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局部麻醉下机器人辅助经皮椎体后凸成形伤椎注入骨水泥的患者体验分析

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中国组织工程研究 2025年第22期29卷 4647-4652页

作者：李佳鸿林书唐六一胡豇俞阳张伟四川省医学科学院·四川省人民医院(电子科技大学附属医院)骨科四川省成都市610072

背景:局部麻醉下传统C臂辅助经皮椎体后凸成形手术需多次透视以调整穿刺方向,工作通道建立时间较长,患者术中疼痛刺激较大;而机器人辅助经皮椎体后凸成形手术可一次性精准穿刺成功,明显改善患者术中体验,同时减少骨水泥渗漏风险。目的:... 详细信息

背景:局部麻醉下传统C臂辅助经皮椎体后凸成形手术需多次透视以调整穿刺方向,工作通道建立时间较长,患者术中疼痛刺激较大;而机器人辅助经皮椎体后凸成形手术可一次性精准穿刺成功,明显改善患者术中体验,同时减少骨水泥渗漏风险。目的:比较局部麻醉下机器人辅助和传统C臂辅助经皮椎体后凸成形手术的患者体验和其他疗效。方法:选择四川省医学科学院·四川省人民医院(电子科技大学附属医院)收治的单节段骨质疏松性椎体压缩骨折患者241例,其中132例在局部麻醉下进行机器人辅助经皮椎体后凸成形手术治疗(机器人辅助组),109例在局部麻醉下进行传统C臂辅助经皮椎体后凸成形手术治疗(传统透视组),记录患者术中体验评价、骨水泥注射量、手术时间、工作通道建立时间、住院费用及并发症,术后1 d通过影像学评估穿刺偏差与骨水泥渗漏。结果与结论:(1)机器人组59例患者术中体验评价为“非常好”,43例为“好”,16例为“一般”,10例为“差”,4例为“非常差”;传统透视组30例患者术中体验评价为“非常好”,44例为“好”,21例为“一般”,9例为“差”,5例为“非常差”,两组间术中体验评价比较差异有显著性意义(Z=-2.546,P=0.011);机器人组患者术中目测类比评分低于传统透视组(t=-9.513,P=0.000);机器人组、传统透视组愿意在必要时再次接受经皮椎体后凸成形手术的患者分别为84例和47例,组间比较差异有显著性意义(Z=-2.730,P=0.006);(2)机器人组患者手术时间、住院费用均多于传统透视组(t=2.860,P=0.003;t=36.522,P=0.000),工作通道建立时间短于传统透视组(t=-27.066,P=0.000),穿刺精度优于传统透视组(Z=-3.656,P=0.000),骨水泥渗漏率低于传统透视组(χ^(2)=7.284,P=0.007);(3)结果表明,局部麻醉后在机器人辅助行经皮椎体后凸成形手术患者的手术体验较好,具有穿刺精确、工作通道建立时间短、骨水泥渗漏率低的优势。

关键词：机器人骨质疏松性椎体压缩骨折经皮椎体后凸成形患者体验局部麻醉

Sediment yield computation of the sandy and gritty area based on the digital watershed model

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Science China(Technological Sciences) 2006年第6期49卷 752-763页

作者： liU jiahong WANG Guangqian li Tiejian XUE Hai HE li State Key Laboratory of Hydroscience and Engineering Tsinghua University Beijing 100084 China State Key Laboratory of Hydroscience and Engineering Tsinghua University Beijing 100084 China State Key Laboratory of Hydroscience and Engineering Tsinghua University Beijing 100084 China State Key Laboratory of Hydroscience and Engineering Tsinghua University Beijing 100084 China State Key Laboratory of Hydroscience and Engineering Tsinghua University Beijing 100084 China

The Yellow River is well known as a sediment-laden river, which is the main reason that it cannot be controlled as easily as other rivers. Many researchers, such as Qian Ning et al., have found that the sediment load of the Yellow River comes mainly from the sandy and gritty area of the Loess Plateau. Therefore, it is very important to simulate the sediment yield in this area. This paper proposes a method to compute the sediment production in the sandy and gritty area based on the digital watershed model. The suggested model is calibrated and validated in the Chabagou basin, which is a small catchment in the study area. Finally, the model simulates the sediment yield of the sandy and gritty area in 1967, 1978, 1983, 1994 and 1997, which represents a high water and high sediment year, a mean water and mean sediment year, a high water and low sediment year, a low water and high sediment year, and a low water and low sediment year separately. The simulation results, including the runoff depth and erosion modulus, can well explain the "low water and high sediment" phenomena in the Yellow River basin. The total amount of the sediment production and its distribution generated by the model is very useful for water and soil conservation in the sandy and gritty area of the Loess Plateau.

