatitis B Vaccines ; immunology ; Hepatitis B virus ; genetics ; immunology ; Humans ; Infant, Newborn ; Infectious Disease Transmission, Vertical ; prevention & control ; Mutation ; Polymerase Chain Reaction ; Pregnancy ; Pregnancy Complications, Infectious ; immunology ; virology ; Promoter Regions, Genetic

Objective To evaluate the feasibility of endoscopic surgery using the low-temperature plasma radiofrequency for nasopharyngeal angiofibroma (NA). Methods The clinical data of 4 patients treated between December 2005 and August 2009 were retrospectively analyzed. The tumor in one patient was at stage Ⅰ and three patients were at stage Ⅱ, all these patients were treated by endoscopic surgery using the low-temperature plasma radiofrequency under controlled hypotension anesthesia. Preoperative angiography and embolisation were underwent in all patients. Bipolar coagulation was used to help hemostasis during operation. Results The tumor in all 4 patients was completely removed. The operation time was 60,80, 110, 90 min respectively. The blood loss was 250, 250, 320, 280 ml respectively. Neither blood transfusion nor complications were encountered perioperatively. Follow-up ranged from 6 months to 4 years,none of the patients recurred. Conclusions Endoscopic surgery using low-temperature plasma radiofrequency for nasopharyngeal angiofibroma has many advantages such as less bleeding and total tumor removal. It is a minimally invasive surgical method for nasopharyngeal angiofibroma.

Cardiac hypertrophy is a common phenomenon in heart disea-ses, ultimately lead to heart failure.Hepatocyte growth factor (HGF), which is a pleiotropic cytokine.It has been considered as a promising candidate for cardiovascular therapy for several years .This review focus on these molecular mechanisms and signaling pathways of HGF targeted in cardiovascular system , and summarizes current research about HGF on cardiac hypertrophy , analyses the potential contribution or adverse effect of HGF on cardiac hypertrophy turns out in different heart diseases.

Objective To explore the effect of bundle care on the life quality of post-operation patients with gynecological cancer.Methods Totals of 200 patients with gynecological cancer were recruited and randomly divided into observation group (n =100) and control group (n =100).Control group received the routine nursing,while the observation group received the bundle care on the basis of routine nursing.The life quality scale for cancer patients (EORTC QLQ-C30) was used to investigate respectively in the day before the operation and 3 months after they discharged from hospital.Results No significant difference was found in the scores of foundation,important symptoms,and others between the two groups before the intervention (P ＞ 0.05).After 3 months of the intervention,total score of EORTC QLQ-C30 [(48.03 ± 7.39) vs (57.13 ± 9.18)],the mean score in functional domain [(51.01 ± 7.84) vs (59.41 ± 11.29)],the mean score in important symptoms [(38.69 ± 9.32) vs (44.79 ± 12.80)],and the mean score in economy domain [(61.21 ± 20.99) vs (80.52 ±22.24)] in observation group was better than that in control group,and the difference was statistically significant (t =17.505,4.461,4.674,19.013,respectively; P ＜ 0.05).Conclusions Bundle care in the post-operation patients with gynecological cancer can promote their life quality.

OBJECTIVETo study how hepatitis B virus(HBV) 'a' determinant hotpoint mutations were influecing the hepatitis B vaccine efficacy.

METHODSPrimers were designed in HBV conservative region, and the degenerate probes for detecting 16 'a' determinant hotpoint mutations were developed for gene chips. Sensitivity and specificity of the gene chips were evaluated by clone sequencing. Sera of 47 pairs of mothers and infants with immune failure and 323 mothers of children with immune protection of HB vaccine were detected by the gene chips.

RESULTSResult from clone sequencing demonstrated that the gene chips were specific for the detection of 'a' determinant hotpoint mutations. The wild type of HBV was still dominant, with the prevalence of 78.66%, and the mutation frequencies of 126A, 145R, 126S-1, 126S-2, 129H, 144A, and 129R were 11.27%, 5.76%, 5.28%, 4.56%, 1.20%, 0.72% and 0.24%, respectively. The prevalence of 126A mutation was significantly higher than that of other mutations(P < 0.01). No significant differences were found in mother-infant transmission rates of 126A, 126S-1, 126S-2 and 145R variants.

CONCLUSIONThe currently available hepatitis B vaccine could block mother-infant transmission of 126A, 126S and 145R variants. It appears that there is no need to develop a new hepatitis B vaccine against 126 and 145 variants at present, but the consistent epidemiological surveillance on HBV mutants should be carried out.

Adult ; Female ; Genotype ; Hepatitis B ; prevention & control ; transmission ; Hepatitis B Vaccines ; immunology ; Hepatitis B virus ; genetics ; immunology ; Humans ; Infant, Newborn ; Infectious Disease Transmission, Vertical ; prevention & control ; Mutation ; Oligonucleotide Array Sequence Analysis ; Pregnancy ; Pregnancy Complications, Infectious ; prevention & control ; virology

OBJECTIVE: To study the clinical features of severe type 7 adenovirus pneumonia in children. METHODS: A retrospective analysis was performed for the clinical data of children who were diagnosed with severe type 7 adenovirus pneumonia from February to June, 2019. RESULTS: Among the 45 children, the male/female ratio was 3:2 and the median age was 14 months. All children had repeated fever, cough, and pulmonary moist rales, and the mean duration of fever was 14±4 days. The median time from fever to dyspnea was 8 days, and the time from fever to mechanical ventilation was 11.6±2.5 d. There was no significant increase in white blood cell count, with neutrophils as the main type. There were slight reductions in hemoglobin and albumin, while platelet and fibrinogen remained normal. There were increases in aspartate aminotransferase, lactate dehydrogenase, procalcitonin, and C-reaction protein. The detection rate of mixed pathogens was 84%. Effusion in both lungs was the major change on chest imaging (64%). Bronchoscopic manifestations were endobronchitis, tracheomalacia, and plastic bronchitis. The incidence rate of respiratory complications was 100%, and extrapulmonary complications mainly involved the circulatory system (47%), digestive system (36%), and nervous system (31%). Among the 45 children, 16 were administered with 400 mg/kg intravenous immunoglobulin (IVIG) daily for 5 days, with a mean duration of fever of 16±5 days, and 29 were administered with 1 g/kg IVIG daily for 2 days, with a mean duration of fever of 13±4 days; there was a significant difference in the mean duration of fever between the two groups (P=0.046). The overall mortality rate was 11%. CONCLUSIONS Severe type 7 adenovirus pneumonia in children has severe conditions, with a high incidence rate of complications and a high mortality rate, so it should be diagnosed and treated as early as possible.
Adenoviridae ; Bronchitis ; Female ; Fever ; Humans ; Infant ; Male ; Pneumonia, Viral ; Retrospective Studies