AIM To design a miniature magnetically anchored and controlled camera system to reduce the number of trocars which are required for laparoscopy.METHODS The system consists of a miniature magnetically anchored camera w...AIM To design a miniature magnetically anchored and controlled camera system to reduce the number of trocars which are required for laparoscopy.METHODS The system consists of a miniature magnetically anchored camera with a 30° downward angle, an external magnetically anchored unit, and a vision output device. The camera weighs 12 g, measures Φ10.5 mm × 55 mm and has two magnets, a vision model, a light source, and a metal hexagonal nut. To test the prototype, the camera was inserted through a 12-mm conventional trocar in an ex vivo real liver laparoscopic training system. A trocar-less laparoscopic cholecystectomy was performed 6 times using a 12-mm and a 5-mm conventional trocar. In addition, the same procedure was performed in four canine models.RESULTS Both procedures were successfully performed using only two conventional laparoscopic trocars. The cholecystectomy was completed without any major complication in 42 min(38-45 min) in vitro and in 50 min(45-53 min) using an animal model. This camera was anchored and controlled by an external unit magnetically anchored on the abdominal wall. The camera could generate excellent image. with no instrument collisions.CONCLUSION The camera system we designed provides excellent optics and can be easily maneuvered. The number of conventional trocars is reduced without adding technical difficulties.展开更多
Earthquake may cause severe damage to all kinds of bridge such as the falling down of the girder; therefore,effective measures should be employed to control the seismic displacement. In this paper,the method of compre...Earthquake may cause severe damage to all kinds of bridge such as the falling down of the girder; therefore,effective measures should be employed to control the seismic displacement. In this paper,the method of comprehensive optimal control,com-bined with analytic hierarchy process,is employed to investigate the seismic response control of the Nanjing Jiangxinzhou Bridge,which is a single-tower self-anchored suspension bridge （SSSB）. Also,3-dimensional nonlinear seismic response analyses are con-ducted. Three types of practical connection measures for seismic response control of SSSB are investigated,and the optimal pa-rameters of the connection devices are achieved by this method. Results show that both the elastic connection devices and the damp-ers with rational parameters can reduce the seismic displacement of the bridge effectively,but the elastic connection devices will in-crease the seismic force of the tower. When all factors are consid-ered,the optimal measure is by using the elastic connection devices and the dampers together. These results can provide references for seismic response control of SSSBs.展开更多
In order to avoid the deep-well oil shale roadway being deformed, damaged, or difficult to maintain after excavating and supporting in Haishiwan coal mine, this paper has analyzed the characteristics of the deformed r...In order to avoid the deep-well oil shale roadway being deformed, damaged, or difficult to maintain after excavating and supporting in Haishiwan coal mine, this paper has analyzed the characteristics of the deformed roadway and revealed its failure mechanism by taking comprehensively the methods of field geological investigation, displacement monitoring of surrounding rock, rock properties and hydration properties experiments and field application tests. Based on this work, the high-resistance controlled yielding supporting principle is proposed, which is： to ＂resist＂ by high pre-tightening force and high stiff- ness in the early stage, to ＂yield＂ by making use of the controlled deformation of a yielding tube in the middle stage, and to ＂fix＂ by applying total-section Gunite in the later stage. A high-resistance controlled yielding supporting technique of ＂high pre-tightening force yielding anchor bolt ＋ small-bore pre-tight- ening force anchor cable ＋ rebar ladder beam ＋ rhombic metal mesh ＋ lagging gunite＂ has been estab- lished, and industrial on site testing implemented. The practical results show that the high-resistance controlled yielding supporting technique can effectively control the large deformation and long-time rheology of deep-well oil shale roadways and can provide beneficial references for the maintenance of other con-generic roadways.Deep-well Oil shale展开更多
The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual-Stage Actuator (DSA) proposed in...The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual-Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.展开更多