关键词： the digital watershed model, the sandy and gritty area, sediment yield.

Survey of Pedestrian Action Recognition Techniques for Autonomous Driving

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Tsinghua Science and Technology 2020年第4期25卷 458-470页

作者： li Chen Nan Ma Patrick Wang jiahong li Pengfei Wang Guilin Pang Xiaojun Shi Beijing Key Laboratory of Information Service Engineering College of RoboticsBeijing Union UniversityBeijing 100101China Northeastern University BostonMA 02115USA the Communication and Information Center of Ministry of Emergency Management of the People’s Republic of China Beijing 100013China the College of Robotics Beijing Union UniversityBeijing 100101China

The development of autonomous driving has brought with it requirements for intelligence,safety,and *** example of this is the need to construct effective forms of interactive cognition between pedestrians and vehicles in dynamic,complex,and uncertain *** action detection is a form of interactive cognition that is fundamental to the success of autonomous driving ***,vehicles need to detect pedestrians,recognize their limb movements,and understand the meaning of their actions before making appropriate decisions in *** this survey,we present a detailed description of the architecture for pedestrian action recognition in autonomous driving,and compare the existing mainstream pedestrian action recognition *** also introduce several commonly used datasets used in pedestrian motion ***,we present several suggestions for future research directions.

关键词： autonomous driving pedestrian action recognition action datasets two-stream network

A New Empirical Method for Constructing Capillary Pressure Curves from Conventional Logs in Low-Permeability Sandstones

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Journal of Earth Science 2017年第3期28卷 516-522页

作者： Cheng Feng Yujiang Shi jiahong li liang Chang Gaoren li Zhiqiang Mao Faculty of Petroleum China University of Petroleum-Beijing at KaramayKaramay 834000China PetroChina Changqing Oilfield Company Xi'an 710018China Research Institute of Petroleum Exploration and Development PetroChinaBeijing 100083China Research Institute of Exploration and Development Xinjiang Oilfield CompanyPetroChinaKaramay 834000China Key Laboratory of Earth Prospecting and Information Technology China University of PetroleumBeijing 102249China

Pore structure reflected from capillary pressure curves plays an important role in low-permeability formation evaluation. It is a common way to construct capillary pressure curves by Nuclear Magnetic Resonance（NMR） log. However, the method＇s efficiency will be severely affected if there is no NMR log data or it cannot reflect pore structure well. Therefore, on the basis of J function and diagenetic facies classification, a new empirical model for constructing capillary pressure curves from conventional logs is proposed here as a solution to the problem. This model includes porosity and the relative value of natural gamma rays as independent variables and the saturation of mercury injection as a dependent variable. According to the 51 core experimental data sets of three diagenetic facies from the bottom of the Upper Triassic in the western Ordos Basin, China, the model＇s parameters in each diagenetic facies are calibrated. Both self-checking and extrapolation tests show a positive effect, which demonstrates the high reliability of the proposed capillary pressure curve construction model. Based on the constructed capillary pressure curves, NMR T_2 spectra under fully brine-saturated conditions are mapped by a piecewise power function. A field study is then presented. Agreement can be seen between the mapped NMR T_2 spectra and the MRIL-Plog data in the location of the major peak, right boundary, distribution characteristics and T_2 logarithmic mean value. In addition, the capillary pressure curve construction model proposed in this paper is not affected by special log data or formation condition. It is of great importance in evaluating pore structure, predicting oil production and identifying oil layers through NMR log data in low-permeability sandstones.

