Neural network based tracking control of a flexible macro-micro manipulator system.

In this paper, we address the problem of stable tracking control of a flexible macro-micro manipulator (M(3)) system. A two-layer neural network is utilized to approximate the nonlinear robot dynamic behavior of the M(3) system, and the controllers for the macro and micro arms are developed without any need for prior knowledge of the dynamic model of the controlled M(3) system. A learning algorithm for the neural network using Lyapunov stability theory is derived. It is shown that both the tracking error and the weight-tuning error are uniformly ultimately bounded under this new control scheme. Simulation results are presented and compared to those obtained using a PD controller.     

食管高密度异物(鱼刺)的CT诊断

目的探讨CT在食管异物诊断中的应用价值方法食管异物10例(均为鱼刺),均行常规CT平扫,必要时加CT薄层扫描,再将CT征象与手术及内镜结果比较结果10例食管异物(鱼刺)均为CT所显示,呈大小、形态不一的稍高或高密度影,其中合并食管出血2例,黏膜下血肿1例,脓肿3例及脓胸1例结论常规CT扫描及薄层扫描在食管异物检查中具有重要意义     

Nucleus24型人工耳蜗植入后的电极有效性

目的：随访耳蜗植入后出现蜗外电极或坏损电极的情况，评价人工耳蜗植入后电极的有效性。方法：1998年6月至2002年8月53例Nucleus CI24M型耳蜗植入者，在术中及术后映射调图时进行电极阻抗测试，确定有无电极坏损及其坏损时间。开机时拍摄耳蜗位X线平片，确定电极是否完全植入。分析手术过程和术者经验对电极有效性的影响。结果：电极出现坏损的比例为13．2％，电极在术中插拔两次以上而造成电极坏损的危险度为0．4656。4年累积生存率达96．2％。不完全植入的比例为15．1％，其中又以耳蜗形态异常者居多(7／11)。结论：Nucleus CI24M型植入体在开机1～4年内的可靠性较高。电极序列在术中插拔两次以上，是导致电极坏损的主要原因。患者耳蜗的纤维化、畸形以及术者经验等因素可能导致电极不完全插入。     

Particle size and morphology of UHMWPE wear debris in failed total knee arthroplasties--a comparison between mobile bearing and fixed bearing knees.

Osteolysis induced by ultrahigh molecular weight polyethylene wear debris has been recognized as the major cause of long-term failure in total joint arthroplasties. In a previous study, the prevalence of intraoperatively identified osteolysis during primary revision surgery was much higher in mobile bearing knee replacements (47%) than in fixed bearing knee replacements (13%). We postulated that mobile bearing knee implants tend to produce smaller sized particles. In our current study, we compared the particle size and morphology of polyethylene wear debris between failed mobile bearing and fixed bearing knees. Tissue specimens from interfacial and lytic regions were extracted during revision surgery of 10 mobile bearing knees (all of the low contact stress (LCS) design) and 17 fixed bearing knees (10 of the porous-coated anatomic (PCA) and 7 of the Miller/Galante design). Polyethylene particles were isolated from the tissue specimens and examined using both scanning electron microscopy and light-scattering analyses. The LCS mobile bearing knees produced smaller particulate debris (mean equivalent spherical diameter: 0.58 microm in LCS, 1.17 microm in PCA and 5.23 microm in M/G) and more granular debris (mean value: 93% in LCS, 77% in PCA and 15% in M/G).     

Differential risks of subsequent vascular events for transient ischaemic attack and minor ischaemic stroke.

Using a prospective hospital-based registry, 146 patients with transient ischaemic attack (TIA) were compared with 376 patients with minor first-ever ischaemic stroke with respect to the 3-month risk of subsequent vascular events, in order to clarify the distinctions between the disease entities. All patients were enrolled within 48 h of onset. The risk factor distribution for the two groups was comparable, except that the TIA patients had more previous TIAs. Large artery atherosclerosis (34%) and small vessel occlusion (32%) were the main aetiologies in the TIA group, whereas small vessel occlusion (49%) was the major cause in the stroke group. The 3-month risk of combined endpoints of stroke, myocardial infarction, and vascular death for TIA patients was higher than that for the minor stroke group (15.1% vs. 3.2%; hazard ratio 4.6, 95% confidence interval 2.3-9.3 in multivariate analysis). Large artery atherosclerosis and male sex were the other significant predictors. TIA may demand more urgent management than minor stroke. The fact that aetiology is a predictor, highlights the need for rapid diagnostic tests to establish pathogenesis.     

颈椎骨折类型与脊髓损伤关系之临床观察

通过对９２例颈椎骨折病例的分析，发现屈曲型损伤最多见（５３％），其次为过伸型（２６％），压缩型（２１％）。屈曲型和压缩型多见于年轻人，而屈曲损伤导致的脱位及过伸型则多见于年龄较大者。爆裂骨折引起的神经损害最重，其次为屈曲型、过伸型及压缩（非爆裂）骨折。神经功能改善率以爆裂型骨折最差，死亡率亦最高，以压缩（非爆裂型）骨折最好，其次为过伸型及屈曲型。文内对各型的特点进行了详细讨论。     

高分子染料的进展

高分子染料是一类本身固有颜色的高分子化合物，它兼有染料和高聚物的双重性质。因此既可作为色料也可作为高聚物而应用于许多领域。本文较详细阐述了聚合染料的种类，合成方法及应用情况。     

A method for calculating the mean absorption time of drugs undergoing reversible and first-pass metabolism

A method has been derived for calculating the mean absorption time of an oral drug and its interconversion metabolite which is generated from the drug systemically and presystemically. The method evolves from the convolution integral and requires plasma AUC and AUMC values after separate intravenous administration of the drug and its interconversion metabolite and oral administration of the drug. It can also be used to calculate the mean input time of a drug undergoing reversible metabolism and administered by any other extravascular route. Results of a simulation study using both errorless and errant data indicate that, when the absorption rate constant of a drug or its interconversion metabolite is not much larger than the apparent elimination rate constant, the proposed method performs satisfactorily. However, when the absorption rate constant of a drug or its interconversion metabolite is much larger than the apparent elimination rate constant, the proposed method appears to be inaccurate.     

蚌埠地区人群金葡菌带菌调查及药敏试验

本文对不同人群抽样调查1101人,结果鼻咽部金葡菌带菌者222人。其中医务人员和住院患者的金葡菌带菌率明显高于院外人群(P<0.001）。提示医院内存在交叉感染。对222株金葡菌测定药敏试验及β-内酰胺酶,结果β-内酰胺酶阳性率89.6％。产酶株全部对青霉素耐药,不产酶株对青霉素敏感率91.4％。产酶与否,对红霉素、氯霉素耐药严重。利福平、苯唑青霉素、丁胺卡那霉素对金葡菌有极高的抗菌活性。