Application of rubber artificial muscle manipulator as a rehabilitation robot

The application of a robot to rehabilitation has become a matter of great concern. This paper deals with functional recovery therapy, one important aspect of physical rehabilitation. Single-joint therapy machines have already been achieved. However, for more efficient therapy, multjoint robots are necessary to achieve more realistic motion patterns. This kind of robot must have a high level of safety for humans. A pneumatic actuator may be available for such a robot, because of the compliance of compressed air. A pneumatic rubber artificial muscle manipulator has been applied to construct a therapy robot with two degrees of freedom (DOF). Also, an impedance control strategy is employed to realize various motion modes for the physical therapy modes. Further, for efficient rehabilitation, it is desirable to comprehend the physical condition of the patient. Thus, the mechanical impedance of the human arm is used as an objective evaluation of recovery, and an estimation method is proposed. Experiments show the suitability of the proposed rehabilitation robot system </p

Potential problems in visual servo

Stability of feature-based visual servo controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region</p

Application of rubber artificial muscle manipulator as a rehabilitation robot

The application of robot to rehabilitation has become a matter of great concern. This study deals with an exercise for restoration of function being one of important rehabilitation tasks. An exercise of single joint has already been achieved with some automatically controlled machines. Now, the multijoint exercise becomes desirable, which requires the exercise robot with multi ple degrees of freedom to generate more realistic motion pattern. This kind of robot has to be absolutely safe for humans. A pneumatic calculator may be so effective for such a robot because of the flexibility from air compressibility that a rubber artificial muscle manipulator pneumatically driven is applied to construct the exercise robot with two degrees of freedom. Also an impedance control strategy is employed to realize various exercise motion modes. Further, an identification method of the recovery condition is proposed to execute the effective rehabilitation. Some experiments show the availability of proposed rehabilitation robot system </p

Calcium Phosphate in Aspergillosis of the Maxillary Sinus

The unique appearance of apatite in fungus balls of aspergillosis in the maxillary sinus was investigated using scanning electron microscopy (SEM), energy-dispersive spectroscopy (EDS), X-ray microdiffraction and Fourier transform infrared spectroscopy (FT-IR). Rod-shaped fragments with tubular structures, and globular vesicles covered with conidia were observed in the fungus balls. Massive fragments of a solid substance were demonstrated inside the fungus balls. Calcium and phosphate were detected in necrotic areas of the fungus balls by EDS. X-ray microdiffraction and FT-IR showed the presence of an apatite-like substance, but failed to demonstrate the presence of calcium oxalate crystals usually found in such fungus balls

Aberrantly Glycosylated IgA1 as a Factor in the Pathogenesis of IgA Nephropathy

Predominant or codominant immunoglobulin (Ig) A deposition in the glomerular mesangium characterizes IgA nephropathy (IgAN). Accumulated glomerular IgA is limited to the IgA1 subclass and usually galactose-deficient. This underglycosylated IgA may play an important role in the pathogenesis of IgAN. Recently, antibodies against galactose-deficient IgA1 were found to be well associated with the development of IgAN. Several therapeutic strategies based on corticosteroids or other immunosuppressive agents have been shown to at least partially suppress the progression of IgAN. On the other hand, several case reports of kidney transplantation or acquired IgA deficiency uncovered a remarkable ability of human kidney to remove mesangial IgA deposition, resulting in the long-term stabilization of kidney function. Continuous exposure to circulating immune complexes containing aberrantly glycosylated IgA1 and sequential immune response seems to be essential in the disease progression of IgAN. Removal of mesangial IgA deposition may be a challenging, but fundamental approach in the treatment of IgAN

Treatment of mandibular condyalr osteochondroma

We successfully treated a case of facial asymmetry involved in unilateral mandibular condylar osteochondroma with ipsilateral mandibular condylectomy and contralateral ramus osteotomy. A female, 32-year 11-month of age, had a chief complaint of facial asymmetry which initiated about 10 years ago. A mirror image analysis using a non-contact 3D image scanner revealed that the soft tissue on the deviated side was protruded more than 5.50 mm compared with the non-deviated side. The patinet was diagnosed as facial asymmetry with a skeletal Class III jaw-base relationship caused by unilateral mandibular condylar osteochondroma. After 18 months of preoperative orthodontic treatment, ipsilateral condylectomy and contralateral sagittal split ramus osteotomy were performed. As the results of postoperative orthodontic treatment for 20 months, an ideal occlusion having a Class I molar relationship with an adequate interincisal relationship was achieved. Facial asymmetry and mandibular protrusion were dramatically improved, and the differences between the deviation and non-deviation sides were decreased to less than 1.11 mm. The acceptable occlusion and symmetric face were maintained throughout 1-year retention period. Conclusively, our results indicated the stability after condylectomy without condylar reconstruction in a patient with unilateral condylar osteochondroma

Clonal origin of Epstein-Barr virus-infected T/NK-cell subpopulations in chronic active Epstein-Barr virus infection

Clonal expansion of Epstein-Barr virus (EBV) infected B-cells occasionally occurs in immunocompromized subjects. EBV-infected T/natural killer (NK)-cells proliferate in patients with chronic active EBV infection (CAEBV) that is a rare mononucleosis syndrome. It is classified into either T-cell type or NK-cell type according to the primary target of infection, while the pathogenesis remains unclear. To search the clonal origin of EBV-infected T/NK-cells, virus distribution and clonotype were assessed by using highly purified cell fractions obtained from 6 patients. Patient 1 had a monoclonal proliferation of EBV-infected T-cell receptor V&#x3b4;2/V&#x3b3;9-expressing cells, and carried lower copy number of EBV in &#x3b1;&#x3b2;T-cells. Patients 2 and 3 had a clonal expansion of EBV-infected CD4+T-cells, and lower EBV load in CD56+cells. Patients 4, 5 and 6 had an expansion of CD56+cells with higher EBV load than CD3+cells. EBV-terminal repeats were determined as clonal bands in the minor targeted populations of 5 patients. The size of terminal repeats indicated the same clonotype in minor subsets as in major subsets of 4 patients. However, EBV was not detected in bone marrow-derived lineage negative CD34+cells of patients. These results suggested that EBV could infect T/NK-cells at differentiation stage, but spared bone marrow CD34+hematopoietic stem cells in CAEBV patients