关键词： low-permeability conventional logs capillary pressure curve J function NMR T2 spectrum

A Survey of Human Action Recognition and Posture Prediction

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Tsinghua Science and Technology 2022年第6期27卷 973-1001页

作者： Nan Ma Zhixuan Wu Yiu-ming Cheung Yuchen Guo Yue Gao jiahong li Beiyan Jiang Beijing Key Laboratory of Information Service Engineering the College of RoboticsBeijing Union UniversityBeijing 100101China Department of Computer Science Hong Kong Baptist UniversityHong Kong 999077China Beijing National Research Center for Information Science and Technology Tsinghua UniversityBeijing 100084China School of Software Tsinghua UniversityBeijing 100084China College of Robotics Beijing Union UniversityBeijing 100101China

Human action recognition and posture prediction aim to recognize and predict respectively the action and postures of persons in *** are both active research topics in computer vision community,which have attracted considerable attention from academia and *** are also the precondition for intelligent interaction and human-computer cooperation,and they help the machine perceive the external *** the past decade,tremendous progress has been made in the field,especially after the emergence of deep learning ***,it is necessary to make a comprehensive review of recent *** this paper,firstly,we attempt to present the background,and then discuss research ***,we introduce datasets,various typical feature representation methods,and explore advanced human action recognition and posture prediction ***,facing the challenges in the field,this paper puts forward the research focus,and introduces the importance of action recognition and posture prediction by taking interactive cognition in self-driving vehicle as an example.

关键词： human action recognition posture prediction computer vision human-computer cooperation interactive cognition

Micellar Catalysis:Visible-light Mediated Imidazo[1,2-a]pyridine C—H Amination with N-Aminopyridinium Salt Accelerated by Surfactant in Water

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Chinese Journal of Chemistry 2021年第12期39卷 3347-3352页

作者： Zhonglie Yang Kun Cao Xiaoyan Peng li lin Danchen Fan Jun-Long li Jingxia Wang Xiaobin Zhang Hezhong Jiang jiahong li Sichuan Engineering Research Center for Biomimetic Synthesis of Natural Drugs School of Life Science and EngineeringSouthwest Jiaotong UniversityChengduSichuan 610041China Antibiotics Research and Re-evaluation Key Laboratory of Sichuan Province Sichuan Industrial Institute of AntibioticsSchool of PharmacyChengdu UniversityChengduSichuan 610106China Irradiation Preservation Technology Key Laboratory of Sichuan Province Sichuan Institute of Atomic EnergyChengduSichuan 610101China

A light-promoted metal-free protocol for the amination of imidazo[1,2-a]pyridines with N-aminopyridinium salt by the assistance of surfactants in water was reported,charactering mild and environmentally benign conditions,as well as great functional group *** with negatively charged polar surface and hydrophobic core formed from sodium dodecyl sulfate serve as an ideal medium for visible-light mediated radical reaction of cationic pyridine salt and imidazo[1,2-a]pyridine in aqueous *** electrostatic interaction between positively charged N-aminopyridinium and negatively charged surface of micelles is of great significance in this method.

关键词： Photochemistry Water chemistry Micelles N-Aminopyridinium salt Imidazo[1,2-a]pyridine

Utilization threshold of surface water and groundwater based on the system optimization of crop planting structure

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Frontiers of Agricultural Science and Engineering 2016年第3期3卷 231-240页

作者： Qiang FU jiahong li Tianxiao li Dong liU Song CUI School of Water Conservancy & Civil Engineering Northeast Agricultural University Heilongjiang Provincial Collaborative Innovation Center of Grain Production Capacity Improvement Northeast Agricultural University Key Laboratory of High Ef fi cient Utilization of Agricultural Water Resource of Ministry of Agriculture Northeast Agricultural University

Based on the diversity of the agricultural system, this research calculates the planting structures of rice, maize and soybean considering the optimal economic-social-ecological aspects. Then, based on the uncertainty and randomness of the water resources system,the interval two-stage stochastic programming method,which introduces the uncertainty of the interval number, is used to calculate the groundwater exploitation and the use efficiency of surface water. The method considers the minimum cost of water as the objective of the uncertainty model for surface water and groundwater joint scheduling optimization for different planting structures. Finally, by calculating harmonious entropy, the optimal exploitation utilization interval of surface water and groundwater is determined for optimal cultivation in the Sanjiang *** optimal matching of the planting structure under the economic system is suitable when the mining ratio of the surface is in 44.13%–45.45% and the exploitation utilization of groundwater is in 54.82%–66.86%, the optimal planting structure under the social system is suitable when surface water mining ratio is in 47.84%–48.04% and the groundwater exploitation threshold is in 67.07%–72.00%. This article optimizes the economicsocial-ecological-water system, which is important for the development of a water- and food-conserving society and providing a more accurate management environment.

