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Development of Knee Joint Robot for Students Becoming Therapists
Yoshie Maeda,Tatsuya Hirano,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka,Keiko Takao,Ayako Satonaka 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
Students becoming physical therapists (PT) or occupational therapists (OT) cannot experience rehabilitation for actual patients’ troubles before clinical training. For this reason we have developed the knee joint robot imitating patients" troubles such as range of motion trouble, contracture, rigidity, spasticity and so on. Therefore students can experience rehabilitation for patients’ troubles virtually by using the robot. Moreover, from the standpoint of educational effect we have to develop a training program using the robot for the students to learn skilled manual therapy techniques for patients’ troubles. In this paper, we propose a training program consisting of the monitoring system, the force display system, the supervisory system and the evaluation system. Firstly, we develop monitoring function in which the graphs of robot’s angle, velocity and their appropriate values for training are displayed during training. Secondly, we develop simulation algorithms of clonus and hypertonia occurring in manual therapy. Lastly, we develop an evaluation method of manual therapy techniques for a patient with hypertonia.
Improvement of Knee Flexion and Extension Simulation Accuracy in KneeRobo
Qichang Qi,Yoshie Maeda,Kazunori Yamazaki,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kouji Sanaka 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension. However, it is well known that in addition to internal/external rotation, abduction/adduction also occurs involuntarily during knee flexion and extension. Consequently, this paper proposes a new control method that improves the simulation accuracy of KneeRobo’s knee joint movements. This is accomplished by developing a control algorithm and designing a pulley arrangement that facilitates realization of involuntary movements such as internal/external rotation and abduction/adduction during knee flexion and extension by KneeRobo. The results of experimental comparison with the actual knee joint movements of a healthy person confirm that the knee joint movements simulated by the improved KneeRobo are accurate.
Tatematsu, Hidezumi,Miyahara, Ryoji,Shimoyama, Yoshie,Funasaka, Kohei,Ohno, Eizaburou,Nakamura, Masanao,Kawashima, Hiroki,Itoh, Akihiro,Ohmiya, Naoki,Hirooka, Yoshiki,Watanabe, Osamu,Maeda, Osamu,Ando Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.5
Background: A close association between patterns identified by magnifying narrow-band imaging (M-NBI) and histological type has been described. M-NBI patterns were also recently reported to be related to the mucin phenotype; however, detials remain unclear. Materials and Methods: We investigated the cellular differentiation of gastric cancer lesions, along with their mucosal distribution observed by M-NBI. Ninety-seven depressed-type early gastric cancer lesions (74 differentiated and 23 undifferentiated adenocarcinomas) were visualized by M-NBI. Findings were divided into 4 patterns based on abnormal microvascular architecture: a chain loop pattern (CLP), a fine network pattern (FNP), a corkscrew pattern (CSP), and an unclassified pattern. Mucin phenotypes were judged as gastric (G-type), intestinal (I-type), mixed gastric and intestinal (M-type), and null (N-type) based on 4 markers (MAC5AC, MUC6, MUC2, and CD10). The relationship of each pattern of microvascular architecture with organoid differentiation indicated by cancer cell differentiation and its distribution in each histological type of early gastric cancer was investigated. Results: All CLP and FNP lesions were differentiated. The cancer cell distribution showed organoid differentiation in 84.2% (16/19) and 61.1% (22/36) of the two types of lesions, respectively, and there was a significant difference from the unclassified pattern with organoid differentiation (p<0.001). Almost all (94.7%; 18/19) CSP lesions were undifferentiated, and organoid differentiation was observed in 72.2% (13/18). There was a significant difference from the unclassified pattern with organoid differentiation (p<0.05). Conclusions: Cellular differentiation and distribution are associated with microvascular architecture observed by M-NBI.
Hiroki Umezawa,Yoji Kokura,Satoko Abe,Chieko Suzuki,Akiko Nishida,Yoshie Uchiyama,Keisuke Maeda,Hidetaka Wakabayashi,Ryo Momosaki 대한재활의학회 2019 Annals of Rehabilitation Medicine Vol.43 No.5
Objective To analyze whether sufficient energy intake (EI) improves performance of activities of daily living (ADL) in patients with hip fracture admitted to rehabilitation hospitals. The adequate amount of EI for improving performance of ADL in patients with hip fracture remains unknown. Methods This retrospective cohort study included all patients with hip fracture (n=234) admitted to rehabilitation hospitals in Japan. The inclusion criteria for this study were age >65 years and body mass index <30.0 kg/m2. Patients who were transferred to an acute hospital and those with missing case data were excluded. According to the amount of EI, the patients were classified into energy sufficiency and shortage groups (EI/total energy expenditure ≥1.0 and <1.0, respectively). The Functional Independence Measure (FIM) and FIM gain were used to evaluate the patient disability level and change in patient status in response to rehabilitation. Finally, FIM gain was calculated as the discharge FIM score minus the admission FIM score. Results The final analysis targeted 202 patients—53 (26.2%) were in the energy shortage group and 149 (73.8%) were in the energy sufficiency group. The energy sufficiency group had a greater FIM gain than the energy shortage group (mean, 25.1±14.2 vs. 19.7±16.4; p=0.024). Furthermore, sufficient EI in the first week since admission (β=0.165; 95% confidence interval, 0.392–5.230; p=0.023) was an independent factor of FIM gain. Conclusion Among elderly patients with hip fracture admitted to rehabilitation hospitals in Japan, the amount of EI during the first week after admission was an independent factor of FIM gain.