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.

Dual-Energy Subtraction Imaging for Diagnosing Vocal Cord Paralysis with Flat Panel Detector Radiography

Haruhiko Machida,Keiko Yoda,Yasuko Arai,Suguru Nishida,Ai Masukawa,Masayasu Asanuma,Toshiyuki Yuhara,Satoru Morita,Kazufumi Suzuki,Eiko Ueno,John M Sabol 대한영상의학회 2010 Korean Journal of Radiology Vol.11 No.3

Objective: To investigate the clinical feasibility of dual energy subtraction (DES) imaging to improve the delineation of the vocal cord and diagnostic accuracy of vocal cord paralysis as compared with the anterior-posterior view of flat panel detector (FPD) neck radiography. Materials and Methods: For 122 consecutive patients who underwent both a flexible laryngoscopy and conventional/DES FPD radiography, three blinded readers retrospectively graded the radiographs during phonation and inspiration on a scale of 1 (poor) to 5 (excellent) for the delineation of the vocal cord, and in consensus, reviewed the diagnostic accuracy of vocal cord paralysis employing the laryngoscopy as the reference. We compared vocal cord delineation scores and accuracy of vocal cord paralysis diagnosis by both conventional and DES techniques using κstatistics and assessing the area under the receiver operating characteristic curve (AUC). Results: Vocal cord delineation scores by DES (mean, 4.2 ± 0.4) were significantly higher than those by conventional imaging (mean, 3.3 ± 0.5) (p < 0.0001). Sensitivity for diagnosing vocal cord paralysis by the conventional technique was 25%, whereas the specificity was 94%. Sensitivity by DES was 75%, whereas the specificity was 96%. The diagnostic accuracy by DES was significantly superior (κ= 0.60, AUC = 0.909) to that by conventional technique (κ= 0.18, AUC = 0.852) (p = 0.038). Conclusion: Dual energy subtraction is a superior method compared to the conventional FPD radiography for delineating the vocal cord and accurately diagnosing vocal cord paralysis. Objective: To investigate the clinical feasibility of dual energy subtraction (DES) imaging to improve the delineation of the vocal cord and diagnostic accuracy of vocal cord paralysis as compared with the anterior-posterior view of flat panel detector (FPD) neck radiography. Materials and Methods: For 122 consecutive patients who underwent both a flexible laryngoscopy and conventional/DES FPD radiography, three blinded readers retrospectively graded the radiographs during phonation and inspiration on a scale of 1 (poor) to 5 (excellent) for the delineation of the vocal cord, and in consensus, reviewed the diagnostic accuracy of vocal cord paralysis employing the laryngoscopy as the reference. We compared vocal cord delineation scores and accuracy of vocal cord paralysis diagnosis by both conventional and DES techniques using κstatistics and assessing the area under the receiver operating characteristic curve (AUC). Results: Vocal cord delineation scores by DES (mean, 4.2 ± 0.4) were significantly higher than those by conventional imaging (mean, 3.3 ± 0.5) (p < 0.0001). Sensitivity for diagnosing vocal cord paralysis by the conventional technique was 25%, whereas the specificity was 94%. Sensitivity by DES was 75%, whereas the specificity was 96%. The diagnostic accuracy by DES was significantly superior (κ= 0.60, AUC = 0.909) to that by conventional technique (κ= 0.18, AUC = 0.852) (p = 0.038). Conclusion: Dual energy subtraction is a superior method compared to the conventional FPD radiography for delineating the vocal cord and accurately diagnosing vocal cord paralysis.

Evaluation of an Integrin αvβ3 Radiotracer, [18F]F‑FPP‑RGD2, for Monitoring Pharmacological Effects of Integrin αv siRNA in the NASH Liver

Shuichi Hiroyama,Keiko Matsunaga,Miwa Ito,Hitoshi Iimori,Ippei Morita,Jun Nakamura,Eku Shimosegawa,Kohji Abe 대한핵의학회 2023 핵의학 분자영상 Vol.57 No.4

Purpose Integrin αv is a key regulator in the pathophysiology of hepatic fibrosis. In this study, we evaluated the potentialutility of an integrin αvβ3 positron emission tomography (PET) radiotracer, 18F-labeled cyclic arginine-glycine-aspartic acidpenta-peptide ([18F]F-FPP-RGD2), for detecting hepatic integrin αv and function in nonalcoholic steatohepatitis (NASH)model rats using integrin αv siRNA. Methods NASH model rats were produced by feeding a choline-deficient, low-methionine, high-fat diet for 8 weeks. PET/computerized tomography imaging and quantification of integrin αv protein, serum aspartate aminotransferase, and alanineaminotransferase were performed 1 week after single intravenous injection of integrin αv siRNA. Results Integrin αv siRNA (0.1 and 0.5 mg/kg) dose-dependently decreased hepatic integrin αv protein concentrations incontrol and NASH model rats. The hepatic mean standard uptake value of [18F]F-FPP-RGD2 was decreased dose-dependentlyby integrin αv siRNA. The mean standard uptake value was positively correlated with integrin αv protein levels in controland NASH model rats. Serum aspartate aminotransferase and alanine aminotransferase concentrations were also decreasedby siRNA injection and correlated with liver integrin αv protein expression levels in NASH model rats. Conclusion This study suggests that [18F]F-FPP-RGD2 PET imaging is a promising radiotracer for monitoring hepatic integrinαv protein levels and hepatic function in NASH pathology.

Long-term Efficacy and Tolerability of Perospirone for Young Help-seeking People at Clinical High Risk: a Preliminary Open Trial

Naohisa Tsujino,Takahiro Nemoto,Keiko Morita,Naoyuki Katagiri,Shinya Ito,Masafumi Mizuno 대한정신약물학회 2013 CLINICAL PSYCHOPHARMACOLOGY AND NEUROSCIENCE Vol.11 No.3

Objective: Interest in the “at-risk mental state” (ARMS) for psychosis has increased because early intervention is expected to delay or prevent the onset of schizophrenia. However, the optimum intervention strategy remains controversial, especially with regard to antipsychotics. Although administration of antipsychotic medications is often associated with adverse effects and raises ethical considerations, recent studies have shown that some novel antipsychotics are safer and more tolerable for young people than conventional antipsychotics. We investigated whether administration of perospirone, a combined serotonin (5-HT)/dopamine antagonist and 5-HT1A receptor agonist, could alleviate prodromal symptoms and be well tolerated by clinical high risk patients. Methods: The participants were outpatients seeking help. The Structured Interview for Prodromal Symptoms was performed in patients identified as being at clinical high risk. The Scale of Prodromal Symptoms (SOPS) was also completed and changes of subjective experience were assessed with the Subjective Well-being under Neuroleptics, short version. The incidence of akathisia was recorded by using the Barnse Akathisia Scale (BAS). Subjects were monitored for 26 weeks after starting medication. Results: SOPS scores improved significantly after 26 weeks of perospirone therapy, while BAS scores did not show deterioration. No serious adverse events occurred during the study. Conclusion: This trial suggests that perospirone therapy provides a clinical benefit for clinical high risk subjects without causing serious adverse events. Although further placebo-controlled studies are needed for confirmation, perospirone might be one of optimum treatments for individuals at imminent risk of psychosis.

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.