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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.
Study on Quantitative Evaluation Methods of Therapeutic Effects of Sanding Training
Yoshifumi Morita,Ryota Tanioku,Tsubasa Horie,Masaki Uchida,Hiroyuki Ukai,Nobuyuki Matsui 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In the future the final aims of our research are to quantitatively evaluate the therapeutic effect of upper limb motion during the training and to develop a new rehabilitation training support robot with the evaluation function. This paper presents new evaluation methods of therapeutic effect of a sanding training. The sanding training is one type of resistance training for upper limbs. Three methods to evaluate achievement level of sanding training, cooperative movement of healthy and disabled arms, and cooperative movement of forearm and upper arm are proposed. The validities of the proposed evaluation methods are examined using the measurement data of patients with hemiplegia. Moreover, the relationships between the evaluation results and the Brunnstrom Stage of the patients are examined.
Rushatamukayanunt, Pradit,Morita, Kei-Ichi,Matsukawa, Sho,Harada, Hiroyuki,Shimamoto, Hiroaki,Tomioka, Hirofumi,Omura, Ken Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.10
Background: Human papillomaviruses (HPV) may play an important role as one of the possible etiologies of oral squamous cell carcinoma (OSCC). The present study aimed to investigate the association between HPV and OSCC in young Japanese patients by examining the presence of HPV DNA and surrogate markers in OSCC tissues. Materials and Methods: Forty young patients with OSCC whose surgical specimens were available were analyzed and compared with 40 patients randomly recruited from a pool of patients aged >40 years. HPV DNA was detected using the polymerase chain reaction-based AMPLICOR$^{(R)}$ HPV test, and surrogate markers of HPV infection were analyzed using immunohistochemical techniques to detect $p16^{INK4a}$ and p53. Results: Only two (5%) young patients and one (2.5%) older patient were positive for HPV DNA. $p16^{INK4a}$ overexpression was identified in six (15%) young patients. p53 staining levels were not high in tissues of most young patients (27 patients, 67.5%). HPV DNA status did not significantly correlate with $p16^{INK4a}$ expression levels. Profiles of increased levels of $p16^{INK4a}$ expression with diminished levels of p53 staining were not associated with the presence of HPV DNA. The combined p53 with $p16^{INK4a}$ profiles were significantly correlated with alcohol consumption in younger patients (p=0.006). Conclusions: Results of the present study indicate that HPV is less likely to cause OSCC in young Japanese patients, and the $p16^{INK4a}$ expression level is not an appropriate surrogate marker for HPV infection in OSCC.
Ogon Izaya,Hiroyuki Takashima,Tomonori Morita,Tsutomu Oshigiri,Yoshinori Terashima,Mitsunori Yoshimoto,Makoto Emori,Atsushi Teramoto,Tsuneo Takebayashi,Toshihiko Yamashita 대한척추외과학회 2020 Asian Spine Journal Vol.14 No.4
Study Design: Cross-sectional observational study.Purpose: This study aimed to analyze any potential associations of extramyocellular lipid (EMCL) and intramyocellular lipid (IMCL) contents with (1) the intensity of low back pain (LBP); (2) age, cross-sectional area (CSA), and fatty infiltration (FI) of the psoas major; and (3) spinopelvic parameters.Overview of Literature: The psoas major has clinically relevant function; however, the association of this muscle with chronic LBP is controversial. Magnetic resonance spectroscopy enables a detailed analysis of the composition of muscular fat tissues such as its EMCL and IMCL contents.Methods: The study population comprised 40 patients (19 males, 21 females; mean age, 61.7±2.4 years). Possible correlations of LBP Visual Analog Scale (VAS) scores, age, CSA, FI, and spinopelvic parameters with EMCL and IMCL contents of the psoas major were assessed.Results: No association was identified between the EMCL and IMCL contents and LBP VAS scores (<i>r</i>=0.05, <i>p</i>=0.79 and <i>r</i>=0.06, <i>p</i>=0.75, respectively). The EMCL content correlated with age (<i>r</i>=0.47, <i>p</i><0.01), body mass index (BMI) (<i>r</i>=0.44, <i>p</i><0.01), CSA (<i>r</i>=−0.59, <i>p</i>< 0.01), and FI (<i>r</i>=0.49, <i>p</i><0.01). EMCL content showed a significant negative correlation with sacral slope (SS) (<i>r</i>=−0.43, <i>p</i><0.05) and positive correlation with pelvic tilt (PT) (<i>r</i>=0.56, <i>p</i><0.01).Conclusions: EMCL content correlated with age, BMI, CSA, and FI of the psoas major, while IMCL content had no correlation. This study found correlations between SS and PT and EMCL content of the psoas major, but no correlations were found between spinopelvic parameters and IMCL content of the psoas major.
Izaya Ogon,Tsuneo Takebayashi,Hiroyuki Takashima,Tomonori Morita,Noriyuki Iesato,Katsumasa Tanimoto,Yoshinori Terashima,Mitsunori Yoshimoto,Toshihiko Yamashita 대한척추외과학회 2019 Asian Spine Journal Vol.13 No.3
Study Design: Cross sectional study. Purpose: The study aimed to analyze mechanisms underlying chronic low back pain (CLBP) using magnetic resonance imaging (MRI) T2 mapping of the intervertebral disc (IVD). Overview of Literature: MRI T2 mapping utilizes the T2 values for quantifying moisture content and collagen sequence breakdown. We previously used MRI T2 mapping for quantifying the extent of IVD degeneration (IVDD) and showed a correlation between the degeneration of the posterior annulus fibrosus (AF) and CLBP. Methods: We enrolled 40 patients with CLBP (17 males, 23 females; mean age, 50.8±1.6 years; range, 22–60 years). IVDs were categorized as the anterior AF, nucleus pulposus (NP), and posterior AF, and T2 value for each disc was measured. T2 values, assessed using the Japanese neuropathic pain (NeP) screening questionnaire, of the NeP and nociceptive pain (NocP) groups were compared. Results: T2 values of the NocP and NeP groups were 64.7±5.6 ms and 58.1±2.3 ms for the anterior AF; 67.0±4.6 ms and 59.6±2.1 ms for NP; and 70.7±4.6 ms and 51.0±1.2 ms for the posterior AF, respectively. T2 values for IVDD were significantly lower in the NeP group than those in the NocP group (p<0.01). Conclusions: The results indicate a correlation between the degeneration of posterior AF and NeP. MRI T2 mapping may be beneficial for detecting NeP caused by IVDD and can help formulate targeted analgesic therapies.
