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Composite Configuration Interventional Therapy Robot for the Microwave Ablation of Liver Tumors

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Chinese Journal of Mechanical Engineering 2017年第6期30卷 1416-1425页

作者： ying-Yu Cao Long Xue bo-Jin Qi Li-Pei Jiang Shuang-cheng Deng Ping liang Jia Liu School of Mechanical Engineering and Automation Beihang University Opto-Mechatronic Equipment Technology Beijing Area Major Laboratory Beijing Institute of Petrochemical Technology Department of Interventional Ultrasound Chinese PLA General Hospital Thermotherapy Integrated Radiotherapy Department Hunan Cancer Hospital

The existing interventional therapy robots for the microwave ablation of liver tumors have a poor clinical applicability with a large volume, low positioning speed and complex automatic navigation control. To solve above problems, a composite configuration interventional therapy robot with passive and active joints is developed. The design of composite configuration reduces the size of the robot under the premise of a wide range of movement, and the robot with composite configuration can realizes rapid positioning with operation safety. The cumulative error of positioning is eliminated and the control complexity is reduced by decoupling active parts. The navigation algo- rithms for the robot are proposed based on solution of the inverse kinematics and geometric analysis. A simulation clinical test method is designed for the robot, and the functions of the robot and the navigation algorithms are verified by the test method. The mean error of navigation is 1.488 mm and the maximum error is 2.056 mm, and thepositioning time for the ablation needle is in 10 s. The experimental results show that the designed robot can meet the clinical requirements for the microwave ablation of liver tumors. The composite configuration is proposed in development of the interventional therapy robot for the microwave ablation of liver tumors, which provides a new idea for the structural design of medical robots.

关键词： Robot Composite configuration Interventional therapy Decoupling mechanismIntelligent positioning Composite configuration

Assessing the impacts of natural conditions and human activities on terrestrial water storage in Loess Plateau,China

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Journal of Mountain Science 2023年第7期20卷 1921-1939页

作者： WANG cheng-xi YAN Jian-wu liang Wei SUN Shao-bo GOU fen LI Xiao-fei LUO Yuan-yuan WANG feng-jiao School of Geography and Tourism Shaanxi Normal UniversityXi'an 710119China National Demonstration Center for Experimental Geography Education Shaanxi Normal UniversityXi'an 710119China Institute of Surface-Earth System Science Tianjin UniversityTianjin 300072China

The gravity recovery and climate experiment(GRACE)has emerged as a crucial source of land water storage information in hydrological analysis and *** factors contribute to regional terrestrial water storage(TWS),resulting in a complex *** the Loess Plateau region,the continuous alteration of natural conditions and profound impact of human activities have posed a serious threat to the natural ecosystem,leading to an escalating trend of TWS *** the specific analysis of how natural conditions and human activities affect TWS represents a pressing *** study employed the residual analysis method to discern the contribution rates of natural conditions and human activities,elucidated the spatial and temporal changes associated with each factor,and ascertained their individual *** findings indicated that TWS on the Loess Plateau exhibited a downward trend of-4.89 mm·a^(-1)from 2003 to *** combined effects of climate change and human activities accounted for alterations in water resource reserves across most areas of the Loess Plateau,with human activities predominantly driving these *** emerged as the primary natural factor influencing TWS variations,and NDVI demonstrated a positive feedback effect on TWS at approximately 30%.Substantial spatial disparities in TWS existed within the Loess Plateau,with human activities identified as the primary cause for the decreasing *** restoration plays a positive role in saving water resources in the Loess Plateau to some extent,and vegetation growth exceeding the regional load will lead to water shortage.

关键词： Terrestrial water storage Residual analysis Human activity the Loess Plateau

Purification and properties of alkaline phosphatase of silkworm bombyx mori

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Frontiers in Biology 2006年第3期1卷 246-253页

作者： TANG Yunming CEN liang CHU bo LI Changchun XU Min LUO ying LU cheng School of Life Science Southwest UniversityChongqing 400715China

Alkaline phosphatase(AKP),from the succus entericus of silkworm,was purified using 10%-50%ammonium sulfate fractions,ion exchange chromatography of DEAE-Sepharose,and size exclusion chromatography of Sephacryl *** purification fold was 464 times and specified activity was 3936 U/*** pH value of the phosphatase was 10.5,and was stable between pH 7.5 and *** optimum temperature of the phosphatase was 40℃ and it was unstable over 50℃.Km value of the phosphatase was 1.25 mmol/*** a given condition,the phosphatase was selectively modified by PCMB,NBS,PMSF,TNBS,SUAN,DTT,BrAc,and IAc,the results indicate that PMSF,SUA,BrAc,IAc,and TNBS could obviously inhibit the activity of the phosphatase,and the degree of inhibition depended on the concentration of these *** was little effect on the activity of phosphatase after treatment by PMSF,DTT,and *** primarily conclude that mercapto and imidazole are essential for AKP from ***,Lys residue and disulfide bands are necessary to protect the catalysis of the AKP.

