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Development of Knee Joint Robot for Students Becoming Therapist
Yoshifumi Morita,Yuki Kawai,Yusuke Hayashi,Tatsuya Hirano,Hiroyuki Ukai,Kouji Sanaka,Hironori Nakamuta,Keiko Takao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive movement. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate two kinds of knee joint troubles and verify the effectiveness by fundamental experiments.
Kawada Hiroshi,Goshima Satoshi,Sakurai Kota,Noda Yoshifumi,Kajita Kimihiro,Tanahashi Yukichi,Kawai Nobuyuki,Ishida Narihiro,Shimabukuro Katsuya,Doi Kiyoshi,Matsuo Masayuki 대한영상의학회 2021 Korean Journal of Radiology Vol.22 No.4
Objective: To assess the noncontrast two-dimensional single-shot balanced turbo-field-echo magnetic resonance angiography (b-TFE MRA) features of the abdominal aortic aneurysm (AAA) status following endovascular aneurysm repair (EVAR) and evaluate to detect endoleaks (ELs). Materials and Methods: We examined four aortic stent-grafts in a phantom study to assess the degree of metallic artifacts. We enrolled 46 EVAR-treated patients with AAA and/or common iliac artery aneurysm who underwent both computed tomography angiography (CTA) and b-TFE MRA after EVAR. Vascular measurements on CTA and b-TFE MRA were compared, and signal intensity ratios (SIRs) of the aneurysmal sac were correlated with the size changes in the AAA after EVAR (AAA prognoses). Furthermore, we examined six feasible b-TFE MRA features for the assessment of ELs. Results: There were robust intermodality (r = 0.92–0.99) correlations and interobserver (intraclass correlation coefficient = 0.97–0.99) agreement. No significant differences were noted between SIRs and aneurysm prognoses. Moreover, “mottled high-intensity” and “creeping high-intensity with the low-band rim” were recognized as significant imaging findings suspicious for the presence of ELs (p < 0.001), whereas “no signal black spot” and “layered high-intensity area” were determined as significant for the absence of ELs (p < 0.03). Based on the two positive features, sensitivity, specificity, and accuracy for the detection of ELs were 77.3%, 91.7%, and 84.8%, respectively. Furthermore, the k values (0.40–0.88) displayed moderate-toalmost perfect agreement. Conclusion: Noncontrast MRA could be a promising imaging modality for ascertaining patient follow-up after EVAR.
Hiroshi Kawada,Masayuki Kanematsu,Satoshi Goshima,Hiroshi Kondo,Haruo Watanabe,Yoshifumi Noda,Yukichi Tanahashi,Nobuyuki Kawai,Hiroaki Hoshi 대한영상의학회 2015 Korean Journal of Radiology Vol.16 No.2
To evaluate the multiphase contrast-enhanced magnetic resonance (MR) imaging features of Bacillus Calmette-Guérin (BCG)-induced granulomatous prostatitis (GP). Magnetic resonance images obtained from five patients with histopathologically proven BCGinduced GP were retrospectively analyzed for tumor location, size, signal intensity on T2-weighted images (T2WI) and diffusion-weighted images (DWI), apparent diffusion coefficient (ADC) value, and appearance on gadolinium-enhanced multiphase images. MR imaging findings were compared with histopathological findings. Bacillus Calmette-Guérin-induced GP (size range, 9–40 mm; mean, 21.2 mm) were identified in the peripheral zone in all patients. The T2WI showed lower signal intensity compared with the normal peripheral zone. The DWIs demonstrated high signal intensity and low ADC values (range, 0.44–0.68 x 10-3 mm2/sec; mean, 0.56 x 10-3 mm2/sec), which corresponded to GP. Gadolinium-enhanced multiphase MR imaging performed in five patients showed early and prolonged ring enhancement in all cases of GP. Granulomatous tissues with central caseation necrosis were identified histologically, which corresponded to ring enhancement and a central low intensity area on gadolinium-enhanced MR imaging. The findings on T2WI, DWI, and gadolinium-enhanced images became gradually obscured with time. Bacillus Calmette-Guérin-induced GP demonstrates early and prolonged ring enhancement on gadoliniumenhanced MR imaging which might be a key finding to differentiate it from prostate cancer.
Yukihiko Matsumura,Soichi Hirota,Shuhei Inoue,Takahito Inoue,Yoshifumi Kawai,Yasutaka Wada,Takashi Noguchi 한국화학공학회 2016 Korean Journal of Chemical Engineering Vol.33 No.4
Supercritical water gasification (SCWG) has attracted attention as a technology for utilizing wet biomass. We used a fluidized bed of alumina particles to prevent blockage of a SCWG reactor. A glucose solution was heated in the reactor with and without fluidized alumina particles. In the absence of alumina particles, char particles formed homogeneously in the reactor, but the use of a fluidized bed resulted in accumulation of char particles at the reactor’s exit rather than inside the reactor. Therefore, the fluidized bed was effective at preventing blockage of the reactor. However, the alumina particles did not remove deposits from the reactor’s walls. Instead, the fluidized bed caused larger char particles to form, preventing their adhesion to the reactor’s wall.