For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human ...motion intention identification in this investigation. Different from traditional control schemes which are oriented to pHRI tasks depending on the biological signal or the multisensory, the developed decentralized position/torque control is realized by utilizing only position measurements of each joint module in this paper. A novel extend state observer (ESO)-based interaction torque estimation method is proposed to identify the human motion intention that can provide motion tracking information for robots in pHRI tasks by using only joint local dynamic information. In addition, the interaction torque estimation is utilized to design the decentralized position/torque control scheme which can implement high-performance of interaction torque tracking and position tracking. The trajectory tracking error and the interaction torque tracking error of the closed-loop MRM system are uniformly ultimately bounded (UUB) which is proved by Lyapunov theory. Finally, pHRI experiment is utilized to verify the effectiveness and advancement of the proposed method.
Purpose
Staple line buttressing is a method of reinforcing surgical staple lines using buttress materials. This study evaluated surgical outcomes, hospital utilization, and hospital costs associated ...with staple line buttressing among patients who underwent primary laparoscopic sleeve gastrectomy (PLSG) in the United States.
Methods
This was a retrospective cohort study using Premier Healthcare Database data from January 1, 2012 to December 31, 2017. Patients aged ≥ 18 years who underwent PLSG were selected and assigned to buttress or non-buttress cohorts based on the use of buttress material during their hospitalization for PLSG (index). Propensity score matching (PSM) was conducted to balance patient demographic and clinical characteristics between the cohorts. Generalized estimating equation models were used to compare the clinical and economic outcomes of the matched buttress and non-buttress users during the index hospitalization.
Results
A total of 38,231 buttress and 27,349 non-buttress patients were included in the study. After PSM, 24,049 patients were retained in each cohort. Compared with non-buttress cohort, the buttress cohort patients had a similar rate of in-hospital leaks (0.28% vs 0.39%;
p
= 0.160) and a lower rate of bleeding (1.37% vs 1.80%,
p
= 0.015), transfusion (0.56% vs 0.77%,
p
= 0.050), and composite bleeding/transfusion (1.57% vs 2.04%,
p
= 0.019). Total costs ($12,201 vs $10,986,
p
< 0.001) and supply costs ($5366 vs $4320,
p
< 0.001) were higher in the buttress cohort compared with the non-buttress cohort.
Conclusions
Staple line buttressing was associated with an improvement in complication rates for bleeding and transfusion. Total and supply costs were higher in the buttress cohort, necessitating further research into cost-effective buttressing materials.
Abstract Background In patients with unprotected left main coronary artery disease (ULMCAD), this study compared the long-term prognosis of drug-eluting stent insertion guided by intravascular ...ultrasonography (IVUS) vs. angiography. Patients and methods This retrospective consort investigation was performed in December 2021. This analysis included 199 patients who underwent IVUS-guided (IVUS group, n = 81) or angiography-guided (angiography group, n = 118) drug-eluting stent implantation at the Affiliated Hospital of Inner Mongolia Medical University between September 2013 and September 2018. Major adverse cardiac events (MACE) were defined as cardiovascular death, sudden cardiac death, myocardial infarction. Results The IVUS group had considerably lower proportions of MACE within 1 year postoperatively ( P = 0.002) and cardiac mortality within 3 years postoperatively ( P = 0.018) compared to the angiography group. However, after adjusting for confounding variables, the hazard ratio for 3-year cardiac mortality was similar between the two groups ( P = 0.28). In the IVUS group, there was considerably greater minimum lumen diameter (MLD) ( P = 0.046), and reduced frequencies of target vessel restenosis ( P < 0.050) and myocardial infarction (MI) ( P = 0.024) compared to the angiography group. Cox regression analysis for 3-year cardiac mortality found that MSD was independently associated with low cardiac mortality (HR = 0.1, 95% CI: 0.01–14.92, P = 0.030). Conclusion IVUS-guided drug-eluting stent implantation may lead to better long-term prognosis in patients with ULMCAD, and MSD may be a predictor for lower cardiac mortality.