关键词： silkworm alkaline phosphatase purification properties

Synthesis of a New Series of bone Affinity Compounds

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Chinese Chemical Letters 2006年第3期17卷 310-312页

作者： ying WANG Hong CHEN Zong Ming WAN Mao Sheng cheng Xue Chao WANG Guo liang CONG Sheng JING Zi Ping YAN bo WU Medical College of Chinese People＇ s Armed Police Force Tianjin 300162 Shenyang Pharmaceutical University Shenyang 110016

A new series of bone affinity compounds were synthesized by linking chrysophanol with 5-fluorouracil derivatives. Their bone affinity was established by hydroxyapative （HA） affinity experiment in vitro, and their cy... 详细信息

关键词： Chrysophanol 5-fluorouracil bone affinity antitumor.

A long-term Global LAnd Surface Satellite(GLASS)data-set for environmental studies

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International Journal of Digital Earth 2013年第S01期6卷 5-33页

作者： Shunlin liang Xiang Zhao Suhong Liu Wenping Yuan Xiao cheng Zhiqiang Xiao Xiaotong Zhang Qiang Liu Jie cheng Hairong Tang Yonghua Qu Yancheng bo ying Qu Huazhong Ren Kai Yu John Townshend The State Key Laboratory of Remote Sensing Science Jointly Sponsored by Beijing Normal University and Institute of Remote Sensing Applications of Chinese Academy of SciencesBeijingChina College of Global Change and Earth System Sciences Beijing Normal UniversityBeijingChina Department of Geographical Sciences University of MarylandMDUSA School of Geography Beijing Normal UniversityBeijingChina Institute of Electronics Chinese Academy of SciencesBeijingChina

Recently,five Global LAnd Surface Satellite(GLASS)products have been released:leaf area index(LAI),shortwave broadband albedo,longwave broadband emissivity,incident short radiation,and photosynthetically active radiation(PAR).The first three products cover the years 19822012(LAI)and 19812010(albedo and emissivity)at 15 km and 8-day resolutions,and the last two radiation products span the period 20082010 at 5 km and 3-h *** products have been evaluated and validated,and the preliminary results indicate that they are of higher quality and accuracy than the existing *** particular,the first three products have much longer time series,and are therefore highly suitable for various environmental *** paper outlines the algorithms,product characteristics,preliminary validation results,potential applications and some examples of initial analysis of these products.

关键词： earth observation global environmental change remote sensing

Relationship between serum sex hormones levels and degree of benign prostate hyperplasia in Chinese aging men

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Asian Journal of Andrology 2012年第5期14卷 773-777页

作者： Qin-Song Zeng Chuan-liang Xu Zhi-Yong Liu Hui-Qing Wang bo Yang Wei-Dong Xu Tai-Le Jin cheng-Yao Wu Gang Huang Zheng Li bo Wang ying-Hao Sun Department of Urology Changhai HospitalSecond Military Medical UniversityShanghai 200433China Department of Urology General Hospital of Guangzhou Military Command of PLAGuangzhou 510010China Department of Urology Renji HospitalShanghai Jiaotong University School of MedicineShanghai 200127China Family Planning Research Institute of Shanghai City Shanghai 200032China

Benign prostatic hyperplasia （BPH） is one of the most common medical conditions in middle aged and older men. This study investigated the relationship between serum levels of sex hormones and measures of BPH in the aging male population of China. Prostate symptoms were assessed as part of a free health screening program for men ~40 years of age. The examination included digital rectal examination, determination of serum prostate-specific antigen levels, International Prostate Symptom Score （IPSS） and transrectal ultrasonography. Serum levels of total testosterone （TT）, sex hormone binding globulin （SHBG）, free testosterone （FT）, luteinizing hormone （LH）, follicle-stimulating hormone （FSH）, prolactin （PRL） and estradiol （E2） were evaluated. The men also completed a health and demographics questionnaire and received a detailed physical examination. The final study population consisted of 949 men with a mean age of 58.9 years. Pearson correlation analysis indicated that there were significant correlations between age and levels of all sex hormones except TT, and between age and prostate volume （PV; r=0.243; P〈0.01） or IPSS （r=0.263; P〈0.01）. Additional significant correlations were found between IPSS and serum levels of LH （r=0. 112; P〈0.01） and FSH （r=0.074; P〈0.05）, but there were no significant correlations between sex hormone levels and PV. Multivariate linear regression analysis showed significant correlations between age and body mass index （BMI） with PV （P〈0.0001）. In addition, there was a significant correlation between age and PV with IPSS （P〈0.0001）. Serum sex hormone levels did not correlate with PV or IPSS. The effects of endocrine changes on measures of BPH in aging men require further investigation in longitudinal and multicenter studies that include oatients with all severities of BPH.

