关节

Objective To investigate the expression of type Ⅱ collagen in the articular chondrocyte of osteoarthritis patients and normal human.

目的 通过观察Ⅱ型胶原mRNA在骨关节炎(osteoarthritis，OA)患者关节软骨细胞与正常关节软骨细胞中的表达情况，探讨Ⅱ型胶原在骨关节炎中的作用。

Methods. A 60-year-old man with athetoid cerebral palsy and a history of posterior occipitocerical fusion presented with quadriparesis. Salage surgery for cerical myelopathy and pseudarthrosis was performed with laminectomy and rearthrodesis using the pedicle screw system. An intraspinal cyst was identified as the main cause of the paraparesis.

一位60岁的手足徐动症样大脑麻痹患者，既往曾行后路枕颈融合术，临床表现为四肢轻瘫，影像学检查示脊髓型颈椎病和假关节形成，采用椎板切除和椎弓根钉系统关节成形术后，发现椎管内存在的囊肿是导致四肢轻瘫的主要原因。

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The backward displacement solution of 3-SPS biomimetical joint mechanism is proposed by analyzing the kinematics of the biomimetical joint mechanism, and carried on correlative simulation experiment.

运动学方面，本文对仿生关节的位置反解进行了深入研究，得出仿生关节的运动学位置反解方程，并进行仿真实验。

Kinematic parameters such as four angles between the shoulder bone and breastbone, collarbone and bladebone, breastbone and bladebone and breastbone and collarbone are captured by filming simultaneously six MCU of Qualisys ProReflex Motion Measurement System which can digitize marks on body in each image automatically.

由于解剖结构的不同，与其他关节相比，肩关节在其运动机能方面表现为良好的活动度和较差的稳定性，临床上表现为日常生活和体育运动中的多发性损伤，特别是容易发生在举重和一些对抗性项目。

With increasing age, the activity of joint becomes less or pressed by gravity. For example, fatness will make cartilage atrophy, bruised and surfaces of joint will not be even, more seriously, cartilage will completely lose the function.

中文摘要摘要随著年纪的增加、生理性关节活动变小或重力的压迫，例如肥胖会使软骨退化、磨损、关节表面凹凸不平，严重时软骨会完全丧失，骨头与骨头直接接触会导致发炎、红肿、疼痛，甚至无法正常弯曲、移动。

Result: Multi-platoon screw CT can demonstrate clearly each calcaneum bone fracture, is clear about the bone broken line to walk the line, the bone fracture piece number, the detectable X-ray

结果：多层螺旋CT能清楚显示各型跟骨骨折，明确骨折线的走行、骨折片的数目，可发现X线平片不能看到的关节腔内骨折片，关节囊和软组织显示清晰。

Result: Multi-platoon screw CT can demonstrate clearly each calcaneum bone fracture, is clear about the bone broken line to walk the line, the bone fracture piece number, the detectable X-ray even piece cannot see in the ticulare the bone fracture piece, the ligamentum capoulare and the soft tissue demonstration is clear.

结果：多层螺旋CT能清楚显示各型跟骨骨折，明确骨折线的走行、骨折片的数目，可发现X线平片不能看到的关节腔内骨折片，关节囊和软组织显示清晰。

The rate of excellent and good functional recovery of hip was 94.0%. Postoperative internal-fixation-related complications occurred in 31 cases, including hip varus in 14 cases who had posterior intertrochanteric fragments, delayed union of fracture in 12 cases who had fractured calcar and lesser trochanter and massive dissection of soft tissues, and cutting-out of lag screws in five cases, three of whom had to receive prosthetic replacement.

术后髋关节功能恢复良好率达94.0%。215例患者中31例出现内固定相关术后并发症，其中髋内翻14例，主要发生于股骨转子内后方存在明显骨折碎裂的患者；骨折延迟愈合12例，为骨折累及股骨距及小转子，术中做软组织广泛剥离、骨折复位固定的患者；内固定物股骨头颈内切割并螺钉穿入髋关节腔5例，其中3例再行人工关节置换，关节功能Harris评分为82分。

The of the leg in some hoofed mammals between the hock or knee and the fetlock , containing the cannon bone .

炮骨，管骨某些有蹄哺乳动物小腿的，位于跗关节或膝关节与球关节之间，含有炮骨

What would he tell Judith and the children?

他将怎样告诉朱迪丝和孩子们呢？

I this is at that time, the opinion with peacockish true girl is full of in a heart.

这就是当时的我，一个心中布满虚荣的女孩子真实的想法。