A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The ...A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.展开更多
BACKGROUND Cervical degenerative disc(CDD)disease is a common type of spondylosis.Although anterior cervical discectomy and fusion(ACDF)is the preferred treatment for CDD disease,internal fixation with a titanium plat...BACKGROUND Cervical degenerative disc(CDD)disease is a common type of spondylosis.Although anterior cervical discectomy and fusion(ACDF)is the preferred treatment for CDD disease,internal fixation with a titanium plate may cause various complications.The invention of the ACDF with a self-locking fusion cage(ROI-C)has effectively decreased the incidence of postoperative complications.AIM To observe the outcomes of CDD disease treated by ACDF with a ROI-C.METHODS Ninety patients with CDD disease treated at our hospital from March 2019 to March 2021 were included.They were divided into two groups(control group and observation group,n=45 in each)using a random number table.Patients in the control group received ACDF plus internal fixation with a titanium plate.Those in the observation group received ACDF+ROI-C placement.The two groups of patients were compared in terms of surgical parameters,pain,cervical spine function,range of motion,and complications.RESULTS The two groups of patients showed no significant differences in surgical time,blood loss,drainage volume,and length of hospital stay(P>0.05).No significant differences in the visual analogue scale(VAS),Japanese Orthopedic Association(JOA),and neck disability index(NDI)scores were observed between the two groups before surgery(P>0.05).The VAS and NDI scores in the observation group were considerably lower than those in the control group after surgery;however,the JOA scores in the observation group were significantly higher than those in the control group(P<0.05).No significant differences were observed in cervical disc height and the range of motion of the superior or inferior adjacent vertebrae between the two groups before surgery(P>0.05).The disc height in the observation group was larger than that in the control group after surgery.The range of motion of both the superior and inferior adjacent vertebrae was significantly smaller in the observation group than in the control group(P<0.05).The incidence of complications was only 2.22% in the observation group compared to 15.56% in the control group,and the difference was statistically significant(P<0.05).CONCLUSION Cervical spine function restoration was better with ROI-C with internal fixation in ACDF than with conventional titanium plates in ACDF for CDD disease.展开更多
Insect legs play a crucial role in various modes of locomotion,including walking,jumping,swimming,and other forms of movement.The flexibility of their leg joints is critical in enabling various modes of locomotion.The...Insect legs play a crucial role in various modes of locomotion,including walking,jumping,swimming,and other forms of movement.The flexibility of their leg joints is critical in enabling various modes of locomotion.The frog-legged leaf beetle Sagra femorata possesses remarkably enlarged hind legs,which are considered to be a critical adaptation that enables the species to withstand external pressures.When confronted with external threats,S.femorata initiates a stress response by rapidly rotating its hind legs backward and upward to a specific angle,thereby potentially intimidating potential assailants.Based on video analysis,we identified 4 distinct phases of the hind leg rotation process in S.femorata,which were determined by the range of rotation angles(0°−168.77°).Utilizing micro-computed tomography(micro-CT)technology,we performed a 3-dimensional(3D)reconstruction and conducted relative positioning and volumetric analysis of the metacoxa and metatrochanter of S.femorata.Our analysis revealed that the metacoxa–trochanter joint is a“screw-nut”structure connected by 4 muscles,which regulate the rotation of the legs.Further testing using a 3D-printed model of the metacoxa–trochanter joint demonstrated its possession of a self-locking mechanism capable of securing the legs in specific positions to prevent excessive rotation and dislocation.It can be envisioned that this self-locking mechanism holds potential for application in bio-inspired robotics.展开更多
