Objective:To investigate the effects of mirror neuron theory-based visual feedback therapy(VFT)on restoration of upper limb function of stroke patients and motor-related cortical function using functional magnetic res...Objective:To investigate the effects of mirror neuron theory-based visual feedback therapy(VFT)on restoration of upper limb function of stroke patients and motor-related cortical function using functional magnetic resonance imaging(fMRI).Methods:Hemiplegic stroke patients were randomly divided into two groups:a VFT group and a control(CTL)group.Sixteen patients in the VFT group received conventional rehabilitation(CR)and VFT for 8 weeks,while 15 patients in the CTL group received only CR.The Barthel Index(BI)was used to assess the activities of daily living at baseline and the 8th week of the recovery training period.The Fugl-Meyer assessment(FMA)scale,somatosensory evoked potential(SEP),and fMRI were used to evaluate the recovery effect of the training therapies.The latencies and amplitudes of N9 and N20 were measured.Before recovery training,fMRI was performed for all patients in the VFT and CTL groups.In addition,17 patients(9 in the VFT group and 8 in the CTL group)underwent fMRI for follow-up 2 months after treatment.Qualitative data were analyzed using the x2 test.The independent sample t-test was used to compare normally distributed data among different groups,the paired sample t-test was used to compare data between groups,and the non-parametric test was used to comparing data without normal distribution among groups.Results:There were no significant differences between the VFT and CTL group in all indexes.However,after 8 weeks of recovery training,these indexes were all significantly improved(P<0.05).As compared with the CTL group,the FMA scores,BI,and N9/N20 latencies and amplitudes of SEP in the VFT group were significantly improved(P<0.05).Two months after recovery training,fMRI showed that the degree of activation of the bilateral central anterior gyrus.parietal lobe,and auxiliary motor areas was significantly higher in the VFT group than the CTL group(P<0.05).Conclusions:VFT based on mirror neuron theory is an effective approach to improve upper extremity motor function and daily activity performance of stroke patients.The therapeutic mechanism promotes motor relearning by activating the mirror neuron system and motor cortex.SEP amplitudes increased only for patients who participated in visual feedback.VFT promotes sensory-motor plasticity and behavioral changes in both the motor and sensory domains.展开更多
BACKGROUND Supernumerary phantom limb(SPL)caused by spinal cord injury(SCI)has previously been reported in several studies.However,the mechanisms and management of SPL in SCI patients are still not fully understood.He...BACKGROUND Supernumerary phantom limb(SPL)caused by spinal cord injury(SCI)has previously been reported in several studies.However,the mechanisms and management of SPL in SCI patients are still not fully understood.Herein,we report a rare case of SPL in a patient with incomplete SCI.CASE SUMMARY A 46-year-old man complained of four hands 7 d after SCI.He was diagnosed with SPL complicated with actual limb neuropathic pain.Following a period of treatment with neurotrophic agents and Chinese traditional and analgesic medications,SPL symptoms and actual limb pain did not improve.However,his symptoms gradually lessened after combined treatment with high-frequency repetitive transcranial magnetic stimulation(rTMS),a promising neuromodulation technique,over the M1 cortex and visual feedback.After 7 wk of this treatment,SPL disappeared completely and actual limb pain was significantly relieved.CONCLUSION Cerebral plasticity changes may be a mechanism underlying the occurrence of non-painful SPL in SCI patients,and high-frequency rTMS applied to the M1 cortex could be a promising treatment method for SPL.展开更多
To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations ...To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.展开更多
