无关节的

In this dissertation singularity avoidance Pith-Yaw-Roll joint apery arm-7 d o. f robot is designed and its inverse kinematics algorithm is studied It is an important problem in the field of redundant robot that inverse kinematics algorithm, and it is studied in this dissertation.

自1996年以来，我所在课题组承担了国家863网点基金项目：拟人手臂机器人系统的研制工作，本文论述了具有全方位无关节奇异的Pith-Yaw-Roll关节机构的七自由度拟人手臂机器人的设计及其逆运动学算法研究。

Artificial joint replacement basically meets the physical requirements of joint function, maintains majority of normal range of motion, and restores majority of joint function. Moreover, the prosthesis source is abundant with no rejection.

人工关节置换可以基本符合运动损伤后关节功能恢复的生理要求，保持原关节的大部分活动度，恢复后大部分功能良好，而且假体来源不受限，无排斥反应。

After 24 weeks,the operation area of group A was more smooth,and the surrounding normal cartilage naturally straight flush,transparent form new cartilage,subchondral bone formation in good condition;Group B restoration surgery the basic integrity of the cartilage tissue, center is not yet fully integrated,there was slight depression;CollagenⅡimmunohistochemistry of cartilage that was new brown area.Group C has no formation of articular cartilage.The growth and the intergration of subchondral bone of group A and B were better.

术后24周取材，见A组山羊手术区关节表面较为光滑，与周边正常软骨自然连续平齐，透明的新生软骨组织形成，软骨下骨形成完好；B组山羊手术区修复的软骨组织基本完整，中心部位仍未完全融合，有微小凹陷；Ⅱ型胶原免疫组化示新生软骨组织呈棕黄色。C组术区关节凹陷，无关节软骨组织形成。A组和B组，软骨下骨的生长及与周围组织的结合均较好，无植入物脱落现象的发生。

After 12 weeks,the result showed the operation area of group A articular surface was smooth,with the surrounding normal cartilage naturally straight flush, transparent form new cartilage tissue;Group B restoration surgery the basic integrity of the cartilage tissue,but the center of many not fully integrated,there is slight depression,surface wear,good subchondral bone formation;control group, depression joint operation areas,non-articular cartilage formation,such as lack of bone joints.

术后12周取材，A组修复区可见部分软骨样组织，关节软骨无磨损，修复的软骨呈白色半透明外观，与周围正常关节软骨有连续性，可见一明显的凹陷，无明显软骨下骨外露；B组修复区也可见部分软骨样组织，关节软骨在修复区可见磨损，软骨呈白色不透明外观，软骨下骨形成较好；空白对照组术区关节凹陷，无关节软骨组织形成，关节下骨缺如。

First 27 rabbits of the experimental group were destabilizated by operated on L6、7.Inj Diazepam 0.25 mg/kg,Inj Ketamine 0.02 g/kg and Inj Atropine 0.125 mg/kg was one by one injected into the rabbit through the auris vein,shearing the rabbit hair of backside waist,fixing the rabbit on operation table in face lying,using 1% Povidone Ioding to degerm the operation area.Every rabbit was incised at the backside of its waist,that incisal opening is located in the center of the intervertebral space (L6、7 space) that both side iliac crest line correspond ,from the meso-ordinate direction cut about 4 cm incision,cutting open skin and subcutaneous tissue,thoroughly ,exposing the spinous processes the vertebral plates and the upper-inferior articular processes,entirely segregating the muscles that cohere the spinous processes the vertebral plates and the articluar process,then excising the supraspinal ligaments and interspinal ligaments,biting off two sides the inferior articular processes of L6,in order that resulting in intervertebral destabilization,using 0.9% Inj.Sodium Chloride to washout the incisal opening,in order sewing up each layer tissues.

方法］ 取48只6个月龄日本大耳白兔，雌雄不限，体重为（2.5±0.2） kg，随机进行分组，分为对照组和实验组，对照组为21只；实验组为27只；先将实验组兔腰背部皮毛剪除，用安定注射液1.25 mg/kg、氯胺酮0.02 g/kg、阿托品0.125 mg/kg顺次耳缘静脉注射麻醉后，俯卧固定于手术台上，用1%碘伏消毒手术区域，以髂嵴平对椎间隙（即L6、7）为中心，从正中取一长约4 cm纵行切口，切开皮肤及皮下组织，锐性分离，暴露棘突、椎板及上下关节突，将附着于棘突、椎板及小关节的肌肉全部分离开，然后依次切除L6、7棘上及棘间韧带，咬除第6腰椎两侧下关节突，造成椎间失稳，用无菌生理盐水冲洗切口，依次缝合各层组织；术后动物在笼中自由活动。

Inj Diazepam 0.25 mg/kg,Inj Ketamine 0.02 g/kg and Inj Atropine 0.125 mg/kg was one by one injected into the rabbit through the auris vein,shearing the rabbit hair of backside waist,fixing the rabbit on operation table in face lying,using 1% Povidone Ioding to degerm the operation area.Every rabbit was incised at the backside of its waist,that incisal opening is located in the center of the intervertebral space (L6、7 space) that both side iliac crest line correspond ,from the meso-ordinate direction cut about 4 cm incision,cutting open skin and subcutaneous tissue,thoroughly ,exposing the spinous processes the vertebral plates and the upper-inferior articular processes,entirely segregating the muscles that cohere the spinous processes the vertebral plates and the articluar process,then excising the supraspinal ligaments and interspinal ligaments,biting off two sides the inferior articular processes of L6,in order that resulting in intervertebral destabilization,using 0.9% Inj.Sodium Chloride to washout the incisal opening,in order sewing up each layer tissues.