目的:颈前路减压融合术是治疗退行性颈椎病的经典手术方式,钉板的使用增加了融合率及稳定性的同时,间接导致了邻近椎体退变和术后吞咽困难的发生。文章通过Meta分析方法比较ROI-C^(TM)自锁系统和传统融合器联合钉板内固定治疗退行性颈...目的:颈前路减压融合术是治疗退行性颈椎病的经典手术方式,钉板的使用增加了融合率及稳定性的同时,间接导致了邻近椎体退变和术后吞咽困难的发生。文章通过Meta分析方法比较ROI-C^(TM)自锁系统和传统融合器联合钉板内固定治疗退行性颈椎病患者的临床结果和并发症情况,为颈前路减压融合术中内固定方式的选择提供循证学支持。方法:检索中国知网、万方、维普、PubMed、Cochrane Library、Web of Science和Embase数据库,检索关于颈前路减压融合术中应用ROI-C^(TM)自锁系统与融合器联合钉板内固定治疗退行性颈椎病的中英文文献。检索时间范围为各数据库建库至2023年7月。由2名研究者严格按照纳入与排除标准选择文献,采用Cochrane偏倚风险工具对随机对照试验进行质量评价,NOS量表对队列研究进行质量评价。采用RevMan 5.4软件进行Meta分析。结局指标包括手术时间、术中出血量、日本骨科协会(Japanese Orthopaedic Association Scores,JOA)评分、颈椎功能障碍指数、C_(2)-C_(7)Cobb角、融合率、邻近椎体退变发生率、融合器沉降率和吞咽困难发生率。结果:共纳入13项研究,其中回顾性队列研究11项,随机对照试验2项,共1136例患者,ROI-C组569例,融合器联合钉板组567例。Meta分析结果显示:ROI-C组与融合器联合钉板组在手术时间(MD=-15.52,95%CI:-18.62至-12.42,P<0.00001),术中出血量(MD=-24.53,95%CI:-32.46至-16.61,P<0.00001),术后邻近节段退变率(RR=0.40,95%CI:0.27-0.60,P<0.00001)和术后总吞咽困难发生率(RR=0.18,95%CI:0.13-0.26,P<0.00001)均具有显著性差异。两者在术后JOA评分、颈椎功能障碍指数、C_(2)-C_(7)Cobb角、融合率和融合器沉降率方面无显著性差异(P≥0.05)。结论:在颈椎前路减压融合术中应用ROI-C^(TM)自锁系统与传统融合器联合钉板内固定治疗退行性颈椎病均可达到满意的临床效果,ROI-C^(TM)自锁系统操作更加简单,相比融合器联合钉板内固定能明显减少手术时间及术中出血量,在减少术后吞咽困难及邻近节段退变发生率等方面具有明显优势,对于跳跃型颈椎病及邻椎病翻修患者,更加推荐使用ROI-C^(TM)自锁系统。但鉴于其可能存在较高的沉降率,对于多节段且合并融合器沉降高危因素如骨质疏松、椎体终板破损的退行性颈椎病患者,仍建议使用融合器联合钉板内固定。展开更多
The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deci...The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deciphering their adhesion mechanism.This study developed a contact mechanics model based on van der Waals forces and frictional self-locking effects,incorporating both the spatular pad and spatular shaft of the gecko’s foot microstructures.Building on this foundation,a discrete element simulation model was established using the bonding method to replicate the contact between the gecko's spatula and different surfaces.The dynamic adhesion and detaching processes under normal and tangential external forces were simulated,allowing for the analysis of variation curves of normal and tangential adhesion forces at different detaching angles.This provided insights into the directional adhesion mechanics of the gecko's spatula.Furthermore,a force measurement system was constructed using a multi-degree-of-freedom nano-manipulator and an atomic force microscope within a scanning electron microscope.This system was used to experimentally test the adhesion characteristics of the gecko’s foot microstructures,validating the accuracy of the proposed adhesion mechanics model.展开更多
Background Intramedullary nails had been widely used in the treatment of long-bone fractures because of less interference of fractures and center bearing biomechanical advantage. However, it had been also found many s...Background Intramedullary nails had been widely used in the treatment of long-bone fractures because of less interference of fractures and center bearing biomechanical advantage. However, it had been also found many shortcomings such as broken nails, delayed healing and was modified in order to achieve better efficacy and reduce complications. The aim of the present study is to compare the efficacy of rotary self-locking intramedullary nails （RSIN） with that of interlocking intramedullary nails （IIN） in the treatment of long-bone fractures.展开更多
基金Project(2007AA04Z256) supported by the National High-Tech Research and Development Program of China
文摘A unilateral self-locking mechanism(USM) was proposed to increase the tractive ability of the inchworm in-pipe robots for pipeline inspection.The USM was basically composed of a cam,a torsional spring and an axis.The self-locking and virtual work principles were applied to studying the basic self-locking condition of the USM.In order to make the cooperation between the crutch and telescopic mechanism more harmonical,the unlocking time of the USM was calculated.A set of parameters were selected to build a virtual model and fabricate a prototype.Both the simulation and performance experiments were carried out in a pipe with a nominal inside diameter of 160 mm.The results show that USM enables the robot to move quickly in one way,and in the other way it helps the robot get self-locking with the pipe wall.The traction of the inchworm robot can rise to 1.2 kN,beyond the limitation of friction of 0.497 kN.