关键词： benign prostatic hyperplasia International Prostate Symptom Scores(IPSS) sex hormone testosterone

Ultrasonography-guided Percutaneous Nephrolithotomy with Chinese One-shot Tract Dilation Technique Based on Stimulated Diuresis:A Report of 67 Cases

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Journal of Huazhong University of Science and Technology(Medical Sciences) 2016年第6期36卷 881-886页

作者： ying SHI Hua-geng liang Xiong YANG bo HAI liang WANG Yi-fei XING Wen JU Fu-qing ZENG Xiao-ping ZHANG Wen-cheng LI Department of Urology Union Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan 430022 China

The safety and effectiveness of a novel Chinese one-shot dilation technique based on stimulated diuresis for percutaneous nephrolithotomy（PCNL） were *** the feasibility of the Chinese one-shot dilation based on stimulated diuresis was verified by an animal study,this technique was applied in the clinical practice.A total of 67 patients in our department underwent the modified PCNL from July 2014 to June *** the renal infundibulum was distended by stimulated diuresis,the kidney was punctured under the ultrasonographic guidance via the fornix of the target *** working channel was dilated using a special designed pencil-shaped fascial *** successful access rate,nephrostomy tract creation time,pre-and postoperative hemoglobin values and serum creatinine concentrations,stone-free rate and complications were recorded and *** renal infundibulum was successfully distended in all of the patients by the diuresis *** the ultrasonographic guidance,the successful access rate was 100% and the mean tract creation time was 2.0 min（range：1.5–5.0 min）.The stone-free rate right after surgery was 91.0%.Although the postoperative hemoglobin was significantly reduced（P〈0.01）,transfusion was not clinically *** was no significant difference in serum creatinine concentrations before and after operation（P〉0.05）.No severe complication occurred during or after the *** was suggested that this Chinese one-shot dilation technique based on stimulated diuresis is an efficient and safe innovation for PCNL,and is even helpful for those patients with non-dilated pelvicaliceal systems.

关键词： percutaneous nephrolithotomy dilation stimulated diuresis ultrasonography

The study of time calibration for upgraded end cap TOF of BESIII

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Radiation Detection Technology and Methods 2017年第2期1卷 51-56页

作者： ying-Xiao Guo Sheng-Sen Sun fen-fen An Rong-Xing Yang Ming Zhou Zhi Wu Hong-liang Dai Yue-Kun Heng cheng Li Zi-Yan Deng Huai-Min Liu Wei-Guo Li Institute of High Energy Physics Chinese Academy of SciencesBeijing 100049China University of Chinese Academy of Sciences Beijing 100049China University of Science and Technology of China Hefei 230026China State Key Laboratory of Particle Detection and Electronics Beijing 100049China

Purpose The end cap time of flight at Beijing Spectrometer is upgraded with multi-gap resistive plate chamber technology in order to improve the charged particle identification *** time-over-threshold is used for the time slewing correction instead of the signal *** The correlation of the multi-peak time-over-threshold and the hit position along the strip of the charged particle is *** of the off-line data calibration method is discussed in *** and conclusion The overall time resolution for pions with momentum around 0.8 GeV/c is about 65 ps.

关键词： Time calibration Time of flight MRPC BESIII

A bioactive injectable self-healing anti-inflammatory hydrogel with ultralong extracellular vesicles release synergistically enhances motor functional recovery of spinal cord injury

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Bioactive Materials 2021年第8期6卷 2523-2534页

作者： chenggui Wang Min Wang Kaishun Xia Jingkai Wang feng cheng Kesi Shi Liwei ying Chao Yu Haibin Xu Shining Xiao chengzhen liang Fangcai Li bo Lei Qixin Chen Department of Orthopedics Surgery 2nd Affiliated HospitalSchool of MedicineZhejiang UniversityHangzhou310009ZhejiangPR China Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research College of StomatologyFrontier Institute of Science and TechnologyXi’an Jiaotong UniversityXi’an710054PR China

The repair and motor functional recovery after spinal cord injury(SCI)remains a worldwide *** inflammatory microenvironment is one of main obstacles on inhibiting the recovery of *** mesenchymal stem cells(MSCs)derived extracellular vesicles to replace MSCs transplantation and mimic cell paracrine secretions provides a potential strategy for microenvironment ***,the effective preservation and controlled release of extracellular vesicles in the injured spinal cord tissue are still not ***,we fabricated an injectable adhesive anti-inflammatory F127-polycitrate-polyethyleneimine hydrogel(FE)with sustainable and long term extracellular vesicle release(FE@EVs)for improving motor functional recovery after *** orthotopic injection of FE@EVs hydrogel could encapsulate extracellular vesicles on the injured spinal cord,thereby synergistically induce efficient integrated regulation through suppressing fibrotic scar formation,reducing inflammatory reaction,promoting remyelination and axonal *** study showed that combining extracellular vesicles into bioactive multifunctional hydrogel should have great potential in achieving satisfactory locomotor recovery of central nervous system diseases.

关键词： Bioactive biomaterials Multifunctional hydrogel Extracellular vesicles release Spinal cord injury repair