Abstract Background Real-world data regarding patient characteristics, adjuvant treatment patterns, and long-term survival outcomes are needed to better understand unmet needs among patients with ...completely resected early-stage non-small cell lung cancer (NSCLC). Methods Electronic medical records from the U.S.-based ConcertAI Patient360™ database were analyzed in patients with stage IB-IIIA NSCLC who underwent complete resection prior to March 1, 2016. Patients were followed until death or July 1, 2021. This study evaluated adjuvant chemotherapy use, and overall survival (OS) and real-world disease-free survival (rwDFS) outcomes using the Kaplan–Meier method. The correlation between OS and rwDFS was assessed using the Kendall rank test. Among patients who did not recur 5 years following surgery, landmark analyses of OS and rwDFS were conducted to understand the subsequent survival impact of remaining disease-free for at least 5 years. Results Data from 441 patients with completely resected stage IB-IIIA NSCLC were included. About 35% of patients received adjuvant chemotherapy post-resection. Median OS and rwDFS from resection were 83.1 months and 42.4 months, respectively. The 5-year OS and rwDFS rates were 65.7% and 42.1%, respectively. OS and rwDFS were positively correlated (Kendall rank correlation coefficient = 0.67; p < 0.0001). Among patients without recurrence within 5 years after resection, the subsequent 5-year OS and rwDFS survival rates were 52.9% and 36.6%, respectively. Conclusions Use of adjuvant chemotherapy was low, and the overall 5-year OS rate remained low despite all patients having undergone complete resection. Patients who remained non-recurrent over time had favorable subsequent long-term survival.
In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation of physical human–robot ...interaction (pHRI). Different from traditional interaction control scheme that depends on the biological signal and centralized control method, the decentralized robust interaction control is implemented that using only position measurements of each joint module in this investigation. Based on the harmonic drive compliance model, a novel torque-sensorless human motion intention estimation method is developed, which utilizes only the information of local dynamic position measurements. On this basis, the decentralized robust interaction control scheme is presented to achieve high performance of position tracking and ensure the security of interaction to create the ’safety’ interaction environment. The uniformly ultimately bounded (UUB) of the tracking error is proved by the Lyapunov theory. Finally, pHRI experiments confirm the effectiveness and advancement of the proposed method.
An experiment was carried out in the key laboratory for Technique Diagnosis and Function Assessment of Winter Sports of China to investigate the differences in gait characteristics between healthy ...children and children with spastic hemiplegic cerebral palsy. With permission of their parents, 200 healthy children aged 3 to 6 years in the kindergarten of Northeastern University were enrolled in this experiment. Twenty children aged 3 to 6 years with spastic hemiplegic cerebral palsy from Shengjing Hospital, China were also enrolled in this experiment. Standard data were collected by simultaneously recording gait information from two digital cameras. DVracker was used to analyze the standard data. The children with hemiplegic cerebra palsy had a longer gait cycle, slower walking speed, and longer support phase than did the healthy children. The support phase was longer than the swing phase in the children with hemiplegic cerebral palsy. There were significant differences in the angles of the hip, knee, and ankle joint between children with cerebral palsy and healthy children at the moment of touching the ground and buffering, and during pedal extension. Children with hemiplegic cerebral palsy had poor motor coordination during walking, which basically resulted in a short stride, high stride frequency to maintain speed, more obvious swing, and poor stability.
