多关节的

Because of the unstructured environments and the force impulse excitation of the following manipulators, the invertibility control input can not control the conducting manipulator exactly. In this paper, a new adaptive and sliding mode control scheme is developed assuming that all system parameters including the joint flexibility values are uncertain but within given bounds.

在以上方法的基础上，本文再对多杆柔性关节机械手在约束空间的轨迹优化规划问题进行了研究，首先利用坐标转换得出多杆柔性关节机械手的约束动力学模型，然后利用逆系统方法求出了系统在约束空间的次优化轨迹及力控制器。

Results among 15 cases, eight cases of Loose bodies about right keen joint;three cases of left keen joint;three cases of both keen joint ;one case of pilosity dissociates bodies;two cases with joint effusion ;six cases with soft tissue swelling.16-slice SCT with 3D reconstruction demonstrated stereoscopic morphology of normal and lesions clearly with MPR correctly demonstrated details and density ,shape and size of lesions.conclusions Sixteen-slice SCT with 3D and MPR techniques can provide valuable spatial information of diseases in bones and joints of wrist and foot which correlated well with that of pathological anatomy .

结果 15例患者中，右侧膝关节游离体8例，左侧3例，双侧3例，多发游离体1例；其中2例伴有关节积液，6例有关节周围软组织肿胀。16层螺旋CT的3-D图像可清晰显示游离体的立体形态，MPR图像则可以多平面，多角度地观察游离体的大小、形态、密度、位置，对病变显示满意。结论多层螺旋CT重建能提供骨关节病变非常有价值的空间关系信息，其表现接近病理解剖，临床应用价值大，有利于临床医师选择治疗方案、制订手术计划。

ObjectiveAnkylosing Spondylitis, characterized by chronic inflammation of central axis articulus, is a systemic disease with indefinite causes.

研究目的强直性脊柱炎是一种原因未明、以中轴关节慢性炎症为主的全身性疾病，病变主要在骶髂关节，亦可不同程度地累及眼、心、肾等多个脏器。

Two level cervical discectomy and fusion can increase stress in the caudad (C5/6,C6/7) zygapophyseal joint, which may be one of the causes for adjacent cervical spondylosis postoperatively.

颈椎双节段椎间盘摘除融合内固定后邻近下位关节突关节压力增加，可能是多节段颈椎融合术后邻近节段发生退变或退变加速的原因之一

Two level cervical discectomy and fusion can increase stress in the caudad (C5-6, C6-7) zygapophyseal joint, which may be one of the causes for adjacent cervical spondylosis postoperatively.

颈椎双节段椎间盘摘除融合内固定后邻近下位关节突关节压力增加，可能是多节段颈椎融合后邻近节段发生退行性变或退行性变加速的原因之一。

Total knee arthroplasty could alleviate knee pain and improve joint function in advanced severe hemophilic arthritic patients.

结论人工膝关节置换可以为重度血友病性关节炎患者减轻关节疼痛，改善关节功能，但是围手术期并发症较多，需要密切监测凝血因子Ⅷ或Ⅸ活性，监测抑制性抗体形成，防止各种早期和晚期并发症的发生。

MRI can display not only in hyperosteogeny,but changing in articular meniscus,anticular cartilage,ligament and hydrarthrosis as well.MRI also shows instructive bearings in individualizing treatment and increases early diagnosis rate.

它是一种无创伤、无辐射、信息多的新方法，不仅能显示骨质病变，尤其能显示半月板、关节软骨、韧带及关节腔积液等病变情况，能提高早期诊断率，对治疗个体化有指导意义。

Most, but not all studies, have shown untreated psychopathology to negatively impact LBP treatment outcomes.203 In the only study assessing the influence of psychopathology on l-z joint interventions, Lilius et al.204 found a strong correlation between a negative response to intraarticular and periarticular LA and steroid injections and inappropriate signs and symptoms.

大部分但并非所有研究认为未处理的精神疾病对LBP的治疗起反作用。在唯一一项评估精神症状多小关节疼痛的影响的研究中，Lilius等发现，关节内或关节四周LA及类固醇注射的反应和不良症状和体征见存在负相关。

Most, but not all studies, have shown untreated psychopathology to negatively impact LBP treatment outcomes.203 In the only study assessing the influence of psychopathology on l-z joint interventions, Lilius et al.204 found a strong correlation between a negative response to intraarticular and periarticular LA and steroid injections and inappropriate signs and symptoms.

大部分但并非所有研究认为未处理的精神疾病对LBP的治疗起反作用。在唯一一项评估精神症状多小关节疼痛的影响的研究中，Lilius等发现，关节内或关节周围LA及类固醇注射的反应和不良症状和体征见存在负相关。

When read more different study word the snake like robot joint is designed. In this word ADAMS software were used to simulate snake like robot motion on the ground. After input different signal the snake like robot can motion with different shape, when compared with biology snake, get the snake like robot can exhibition the strongpoint of the biology snake.

本文参考相关技术文献并结合自身特点设计了蛇形机器人关节模块的机械结构，并引入了多体动力学仿真软件ADAMS 对蛇形机器人关节模块进行运动状态仿真，模拟出不同输入信号下的运动状态，再与生物蛇的运动状态比较，得出蛇形机器人关节模块组合后能够发挥出生物蛇的运动优点。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。