关键词： economic-social-ecological uncertainty harmonious entropy surface water and groundwater utilization threshold

Future vehicles: interactive wheeled robots

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Science China(Information Sciences) 2021年第5期64卷 212-214页

作者： Nan MA Deyi li Wen HE Yue DENG jiahong li Yue GAO Hong BAO Huan ZHANG Xinkai XU Yuansheng liU Zhixuan WU li CHEN Beijing Key Laboratory of Information Service Engineering Beijing Union University College of Robotics Beijing Union University Institute of System Engineering Academy of Military Science School of Astronautics Beihang University School of Software Tsinghua University Smart City College Beijing Union University Demonstration Center of Experimental Teaching in Comprehensive Engineering Beijing Union University

Owing to the lack of variety of interactions in automatic driving, the interactive cognition and evolution growth of self-driving vehicles in uncertain and complex environments have been proposed, making future vehicl... 详细信息

关键词： interactive cognition evolution growth wheeled robots prior knowledge driving skills

左乙拉西坦通过抑制NLRP3炎症小体的活化和氧化应激改善APP/PS1小鼠的认知障碍

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中国现代应用药学 2020年第24期37卷 2979-2986页

作者：李佳鸿吉林工程职业学院吉林四平136001

目的以氧化应激和神经炎症为切入点,考察左乙拉西坦治疗阿尔茨海默病的药效和潜在机制。方法淀粉样蛋白前体蛋白/I型早老素双转基因(amyloid precursor protein-swe/presenilin-1-1dE9,APP/PS1)模型小鼠按照体质量每2 d通过尾静脉注射... 详细信息

目的以氧化应激和神经炎症为切入点,考察左乙拉西坦治疗阿尔茨海默病的药效和潜在机制。方法淀粉样蛋白前体蛋白/I型早老素双转基因(amyloid precursor protein-swe/presenilin-1-1dE9,APP/PS1)模型小鼠按照体质量每2 d通过尾静脉注射不同剂量左乙拉西坦(5,10,20 mg·kg−1),连续给药30 d。自主活动试验考察实验动物自主活动能力;Morris水迷宫试验考察实验动物认知能力;免疫组化试验考察实验动物海马脑区小胶质细胞活化程度;半胱天冬酶-1(caspase-1)活力检测试剂盒考察实验动物海马脑区caspase-1活力;蛋白免疫印迹试验考察实验动物海马脑区白介素-1β(interleukin-1β,IL-1β)、核苷酸结合寡聚化结构域样受体家族pyrin结构域蛋白3(NOD-,LRR-and pyrin domain-containing protein 3,NLRP3)、凋亡相关斑点样蛋白(apoptosis-associated speck-like protein containing a CARD,ASC)、caspase-1蛋白表达水平;比色法试剂盒检测实验动物海马脑区超氧化物歧化酶(superoxide dismutase,SOD)活力、谷胱甘肽(glutathione,GSH)水平、过氧化氢(H2O2)含量和丙二醛(malondialdehyde,MDA)水平。结果与空白组小鼠相比,APP/PS1模型组小鼠的逃避潜伏期显著延长,且海马脑区小胶质细胞活化程度明显加剧,IL-1β水平明显增加,NLRP3和caspase-1蛋白水平明显增加,SOD活力显著下降,GSH水平显著减少,MDA水平显著增加。与模型组相比,左乙拉西坦10 mg·kg−1和20 mg·kg−1可以显著缩短APP/PS1小鼠逃避潜伏期,显著减轻海马脑区小胶质细胞活化程度,显著降低IL-1β水平,显著减少NLRP3和caspase-1蛋白水平,显著增加SOD活力和GSH水平、显著减少MDA水平。结论左乙拉西坦可以显著改善APP/PS1小鼠的认知功能,其作用机制可能与抑制炎症小体的活化和氧化应激密切相关。

关键词：左乙拉西坦阿尔茨海默病神经炎症炎症小体认知障碍