文摘BACKGROUND Cervical degenerative disc(CDD)disease is a common type of spondylosis.Although anterior cervical discectomy and fusion(ACDF)is the preferred treatment for CDD disease,internal fixation with a titanium plate may cause various complications.The invention of the ACDF with a self-locking fusion cage(ROI-C)has effectively decreased the incidence of postoperative complications.AIM To observe the outcomes of CDD disease treated by ACDF with a ROI-C.METHODS Ninety patients with CDD disease treated at our hospital from March 2019 to March 2021 were included.They were divided into two groups(control group and observation group,n=45 in each)using a random number table.Patients in the control group received ACDF plus internal fixation with a titanium plate.Those in the observation group received ACDF+ROI-C placement.The two groups of patients were compared in terms of surgical parameters,pain,cervical spine function,range of motion,and complications.RESULTS The two groups of patients showed no significant differences in surgical time,blood loss,drainage volume,and length of hospital stay(P>0.05).No significant differences in the visual analogue scale(VAS),Japanese Orthopedic Association(JOA),and neck disability index(NDI)scores were observed between the two groups before surgery(P>0.05).The VAS and NDI scores in the observation group were considerably lower than those in the control group after surgery;however,the JOA scores in the observation group were significantly higher than those in the control group(P<0.05).No significant differences were observed in cervical disc height and the range of motion of the superior or inferior adjacent vertebrae between the two groups before surgery(P>0.05).The disc height in the observation group was larger than that in the control group after surgery.The range of motion of both the superior and inferior adjacent vertebrae was significantly smaller in the observation group than in the control group(P<0.05).The incidence of complications was only 2.22% in the observation group compared to 15.56% in the control group,and the difference was statistically significant(P<0.05).CONCLUSION Cervical spine function restoration was better with ROI-C with internal fixation in ACDF than with conventional titanium plates in ACDF for CDD disease.
基金supported by the National Natural Science Foundation of China(No.32270460)the Third Xinjiang Scientific Expedition Program(No.2021xjkk0605)。
文摘Insect legs play a crucial role in various modes of locomotion,including walking,jumping,swimming,and other forms of movement.The flexibility of their leg joints is critical in enabling various modes of locomotion.The frog-legged leaf beetle Sagra femorata possesses remarkably enlarged hind legs,which are considered to be a critical adaptation that enables the species to withstand external pressures.When confronted with external threats,S.femorata initiates a stress response by rapidly rotating its hind legs backward and upward to a specific angle,thereby potentially intimidating potential assailants.Based on video analysis,we identified 4 distinct phases of the hind leg rotation process in S.femorata,which were determined by the range of rotation angles(0°−168.77°).Utilizing micro-computed tomography(micro-CT)technology,we performed a 3-dimensional(3D)reconstruction and conducted relative positioning and volumetric analysis of the metacoxa and metatrochanter of S.femorata.Our analysis revealed that the metacoxa–trochanter joint is a“screw-nut”structure connected by 4 muscles,which regulate the rotation of the legs.Further testing using a 3D-printed model of the metacoxa–trochanter joint demonstrated its possession of a self-locking mechanism capable of securing the legs in specific positions to prevent excessive rotation and dislocation.It can be envisioned that this self-locking mechanism holds potential for application in bio-inspired robotics.