Object recognition, which consists of classification and detection, has two important attributes for robustness： 1） closeness： detection windows should be as close to object locations as possible, and 2） adaptiven...Object recognition, which consists of classification and detection, has two important attributes for robustness： 1） closeness： detection windows should be as close to object locations as possible, and 2） adaptiveness： object matching should be adaptive to object variations within an object class. It is difficult to satisfy both attributes using traditional methods which consider classification and detection separately; thus recent studies propose to combine them based on confidence contextualization and foreground modeling. However, these combinations neglect feature saliency and object structure, and biological evidence suggests that the feature saliency and object structure can be important in guiding the recognition from low level to high level. In fact, object recognition originates in the mechanism of ＂what＂ and ＂where＂ pathways in human visual systems. More importantly, these pathways have feedback to each other and exchange useful information, which may improve closeness and adaptiveness. Inspired by the visual feedback, we propose a robust object recognition framework by designing a computational visual feedback model （VFM） between classification and detection. In the ＂what＂ feedback, the feature saliency from classification is exploited to rectify detection windows for better closeness; while in the ＂where＂ feedback, object parts from detection are used to match object structure for better adaptiveness. Experimental results show that the ＂what＂ and ＂where＂ feedback is effective to improve closeness and adaptiveness for object recognition, and encouraging improvements are obtained on the challenging PASCAL VOC 2007 dataset.展开更多
This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that...This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.展开更多
Aims: The aim of the study is to investigate if the new method of auditory and visual biofeedback as Upper Limb Exercise may improve praxis skills alone without any traditional physical therapy treatment or not and wi...Aims: The aim of the study is to investigate if the new method of auditory and visual biofeedback as Upper Limb Exercise may improve praxis skills alone without any traditional physical therapy treatment or not and within three successive months of treatment in children with hemiplegic cerebral palsy. Methods: A 6-year-old hemiplegic cerebral palsied child was treated with Upper-Limb Exerciser as one of augmented visual and auditory feedback devices. Sensory Integration and Praxis test was used to measure a child’s ability to integrate sensory input for perception, motor planning, and spatial actions in;Space Visualization, Figure-Ground Perception, Standing and Walking Balance, Design Copying, Postural Praxis, Bilateral Motor Coordination, Constructional Praxis, Postrotary Nystagmus, Motor Accuracy, Sequencing Praxis, Oral Praxis, Manual Form Perception, Kinesthesia, Finger Identification, Graphethesia, Localization of Tactile Stimuli, and Praxis on Verbal Command. Results: The results revealed improvement of the major standard score for each of the 17 subtests of Sensory Integration and Praxis Test when compared after three successive treatment. Conclusion: The using upper limb exerciser as one method of augmented visual and auditory feedback can be used as one of the physical and occupational therapy programs aiming to improve praxis skills in hemiplegic cerebral palsied children.展开更多
目的探讨加速康复外科(enhanced recovery after surgery,ERAS)护理联合等速肌力视觉反馈训练对膝关节损伤患者的影响。方法选取2022年5月至2023年5月在第九〇九医院(厦门大学附属东南医院)接受治疗的膝关节损伤患者100例作为研究对象,...目的探讨加速康复外科(enhanced recovery after surgery,ERAS)护理联合等速肌力视觉反馈训练对膝关节损伤患者的影响。方法选取2022年5月至2023年5月在第九〇九医院(厦门大学附属东南医院)接受治疗的膝关节损伤患者100例作为研究对象,采用随机数字表法分为对照组(n=50)和观察组(n=50);对照组接受ERAS护理,观察组在对照组基础上接受等速肌力视觉反馈训练,比较两组患者的疼痛情况、膝关节功能恢复情况、生活质量及并发症。结果术后1d、1个月、3个月、6个月,观察组患者疼痛视觉模拟评分法评分均低于对照组(P<0.05);术后6个月,两组患者的膝关节功能评分量表及世界卫生组织生活质量简表评分均升高,观察组患者的评分高于对照组(P<0.05),观察组患者的并发症总发生率低于对照组(P<0.05)。结论ERAS护理联合等速肌力视觉反馈训练可显著降低膝关节损伤患者的术后疼痛,有效促进患者的膝关节功能恢复。展开更多
基金This study was supported in part by grants from Zhejiang province medical and health technology achievement Funding project(2018ZH044)Zhejiang province medical and health science and technology project.(2020KY317)+1 种基金Zhejiang province natural science foundation(LQ19H170001)2019-2021 period key discipline construction plan funded project of traditional Chinese medicine in Jiaxing city(2019 XK-A07).