Cell fusion in genetically identical Neurospora crassa germlings and in hyphae is a highly regulated process involving the activation of a conserved MAP kinase cascade that includes NRC-1, MEK-2 and ...MAK-2. During chemotrophic growth in germlings, the MAP kinase cascade members localize to conidial anastomosis tube (CAT) tips every ∼8 minutes, perfectly out of phase with another protein that is recruited to the tip: SOFT, a recently identified scaffold for the MAK-1 MAP kinase pathway in Sordaria macrospora. How the MAK-2 oscillation process is initiated, maintained and what proteins regulate the MAP kinase cascade is currently unclear. A global phosphoproteomics approach using an allele of mak-2 (mak-2Q100G) that can be specifically inhibited by the ATP analog 1NM-PP1 was utilized to identify MAK-2 kinase targets in germlings that were potentially involved in this process. One such putative target was HAM-5, a protein of unknown biochemical function. Previously, Δham-5 mutants were shown to be deficient for hyphal fusion. Here we show that HAM-5-GFP co-localized with NRC-1, MEK-2 and MAK-2 and oscillated with identical dynamics from the cytoplasm to CAT tips during chemotropic interactions. In the Δmak-2 strain, HAM-5-GFP localized to punctate complexes that did not oscillate, but still localized to the germling tip, suggesting that MAK-2 activity influences HAM-5 function/localization. However, MAK-2-GFP showed cytoplasmic and nuclear localization in a Δham-5 strain and did not localize to puncta. Via co-immunoprecipitation experiments, HAM-5 was shown to physically interact with NRC-1, MEK-2 and MAK-2, suggesting that it functions as a scaffold/transport hub for the MAP kinase cascade members for oscillation and chemotropic interactions during germling and hyphal fusion in N. crassa. The identification of HAM-5 as a scaffold-like protein will help to link the activation of MAK-2 cascade to upstream factors and proteins involved in this intriguing process of fungal communication.
Microdialysis sampling is a widely used method to sample from complex biological matrices. Cytokines are important signaling proteins that are typically recovered with low relative recovery values ...during microdialysis sampling. Heparin was included in the microdialysis perfusion fluid as an affinity agent to increase
in vitro recovery of different cytokines through polyethersulfone (PES) microdialysis membranes with 100
kDa molecular weight cutoff. No change in fluid volumes collected from the microdialysis probes occurred when heparin was included in the perfusion fluid up to concentrations of 10
μM. The loss of heparin (10
μM) across the dialysis membrane was minimal (2.7
±
0.9%,
n
=
3). Additionally, heparin at these concentrations did not interfere with the cytokine immunoassays. The control and heparin-enhanced relative recoveries for five human cytokines using 0.1
μM heparin in the microdialysis perfusion fluid flowing at 0.5
μL
min
−1 were (
n
=
3): interleukin-4 (IL-4), 4.2
±
0.5% and 7.2
±
3.1%; interleukin-6 (IL-6), 1.4
±
0.8% and 3.6
±
1.3%; interleukin-7 (IL-7), 1.3
±
0.8% and 4.8
±
1.8%; monocyte chemoattractant protein-1 (MCP-1), 9.0
±
1.6% and 19.5
±
2.7%; and tumor necrosis factor-α (TNF-α), 7.4
±
1.3% and 16.9
±
1.6%, respectively. Heparin increased the microdialysis sampling relative recovery of several human cytokines
in vitro.
In recent years, porous starch has attracted increasing attention due to its valuable functions and potential applications. Here, we present a comprehensive review of the recent advances of porous ...starch in different aspects, including the preparation and structural characterization methods, physicochemical properties, and potential applications. In general, different techniques including physical, chemical and enzymatic as well as their synergic methods have been extensively used to prepare porous starch. The prepared porous starch can be characterized by several instrumental methods including pore structure analyzer, scanning electron microscopy, X-ray diffractometer, Fourier-transform infrared spectroscopy, and nuclear magnetic resonance. As compared to native starch, porous starch shows enhanced adsorption efficiency, solubility and swelling power. Moreover, porous starch can be used to adsorb, encapsulate and release different substances. This review will provide a guideline for the rational preparation and applications of porous starch in the future.
•Recent advances of porous starch are summarized.•Porous starch can be produced by physical, chemical, enzymatic and synergic methods.•Porous starch shows enhanced adsorption efficiency, solubility and swelling power.•Porous starch can be used to adsorb, encapsulate and release different substances.
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