文摘目的:颈前路减压融合术是治疗退行性颈椎病的经典手术方式,钉板的使用增加了融合率及稳定性的同时,间接导致了邻近椎体退变和术后吞咽困难的发生。文章通过Meta分析方法比较ROI-C^(TM)自锁系统和传统融合器联合钉板内固定治疗退行性颈椎病患者的临床结果和并发症情况,为颈前路减压融合术中内固定方式的选择提供循证学支持。方法:检索中国知网、万方、维普、PubMed、Cochrane Library、Web of Science和Embase数据库,检索关于颈前路减压融合术中应用ROI-C^(TM)自锁系统与融合器联合钉板内固定治疗退行性颈椎病的中英文文献。检索时间范围为各数据库建库至2023年7月。由2名研究者严格按照纳入与排除标准选择文献,采用Cochrane偏倚风险工具对随机对照试验进行质量评价,NOS量表对队列研究进行质量评价。采用RevMan 5.4软件进行Meta分析。结局指标包括手术时间、术中出血量、日本骨科协会(Japanese Orthopaedic Association Scores,JOA)评分、颈椎功能障碍指数、C_(2)-C_(7)Cobb角、融合率、邻近椎体退变发生率、融合器沉降率和吞咽困难发生率。结果:共纳入13项研究,其中回顾性队列研究11项,随机对照试验2项,共1136例患者,ROI-C组569例,融合器联合钉板组567例。Meta分析结果显示:ROI-C组与融合器联合钉板组在手术时间(MD=-15.52,95%CI:-18.62至-12.42,P<0.00001),术中出血量(MD=-24.53,95%CI:-32.46至-16.61,P<0.00001),术后邻近节段退变率(RR=0.40,95%CI:0.27-0.60,P<0.00001)和术后总吞咽困难发生率(RR=0.18,95%CI:0.13-0.26,P<0.00001)均具有显著性差异。两者在术后JOA评分、颈椎功能障碍指数、C_(2)-C_(7)Cobb角、融合率和融合器沉降率方面无显著性差异(P≥0.05)。结论:在颈椎前路减压融合术中应用ROI-C^(TM)自锁系统与传统融合器联合钉板内固定治疗退行性颈椎病均可达到满意的临床效果,ROI-C^(TM)自锁系统操作更加简单,相比融合器联合钉板内固定能明显减少手术时间及术中出血量,在减少术后吞咽困难及邻近节段退变发生率等方面具有明显优势,对于跳跃型颈椎病及邻椎病翻修患者,更加推荐使用ROI-C^(TM)自锁系统。但鉴于其可能存在较高的沉降率,对于多节段且合并融合器沉降高危因素如骨质疏松、椎体终板破损的退行性颈椎病患者,仍建议使用融合器联合钉板内固定。
基金funded by The National Key R&D Program of China(2023YFC2205600)Open Project of Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.,Ltd.(YY-F805202312005)+1 种基金HIT Youth Scientist Laboratory Project,Postdoctoral Fellowship Program of CPSF(GZB20230259)the China Postdoctoral Science Foundation(2023TQ0133)(2023M731288).
文摘The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deciphering their adhesion mechanism.This study developed a contact mechanics model based on van der Waals forces and frictional self-locking effects,incorporating both the spatular pad and spatular shaft of the gecko’s foot microstructures.Building on this foundation,a discrete element simulation model was established using the bonding method to replicate the contact between the gecko's spatula and different surfaces.The dynamic adhesion and detaching processes under normal and tangential external forces were simulated,allowing for the analysis of variation curves of normal and tangential adhesion forces at different detaching angles.This provided insights into the directional adhesion mechanics of the gecko's spatula.Furthermore,a force measurement system was constructed using a multi-degree-of-freedom nano-manipulator and an atomic force microscope within a scanning electron microscope.This system was used to experimentally test the adhesion characteristics of the gecko’s foot microstructures,validating the accuracy of the proposed adhesion mechanics model.
文摘Background Intramedullary nails had been widely used in the treatment of long-bone fractures because of less interference of fractures and center bearing biomechanical advantage. However, it had been also found many shortcomings such as broken nails, delayed healing and was modified in order to achieve better efficacy and reduce complications. The aim of the present study is to compare the efficacy of rotary self-locking intramedullary nails （RSIN） with that of interlocking intramedullary nails （IIN） in the treatment of long-bone fractures.
