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Application of DSD Mechanism to Robot Hand
Chiharu Ishii,Yosuke Nishitani,Hiroshi Hashimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recently, the development of a versatile robot hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism which is called “double-screw-drive mechanism” was applied to a robot hand. The robot hands with two fingers and three fingers were built. For the robot hand with three fingers, each fingertip was controlled so as to track the elliptical orbit and experiment was carried out.The DSD robot hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.
Yasuhiro Takeuchi,Junko Hashimoto,Yosuke Nishida,Chiemi Yamagiwa,Takashi Tamura,Akihide Atsumi 대한골다공증학회 2018 Osteoporosis and Sarcopenia Vol.4 No.1
Objectives: This postmarketing, observational study evaluated the safety and effectiveness of monthly intravenous (IV) ibandronate in Japanese patients with osteoporosis. Methods: Eligible patients received monthly IV ibandronate 1mg for 12 months. Adverse drug reactions (ADRs) were evaluated. Changes in bone mineral density (BMD) and bone turnover markers (BTMs) were assessed using matched t-test analysis. Cumulative fracture rates were analyzed by Kaplan-Meier methodology. Results: In total, 1062 patients were enrolled, of whom 1025 (n= 887 women, n= 138 men) were treated. Mean patient age was 77 years. Seventy-five ADRs were reported in 54 patients (5.26%). Four patients (0.39%) experienced serious ADRs, including one case of osteonecrosis of the jaw. Acute-phase reactions occurred in 21 patients (2.04%), and half of them arose after the first ibandronate injection. No new safety concerns were identified. Significant increases in BMD at 12 months relative to baseline were observed at the lumbar spine (4.84%, n= 187; 95% confidence interval [CI], 3.47%-6.21%), femoral neck (2.73%, n= 166; 95% CI, 1.46%-4.01%), and total hip (1.93%, n= 133; 95% CI, 0.80%-3.07%). Significant reductions were observed in all BTMs at 12 months (n = 174 in tartrate-resistant acid phosphatase-5b, n = 101 in procollagen type 1 N-terminal propeptide at baseline). The cumulative incidence of nontraumatic,new vertebral and nonvertebral fractures was 3.16% (95% CI, 2.12%-4.70%). Analyses in women only showed similar results to the overall population. Conclusions: These findings confirm the favorable safety and consistent effectiveness of ibandronate, and indicate that monthly IV ibandronate would be beneficial in daily practice for the treatment of Japanese patients with osteoporosis.
Hitoshi Kameyama,Yoshifumi Hashimoto,Yoshifumi Shimada,Saki Yamada,Ryoma Yagi,Yosuke Tajima,Takuma Okamura,Masato Nakano,Kohei Miura,Masayuki Nagahashi,Jun Sakata,Takashi Kobayashi,Shin-ichi Kosugi,To 대한대장항문학회 2018 Annals of Coloproctolgy Vol.34 No.2
Purpose: Small bowel obstruction (SBO) remains a common complication after pelvic or abdominal surgery. However, the risk factors for SBO in ulcerative colitis (UC) surgery are not well known. The aim of the present study was to clarify the risk factors associated with SBO after ileal pouch-anal anastomosis (IPAA) with a loop ileostomy for patients with UC. Methods: The medical records of 96 patients who underwent IPAA for UC between 1999 and 2011 were reviewed. SBO was confirmed based on the presence of clinical symptoms and radiographic findings. The patients were divided into 2 groups: the SBO group and the non-SBO group. We also analyzed the relationship between SBO and computed tomography (CT) scan image parameters. Results: The study included 49 male and 47 female patients. The median age was 35.5 years (range, 14–72 years). We performed a 2- or 3-stage procedure as a total proctocolectomy and IPAA for patients with UC. SBO in the pretakedown of the loop ileostomy after IPAA occurred in 22 patients (22.9%). Moreover, surgical intervention for SBO was required for 11 patients. In brief, closure of the loop ileostomy was performed earlier than expected. A multivariate logistic regression analysis revealed that the 2-stage procedure (odds ratio, 2.850; 95% confidence interval, 1.009–8.044; P = 0.048) was a significant independent risk factor associated with SBO. CT scan image parameters were not significant risk factors of SBO. Conclusion: The present study suggests that a 2-stage procedure is a significant risk factor associated with SBO after IPAA in patients with UC.
