A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are descr...A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.展开更多
The data tree table is a type of data structure consisting of data tree and table, which has a wide field of applications. The visual and dynamic growing algorithm of data tree table and its software method are presen...The data tree table is a type of data structure consisting of data tree and table, which has a wide field of applications. The visual and dynamic growing algorithm of data tree table and its software method are presented based on the theory of the data structure and visual technology of software. The method of the expression and management of data tree table with relational mode are explored.展开更多
OBJECTIVE： To assess the clinical effectiveness and safety of injections of ginkgo （GI） combined with Western Medicine （WM） for cerebral infarction （C/）. METHODS; Randomized controlled trials （RCTs） of C/trea...OBJECTIVE： To assess the clinical effectiveness and safety of injections of ginkgo （GI） combined with Western Medicine （WM） for cerebral infarction （C/）. METHODS; Randomized controlled trials （RCTs） of C/treated by GI were searched in China National Knowledge Infrastructure Database, Wanfang, China Science and Technology Journal Database, Web of Science, Cochrane library, Embase, PubMed and Chinese Biomedical Literature Database, with the publication data no later than April, 2016. The Co- chrane risk of bias method was used to evaluate the methodological quality of the RCTs. The data were analyzed by Review Manager 5.3, Stata 13.0, and WinBUGS 14 software.RESULTS： Totally 37 RCTs involving 4330 patients were included. By direct comparison, the results of GI group were significantly superior to the routine WM group in the total effective rates [OR = 3.61, 95% CI （2.93, 4.44）, P 〈 0.0001], the neural function defect score （NFDS） [MD = - 4.39, 95% CI （- 5.47, - 3.32）, P 〈 0.0001]. Network Meta-analysis （NMA） results showed that, between S GIs in efficacy, the difference comparing ginaton injections （GbE） to ginkgo-dipyidamolum injections （GD） [OR = 1.74, 95% CI （0.73, 3.65）], shuxuening injections （SXN） [OR = 1.06, 95% CI （0.609, 1.697）] or ginkgolides in- jections （GK） [OR = 4.711, 95% CI （1.178, 13.21）] reach statistical significance; the difference compar- ing GD to GK reach statistical significance [OR = 2.791, 95% CI （0.866, 6.908）]; the difference com- paring SXN to GK reach statistical significance [OR = 4.537, 95% CI （1.203, 12.41）]. Besides, there was no difference between 4 GIs in NFDS. Proba- bility ranking result showed a great possibility for GK [Surface under the Cumulative Ranking curve （SUCRA） = 80.3%] in improving the total effective rates, which were followed by GD （SUCRA = 73.34%）, SXN （SUCRA = 46.59%）, GbE （SUCRA = 45.46%）, floium ginkgo extract and tertram ethy- pyrazine sodium chloride injections （FT） （SU- CRA = 35.64%）. However, GK （SUCRA = 80.3%） or GbE （SUCRA = 69.4%） was better than other GIs in reducing NFDS.GK ＋ WM is the best treatment measures to reduce NFDS in cerebral infarction, which were followed by SXN ＋ WM （SUCRA = 51.6%）, GD ＋ WM （SUCRA = 48.1%）. CONCLUSION： GIs was more effectiveness on CI than the routine Western Medicine. But based on the limitations of the study, more high-quality ran- domized controlled trials will be necessary.展开更多
文摘A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.
文摘The data tree table is a type of data structure consisting of data tree and table, which has a wide field of applications. The visual and dynamic growing algorithm of data tree table and its software method are presented based on the theory of the data structure and visual technology of software. The method of the expression and management of data tree table with relational mode are explored.
基金Supported by National Natural Science Foundation of China:Study on the Key Influencing Factors of Anaphylaxis in Traditional Chinese Medicine Injection(No.81473547)Multidimensional Clinical Evaluation Model of Salvia Injection for the Treatment of Unstable Angina Pectoris(No.81673829)
文摘OBJECTIVE： To assess the clinical effectiveness and safety of injections of ginkgo （GI） combined with Western Medicine （WM） for cerebral infarction （C/）. METHODS; Randomized controlled trials （RCTs） of C/treated by GI were searched in China National Knowledge Infrastructure Database, Wanfang, China Science and Technology Journal Database, Web of Science, Cochrane library, Embase, PubMed and Chinese Biomedical Literature Database, with the publication data no later than April, 2016. The Co- chrane risk of bias method was used to evaluate the methodological quality of the RCTs. The data were analyzed by Review Manager 5.3, Stata 13.0, and WinBUGS 14 software.RESULTS： Totally 37 RCTs involving 4330 patients were included. By direct comparison, the results of GI group were significantly superior to the routine WM group in the total effective rates [OR = 3.61, 95% CI （2.93, 4.44）, P 〈 0.0001], the neural function defect score （NFDS） [MD = - 4.39, 95% CI （- 5.47, - 3.32）, P 〈 0.0001]. Network Meta-analysis （NMA） results showed that, between S GIs in efficacy, the difference comparing ginaton injections （GbE） to ginkgo-dipyidamolum injections （GD） [OR = 1.74, 95% CI （0.73, 3.65）], shuxuening injections （SXN） [OR = 1.06, 95% CI （0.609, 1.697）] or ginkgolides in- jections （GK） [OR = 4.711, 95% CI （1.178, 13.21）] reach statistical significance; the difference compar- ing GD to GK reach statistical significance [OR = 2.791, 95% CI （0.866, 6.908）]; the difference com- paring SXN to GK reach statistical significance [OR = 4.537, 95% CI （1.203, 12.41）]. Besides, there was no difference between 4 GIs in NFDS. Proba- bility ranking result showed a great possibility for GK [Surface under the Cumulative Ranking curve （SUCRA） = 80.3%] in improving the total effective rates, which were followed by GD （SUCRA = 73.34%）, SXN （SUCRA = 46.59%）, GbE （SUCRA = 45.46%）, floium ginkgo extract and tertram ethy- pyrazine sodium chloride injections （FT） （SU- CRA = 35.64%）. However, GK （SUCRA = 80.3%） or GbE （SUCRA = 69.4%） was better than other GIs in reducing NFDS.GK ＋ WM is the best treatment measures to reduce NFDS in cerebral infarction, which were followed by SXN ＋ WM （SUCRA = 51.6%）, GD ＋ WM （SUCRA = 48.1%）. CONCLUSION： GIs was more effectiveness on CI than the routine Western Medicine. But based on the limitations of the study, more high-quality ran- domized controlled trials will be necessary.