文摘Objective:To investigate the effects of mirror neuron theory-based visual feedback therapy(VFT)on restoration of upper limb function of stroke patients and motor-related cortical function using functional magnetic resonance imaging(fMRI).Methods:Hemiplegic stroke patients were randomly divided into two groups:a VFT group and a control(CTL)group.Sixteen patients in the VFT group received conventional rehabilitation(CR)and VFT for 8 weeks,while 15 patients in the CTL group received only CR.The Barthel Index(BI)was used to assess the activities of daily living at baseline and the 8th week of the recovery training period.The Fugl-Meyer assessment(FMA)scale,somatosensory evoked potential(SEP),and fMRI were used to evaluate the recovery effect of the training therapies.The latencies and amplitudes of N9 and N20 were measured.Before recovery training,fMRI was performed for all patients in the VFT and CTL groups.In addition,17 patients(9 in the VFT group and 8 in the CTL group)underwent fMRI for follow-up 2 months after treatment.Qualitative data were analyzed using the x2 test.The independent sample t-test was used to compare normally distributed data among different groups,the paired sample t-test was used to compare data between groups,and the non-parametric test was used to comparing data without normal distribution among groups.Results:There were no significant differences between the VFT and CTL group in all indexes.However,after 8 weeks of recovery training,these indexes were all significantly improved(P<0.05).As compared with the CTL group,the FMA scores,BI,and N9/N20 latencies and amplitudes of SEP in the VFT group were significantly improved(P<0.05).Two months after recovery training,fMRI showed that the degree of activation of the bilateral central anterior gyrus.parietal lobe,and auxiliary motor areas was significantly higher in the VFT group than the CTL group(P<0.05).Conclusions:VFT based on mirror neuron theory is an effective approach to improve upper extremity motor function and daily activity performance of stroke patients.The therapeutic mechanism promotes motor relearning by activating the mirror neuron system and motor cortex.SEP amplitudes increased only for patients who participated in visual feedback.VFT promotes sensory-motor plasticity and behavioral changes in both the motor and sensory domains.
文摘BACKGROUND Supernumerary phantom limb(SPL)caused by spinal cord injury(SCI)has previously been reported in several studies.However,the mechanisms and management of SPL in SCI patients are still not fully understood.Herein,we report a rare case of SPL in a patient with incomplete SCI.CASE SUMMARY A 46-year-old man complained of four hands 7 d after SCI.He was diagnosed with SPL complicated with actual limb neuropathic pain.Following a period of treatment with neurotrophic agents and Chinese traditional and analgesic medications,SPL symptoms and actual limb pain did not improve.However,his symptoms gradually lessened after combined treatment with high-frequency repetitive transcranial magnetic stimulation(rTMS),a promising neuromodulation technique,over the M1 cortex and visual feedback.After 7 wk of this treatment,SPL disappeared completely and actual limb pain was significantly relieved.CONCLUSION Cerebral plasticity changes may be a mechanism underlying the occurrence of non-painful SPL in SCI patients,and high-frequency rTMS applied to the M1 cortex could be a promising treatment method for SPL.
基金supported by the International S&T Cooperation Program of China (No. 2014DFA70710) the National Natural Science Foundation of China (No. 51475323)
文摘To measure the latency between human motion stimulation and stereo image display response in a visual feedback-based minimally invasive surgical(MIS) robotic system,a method was proposed by comparing the orientations of input and output events through image-processing technology. This method used a black bar to keep pace with the measured joint rotating at a number of speeds. During tests,an external camera was placed in front of the apparatus with a proper visual field,so that it can simultaneously view orientations of both bars fixed on the corresponding joints. After quantitatively analyzing the accuracy of the proposed measurement method,the method was applied to a visual feedback-based master–slave robotic system with two-degrees-of-freedom. Experimental results show that the latency of the overall system was approximately 250 ms,and the opposite clearance of the measured joint was in the range of 1.7°–1.9°.
