关节内的

The stability of L5S1 ALIF specimen in extension is less than that of intact specimen, and ALIF combined with translaminar facets screw is the most ideal internal fixation to enhance its biomechanical stability of ALIF specimen.

结论］ L5S1单纯行ALIF后伸稳定性差，为增加其稳定性，经椎板关节突螺钉应当是首选的内固定器械。

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。

BACKGROUND: Ghildren refractory clubfoot includes idiopathic multiple contracture, untreated idiopathic clubfoot in older children and failure cases of repeated operations. It is very difficult to treat this type of children patients.

背景：儿童顽固性马蹄内翻足包括先天性多发性关节挛缩症、未经治疗的大年龄儿童先天性马蹄内翻足及反复手术治疗失败的病例，对该类患儿的治疗目前仍非常棘手。

An inside conical surface at the lower end of the joint is designed to ensure the shaft swing freely within an angle range of 10°, thereby the axial bending stress caused by the deflection of the borehole can be eliminated effectively.

这种装置采用类似球形关节的旋转机构，消除了抽油杆柱上下往复运动产生的倒扣扭矩；在短节下端设计有10°的内圆锥表面，使转轴能够在10°范围内自由转动，从而有效地消除了由于井身弯曲而产生的轴向弯曲应力。

The mouth openings of 58 cases were over 37 mm, only 4 cases less than 37 mm in 3 months postoperatively. Conclusion: The miniplate internal rigid fixation has the advantages over conventional intermaxillary fixation and wire fixation

下颌骨骨折的小型钛板坚固内固定效果可靠，避免了颌间结扎；对颞下颌关节功能影响小；口内手术入路避免了面部皮肤瘢痕；较传统的下颌骨骨折颌间结扎固定及钢丝拴扎固定有明显的优点。

Methods: From June 2002 to June 2007, 202 patients (298 feet) with congenital talipes equinovarus admitted in our hospital, and the operations such as the Achilles tendon lengthening+solution of soft tissue, the solution of metatarsus fascia, the Achilles tendon lengthening+cuboid bone osteoectomy or tibialis anterior tendon transfer, the Achilles tendon lengthening+talus excision, the Achilles tendon lengthening+fusion of trijoints+talus excision etc, were adoptted.

回顾性分析202例（298足）先天性马蹄内翻足患者的临床资料，根据患者的年龄、内翻足畸形和僵硬程度的不同分别采用跟腱延长+软组织松解、跖筋膜松解、跟腱延长+骰骨截骨或胫前肌外移、跟腱延长+距骨切除、跟腱延长+三关节融合+距骨切除等手术方式进行治疗。

We tested the knees at flexion angles of 0, 15, 30, 60, and 90with the following applied loads: 10 Nm varus moment, and 5 Nm external and internal rotational torques.21,22 To calculate the force applied in varus rotation testing, we took the desired moment (10 N.m) and divided this by the distance from the joint line to the point of force application in meters.

我们检测了施加力量10N.m的内翻运动和5N.m的外旋和内旋运动，各种运动的膝关节屈曲角度分别为0°、15°、30°、60°和90°。为了在内翻旋转试验时计算施加力，我们采用期望力矩(10M.m)，并将这种力矩分为从关节线到施加力点数米远的距离。

The contact area and contact pressure in anteromedial and posteromedial quadrant tended to decrease, while, the contact area and contact pressure in anterolateral and posterolateral quadrant tended to increase.

结果］通过模拟试验发现，腓骨短缩时，胫距关节总接触面积呈减小趋势，外、后外象限的接触面积、接触压呈增大趋势，而前内，后内象限的接触面积、接触压均减小。

The contact area and contact pressure in anteromedial and posteromedial quadrant tended to decrease, while, the contact area and contact pressure in anterolateral and posterolateral quadrant tended to increase.

结果］通过模拟试验发现，腓骨短缩时，胫距关节总接触面积呈减小趋势，前外、后外象限的接触面积、接触压呈增大趋势，而前内，后内象限的接触面积、接触压均减小。

Several investigators have determined that placing the electrode parallel rather than perpendicular to the target nerve substantially increases the size of the lesion, thereby reducing the likelihood the treatment will miss or only partially coagulate the target nerve.234,235 After a literature review and cadaveric study, Lau et al.234 concluded the ideal electrode position is across the lateral neck of the superior articular process rather than the groove formed at the angle of the superior articular and transverse processes, as was used in most studies.159,160Other investigators have found the maximal lesion size to be reached within 60 s of lesion time,235–237 independent of whether the system is temperature or voltage controlled.238 Studies conducted in human myocardium have determined that irrigation fluid has either no effect or a slightly beneficial effect on lesion size.239 Hence, the use of LA to prevent procedure-related pain or steroid to reduce the incidence of neuritis184 should theoretically have no adverse effects on the efficacy of radiofrequency denervation.

一些研究者认为，将点击平行的置于目标神经比将其垂直置于目标神经增加了消融的范围，因而减少损伤可能使目标神经不被或部分被消融。Lau等回顾了文献中对尸体的研究，总结出理想的电极放置位置为上关节突颈部外侧而非常采用的上关节突与横突形成的沟。其他学者研究发现，不论系统是温度控制或电压控制，其最大的损伤范围都在60秒内达到。在心肌灌注的研究中，灌注液多损伤范围造成轻微或不造成损伤。因此，使用LA预防过程相关性疼痛或类固醇防止神经炎发生时，需理论上确保对射频消融效果无副作用。

For a big chunk of credit-card losses; the number of filings (and thus charge-off rates) would be rising again, whether

年美国个人破产法的一个改动使得破产登记急速下降，而后引起了信用卡大规模的亏损。

Eph. 4:23 And that you be renewed in the spirit of your mind

弗四23 而在你们心思的灵里得以更新