Izaya Ogon,Tsuneo Takebayashi,Hiroyuki Takashima,Tomonori Morita,Tsutomu Oshigiri,Yoshinori Terashima,Mitsunori Yoshimoto,Toshihiko Yamashita 대한척추외과학회 2019 Asian Spine Journal Vol.13 No.4
Study Design: Cross-sectional study. Purpose: To determine the association between fatty degeneration of the multifidus muscle (Mm) and intervertebral disc degeneration (IVDD) using quantitative magnetic resonance imaging (MRI). Overview of Literature: Few studies have reported on quantitative MRI analysis of the relation between the Mm and IVDD. Methods: The subjects with chronic low back pain comprised 45 patients (19 males, 26 females; mean age, 63.8±2.0 years; range, 41–79 years). We analyzed the intramyocellular lipids (IMCL) and extramyocellular lipids (EMCL) of the Mm using magnetic resonance spectroscopy. The T2 values of the anterior annulus fibrosus (AF), nucleus pulposus (NP), and posterior AF were evaluated using MRI T2 mapping. We compared the possible correlations of IMCL and EMCL of the Mm with the T2 values of anterior AF, NP, and posterior AF. Results: There was a significant negative correlation between IMCL and T2 values of the anterior AF (r=−0.65, p<0.01). There were no significant correlations between the IMCL and T2 values of NP (r=−0.16, p=0.30) and posterior AF (r=0.07, p=0.62). There were no significant correlations between the EMCL and T2 values of the anterior AF (r=−0.11, p=0.46), NP (r=0.15, p=0.32), and posterior AF (r=0.07, p=0.66). After adjustment for age and sex using multiple linear regression analysis, there was a significant negative correlation between the IMCL and T2 values of anterior AF (standardized partial regression coefficient=−0.65, p<0.01). Conclusions: The results indicated that IMCL of the Mm might be accompanied with anterior AF degeneration. Therapeutic exercises using IMCL of the Mm as evaluation index might have the potential to identify novel targets for the treatment and prevention of IVDD.
Ogon Izaya,Takashima Hiroyuki,Morita Tomonori,Oshigiri Tsutomu,Terashima Yoshinori,Yoshimoto Mitsunori,Fukushi Ryunosuke,Fujimoto Shutaro,Emori Makoto,Teramoto Atsushi,Takebayashi Tsuneo,Yamashita Tos 대한척추외과학회 2020 Asian Spine Journal Vol.14 No.5
Study Design: Cross-sectional study.Purpose: The purpose of this study was to elucidate the relevance among Schmorl’s node (SN), chronic low back pain (CLBP), and intervertebral disc degeneration (IVDD) with the use of magnetic resonance imaging T2 mapping.Overview of Literature: SN may be combined with CLBP and/or IVDD; however, their relationship has not been determined to date.Methods: A total of 105 subjects were included (48 men and 57 women; mean age, 63.2±2.7 years; range, 22–84 years). We analyzed five functional spinal unit levels (L1–S1) and evaluated the T2 values of the anterior annulus fibrosus (AF), nucleus pulposus, and posterior AF. We compared the low back pain (LBP) Visual Analog Scale (VAS) scores and the T2 values in each decade with or without SN.Results: There were no remarkable differences in SN prevalence rate regarding age decade or gender. SNs were more prevalent in the upper 2 levels (70.3%). LBP VAS scores with and without SN were 64.7±4.3 mm and 61.9±2.8 mm, respectively, with no significant differences between the groups (p =0.62). The T2 values of anterior AF with SN were significantly lower than those without SN in patients in their 50s, 60s, 70s, and 80s (p <0.01).Conclusions: SN presence is not itself a risk factor for CLBP; however, it indicates IVDD of the anterior AF in subjects with SN who are ≥50 years old.
Rehabilitation Support Robot for Self-Standing-Up Training of Hemiplegic Stroke Patients
Masateru Saito,Mizuki Kitamura,Yoshifumi Morita,Hirofumi Tanabe,Yukio Kobayashi,Takafumi Iziri,Hiroyuki Daiko,Naoki Kiriyama 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
The objective of the study involves developing a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. Therapist-guided standing-up training is effective in improving the motor function of a patient’s paralyzed leg. The therapist controls a patient’s left/right load balance by pulling or pushing the patient’s waist during standing-up training. Hence, we investigated the relationship between the patient’s waist movement and the left/right load balance during guided standing-up motion. The analysis results revealed the ideal pattern of the load balance ratio during guided standing-up training. In addition, the results indicate that the patient’s waist movement corresponded to the ideal pattern of the load balance ratio. It is expected that this movement trajectory is useful in designing a controller of a rehabilitation support robot. In order to reproduce the therapist-guided standing-up training with a rehabilitation support robot, it is necessary to consider a control method that can be installed on the robot.