方法］ 取48只6个月龄日本大耳白兔，雌雄不限，体重为（2.5±0.2） kg，随机进行分组，分为对照组和实验组，对照组为21只；实验组为27只；先将实验组兔腰背部皮毛剪除，用安定注射液1.25 mg/kg、氯胺酮0.02 g/kg、阿托品0.125 mg/kg顺次耳缘静脉注射####后，俯卧固定于手术台上，用1%碘伏消毒手术区域，以髂嵴平对椎间隙（即L6、7）为中心，从正中取一长约4 cm纵行切口，切开皮肤及皮下组织，锐性分离，暴露棘突、椎板及上下关节突，将附着于棘突、椎板及小关节的肌肉全部分离开，然后依次切除L6、7棘上及棘间韧带，咬除第6腰椎两侧下关节突，造成椎间失稳，用无菌生理盐水冲洗切口，依次缝合各层组织；术后动物在笼中自由活动。

In another cadaveric study, Adams and Hutton58found that the lumbar facet joints resist approximately16% of the intervertebral compressive force when standing erect versus near 0% when sitting, which helps explain the high intra discal pressures during unsupported sitting.59 Finally, after conducting in vitro experiments measuring induced loads on cadaveric lumbar facets, Lorenz et al.60 concluded that with increasing compressive loads, the absolute facet loads increases only slightly, so that the proportion of the axial burden borne by the l-z joints actually decreases with increasing stress.

另一项尸体标本的研究中，Adam和Hutton发现，当直立站立时，小关节承担了逐渐压力的近16%，而坐位时进0%，这解释了为什么在无支持的坐位时椎间的压力非常高。最后，Lorenz在尸体标本加载负荷后测量小关节的应力后，认为增加压力负荷时，小关节间的应力仅轻微增加，因此在轴向负荷中，小关节承担的比例实际随着应力的增加而减少。

The flexor hallucis longus was about (3.24±2.32) mm lateral to the center of metatarsophalangeal joint. Dorsal skin of big toe was innervated by saphenous nerve, superficial and deep fibular nerve.

(1)正常与外翻足的比较中，伸肌腱的位置在足横纹及止点处无明显的差异，在跖附关节及跖趾关节处，外翻足的伸肌腱明显外移(P.05)：长屈肌腱也明显外移(P.05)。

Radiologic studies conducted in LBP patients and asymptomatic controls have shown a positive correlation between sagittally oriented facet joints and degenerative spondylolisthesis.48,49 In these patients, recurrent rotational strains result in myriad changes to the discs and paired l-z joints, including loss of disc height, osteophyte formation, and degenerative hypertrophy of the facets.90,91

放射学研究表明，下腰痛患者及无症状的对照组中，小关节矢状面方向及退行性滑脱之间存在正相关。在这些患者中，反复的旋转性应力导致椎间盘和小关节的多种改变，包括椎间盘高度丢失，骨赘形成和退变性关节面增生等。

Results 1、 Generally, we can see the original blue and white, shiny, no cracks in the articular surface of the cartilage after the stress increases gradually yellow, surface roughness, cracks appear; when the pressure decreases, the yellowing, rough, the color of the fracture restore gradually and become shiny.2、the shiny smooth surface can be seen under a light microscope, formation, cell distribution, tidy, clear the level of cartilage at the articular surface stress increases, the surface roughness changes, defects, disordered cells, uneven dyeing ; when the articular surface of the pressure gradually decreased, the cartilage gradually repair and the surface of cells at the surface appear only disorder.3、immunohistochemical observation can be seen throughout the observation period, cartilage cells are type Ⅱ collagen expression and expression after 3 weeks gradually weakening, when the seventh week begin to strong gradually.4、 electron microscopy shows that when stress increases the articular surface, the cartilage cells became flat, the cytoplasm in the endoplasmic reticulum, Golgi apparatus decreased with collagen disorders; and when stress decreases the articular surface, cartilage cells gradually returned normal, cytoplasm in the endoplasmic reticulum, Golgi body gradually restore quantity; collagen fibers with a gradual rules.

结果：①大体观察可见到原本蓝白色、有光泽、无裂纹的软骨在关节面压力增大后，逐渐呈灰黄色，表面粗糙，出现裂隙；当压力逐渐减小后，变黄、粗糙、有裂隙的软骨颜色逐渐恢复，变得有光泽②光镜下可见表面光滑、平整，细胞分布均匀、整齐，层次清楚的软骨在关节面压力增大后，表面变粗糙、缺损，细胞排列紊乱、染色不均；当关节面压力逐渐减小后，软骨表面逐渐修复，细胞仅在表层排列紊乱③免疫组织化学观察可见整个观察期内软骨细胞胞浆内均有Ⅱ型胶原表达，术后3周内表达逐渐变弱，从第7周时开始逐渐变强。④电镜下可见当关节面压力增大后，软骨细胞逐渐变扁，胞质中内质网膜、高尔基体减少，胶原排列紊乱；当关节面压力减小，软骨细胞形态逐渐恢复正常，胞质中内质网膜、高尔基体数量逐渐恢复；胶原纤维排列逐渐有规则。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。