( Kazutami Sakamoto ),( Yuji Yamashita ),( Hiroyasu Ohtaka ),( Yosuke Hashimoto ),( Masaki Takemura ),( Yoshikazu Uchida ) 한국피부장벽학회 2013 한국피부장벽학회지 Vol.15 No.2
Trans-Urocanic acid (t-UCA) is recognized as an end metabolite of filaggrin via histidine which is a part of NMF amino acids in the stratum corneum (SC). As an intrinsic chromophore in SC under UV exposure, t-UCA converts to cis isomer (c-UCA) which initiates UV-induced immunosuppression. There are controversial discussions about c-UCA whether its immunosuppressive function is for the protection of body or rather to trigger carcinogenic reactions. Even though, existence of t-UCA in SC and conversion to c-UCA by UV radiation is real events evolved in Nature for the mammalian skin especially in human. The objective of this study is to investigate the transient isomerization of t-UCA in SC to c-UCA during the course of seasonal solar UV Index change in order to better understand the role of UCA for the skin physiology. Ten volunteers with age 21 to 34 are recruited and UCA isomer ratio was measured twice a week for six weeks (Sep 14th through Oct 19 in 2012). SC samples were tape stripped from the inner upper arm and UCA isomers are analyzed by HPLC. Average cis/trans ratio decreased gradually from c.a. 2.0 to 0.2. Solar UV Index reported for the area of experiment also decreased by the duration of days during the 6 weeks test period and there are good correlation found between isomer ratio and Solar UV Index. As a result, dynamic photo-isomerization of UCA in response to the solar UV radiation was confirmed. This finding would lead us further investigation of the functional roles of UCA in the skin especially for the Filaggrin mutation and Atopic Dermatitis, which is one of the hot topics in skin science.
Tadayuki Takagi,Mitsuru Sugimoto,Hidemichi Imamura,Yosuke Takahata,Yuki Nakajima,Rei Suzuki,Naoki Konno,Hiroyuki Asama,Yuki Sato,Hiroki Irie,Jun Nakamura,Mika Takasumi,Minami Hashimoto,Tsunetaka Kato 대한소화기내시경학회 2023 Clinical Endoscopy Vol.56 No.1
high tumors. Therefore, sufficient sampling of histological specimens is necessary in cases of unresectable pancreatic cancer (UR-PC). This multicenter study investigated the efficacy of endoscopic ultrasound-guided fine-needle biopsy (EUS-FNB) using a Franseen needlefor MSI evaluation in patients with UR-PC. Methods: A total of 89 patients with UR-PC who underwent endoscopic ultrasound-guided fine-needle aspiration (EUS-FNA) orEUS-FNB using 22-G needles at three hospitals in Japan (2018–2021) were enrolled. Fifty-six of these patients (FNB 23 and FNA 33)were followed up or evaluated for MSI. Patient characteristics, UR-PC data, and procedural outcomes were compared between patientswho underwent EUS-FNB and those who underwent EUS-FNA. Results: No significant difference in terms of sufficient tissue acquisition for histology was observed between patients who underwentEUS-FNB and those who underwent EUS-FNA. MSI evaluation was possible significantly more with tissue samples obtained usingEUS-FNB than with tissue samples obtained using EUS-FNA (82.6% [19/23] vs. 45.5% [15/33], respectively; p<0.01). In the multivariateanalysis, EUS-FNB was the only significant factor influencing the possibility of MSI evaluation. Conclusions: EUS-FNB using a Franseen needle is desirable for ensuring sufficient tissue acquisition for MSI evaluation.