基金This work was supported by the National Basic Research 973 Program of China under Grant No. 2012CB316302, the National Natural Science Foundation of China under Grant Nos. 61322209 and 61175007, the National Key Technology Research and Development Program of China under Grant No. 2012BAH07B01.Thank Steve Maybank for the revision.
文摘Object recognition, which consists of classification and detection, has two important attributes for robustness： 1） closeness： detection windows should be as close to object locations as possible, and 2） adaptiveness： object matching should be adaptive to object variations within an object class. It is difficult to satisfy both attributes using traditional methods which consider classification and detection separately; thus recent studies propose to combine them based on confidence contextualization and foreground modeling. However, these combinations neglect feature saliency and object structure, and biological evidence suggests that the feature saliency and object structure can be important in guiding the recognition from low level to high level. In fact, object recognition originates in the mechanism of ＂what＂ and ＂where＂ pathways in human visual systems. More importantly, these pathways have feedback to each other and exchange useful information, which may improve closeness and adaptiveness. Inspired by the visual feedback, we propose a robust object recognition framework by designing a computational visual feedback model （VFM） between classification and detection. In the ＂what＂ feedback, the feature saliency from classification is exploited to rectify detection windows for better closeness; while in the ＂where＂ feedback, object parts from detection are used to match object structure for better adaptiveness. Experimental results show that the ＂what＂ and ＂where＂ feedback is effective to improve closeness and adaptiveness for object recognition, and encouraging improvements are obtained on the challenging PASCAL VOC 2007 dataset.
基金supported by the National Natural Science Foundation of China (No.60874002)the Key Program of Scientific Innovation of Shanghai Education Committee (No.09zz158)the Shanghai Key Discipline (No.S30501)
文摘This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.
文摘Aims: The aim of the study is to investigate if the new method of auditory and visual biofeedback as Upper Limb Exercise may improve praxis skills alone without any traditional physical therapy treatment or not and within three successive months of treatment in children with hemiplegic cerebral palsy. Methods: A 6-year-old hemiplegic cerebral palsied child was treated with Upper-Limb Exerciser as one of augmented visual and auditory feedback devices. Sensory Integration and Praxis test was used to measure a child’s ability to integrate sensory input for perception, motor planning, and spatial actions in;Space Visualization, Figure-Ground Perception, Standing and Walking Balance, Design Copying, Postural Praxis, Bilateral Motor Coordination, Constructional Praxis, Postrotary Nystagmus, Motor Accuracy, Sequencing Praxis, Oral Praxis, Manual Form Perception, Kinesthesia, Finger Identification, Graphethesia, Localization of Tactile Stimuli, and Praxis on Verbal Command. Results: The results revealed improvement of the major standard score for each of the 17 subtests of Sensory Integration and Praxis Test when compared after three successive treatment. Conclusion: The using upper limb exerciser as one method of augmented visual and auditory feedback can be used as one of the physical and occupational therapy programs aiming to improve praxis skills in hemiplegic cerebral palsied children.
文摘目的探讨加速康复外科(enhanced recovery after surgery,ERAS)护理联合等速肌力视觉反馈训练对膝关节损伤患者的影响。方法选取2022年5月至2023年5月在第九〇九医院(厦门大学附属东南医院)接受治疗的膝关节损伤患者100例作为研究对象,采用随机数字表法分为对照组(n=50)和观察组(n=50);对照组接受ERAS护理,观察组在对照组基础上接受等速肌力视觉反馈训练,比较两组患者的疼痛情况、膝关节功能恢复情况、生活质量及并发症。结果术后1d、1个月、3个月、6个月,观察组患者疼痛视觉模拟评分法评分均低于对照组(P<0.05);术后6个月,两组患者的膝关节功能评分量表及世界卫生组织生活质量简表评分均升高,观察组患者的评分高于对照组(P<0.05),观察组患者的并发症总发生率低于对照组(P<0.05)。结论ERAS护理联合等速肌力视觉反馈训练可显著降低膝关节损伤患者的术后疼痛,有效促进患者的膝关节功能恢复。