基金Supported by National Natural Science Foundation of China(Major Instrumental Program)No.81127005the Science and Technology Innovation Project of Shaanxi Province,China,No.S2016TNGY0119
文摘AIM To design a miniature magnetically anchored and controlled camera system to reduce the number of trocars which are required for laparoscopy.METHODS The system consists of a miniature magnetically anchored camera with a 30° downward angle, an external magnetically anchored unit, and a vision output device. The camera weighs 12 g, measures Φ10.5 mm × 55 mm and has two magnets, a vision model, a light source, and a metal hexagonal nut. To test the prototype, the camera was inserted through a 12-mm conventional trocar in an ex vivo real liver laparoscopic training system. A trocar-less laparoscopic cholecystectomy was performed 6 times using a 12-mm and a 5-mm conventional trocar. In addition, the same procedure was performed in four canine models.RESULTS Both procedures were successfully performed using only two conventional laparoscopic trocars. The cholecystectomy was completed without any major complication in 42 min(38-45 min) in vitro and in 50 min(45-53 min) using an animal model. This camera was anchored and controlled by an external unit magnetically anchored on the abdominal wall. The camera could generate excellent image. with no instrument collisions.CONCLUSION The camera system we designed provides excellent optics and can be easily maneuvered. The number of conventional trocars is reduced without adding technical difficulties.
基金Supported by the National Natural Science Foundation of China for Distinguished Young Scientists (50725828)the National Natural Science Foundation of China (50908046)the Specialized Research Fund for the Doctoral Program of Higher Education (200802861012)
文摘Earthquake may cause severe damage to all kinds of bridge such as the falling down of the girder; therefore,effective measures should be employed to control the seismic displacement. In this paper,the method of comprehensive optimal control,com-bined with analytic hierarchy process,is employed to investigate the seismic response control of the Nanjing Jiangxinzhou Bridge,which is a single-tower self-anchored suspension bridge （SSSB）. Also,3-dimensional nonlinear seismic response analyses are con-ducted. Three types of practical connection measures for seismic response control of SSSB are investigated,and the optimal pa-rameters of the connection devices are achieved by this method. Results show that both the elastic connection devices and the damp-ers with rational parameters can reduce the seismic displacement of the bridge effectively,but the elastic connection devices will in-crease the seismic force of the tower. When all factors are consid-ered,the optimal measure is by using the elastic connection devices and the dampers together. These results can provide references for seismic response control of SSSBs.
基金Financial support for this work, provided by the National Natural Science Foundation of China (No. 51174195)the Graduate Student Scientific Research Innovation Project of the Jiangsu Province Ordinary University (No. CXZZ12_0954)the Research Foundation of the State Key Laboratory of Coal Resources and Mine Safety (No. SKLCRSM08X04)
文摘In order to avoid the deep-well oil shale roadway being deformed, damaged, or difficult to maintain after excavating and supporting in Haishiwan coal mine, this paper has analyzed the characteristics of the deformed roadway and revealed its failure mechanism by taking comprehensively the methods of field geological investigation, displacement monitoring of surrounding rock, rock properties and hydration properties experiments and field application tests. Based on this work, the high-resistance controlled yielding supporting principle is proposed, which is： to ＂resist＂ by high pre-tightening force and high stiff- ness in the early stage, to ＂yield＂ by making use of the controlled deformation of a yielding tube in the middle stage, and to ＂fix＂ by applying total-section Gunite in the later stage. A high-resistance controlled yielding supporting technique of ＂high pre-tightening force yielding anchor bolt ＋ small-bore pre-tight- ening force anchor cable ＋ rebar ladder beam ＋ rhombic metal mesh ＋ lagging gunite＂ has been estab- lished, and industrial on site testing implemented. The practical results show that the high-resistance controlled yielding supporting technique can effectively control the large deformation and long-time rheology of deep-well oil shale roadways and can provide beneficial references for the maintenance of other con-generic roadways.Deep-well Oil shale
文摘The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual-Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.
