RESUMEN
Objective:To develop a continuous non-invasive blood pressure measurement device(NC-BPM)and verify the accuracy of that in monitoring blood pressure.Methods:A NC-BPM type of non-invasively continuous blood pressure measurement device(NC-BPM for short)was developed.The entire system consisted of four modules included one sensor which shape was finger cot,one unit of signal acquisition and pressure control,one calibration system for height and one host.The Omron J760 electronic sphygmomanometer(J760)and the CNAP Monitor500 continuous non-invasive blood pressure monitoring system(CNAP Monitor500)were used as the reference sphygmomanometer of verifying accuracy of the monitored blood pressure.The blood pressures of 25 subjects at three stages included static stage,blood pressure change stage and stage post calibration were respectively measured according to the standard test procedure of wearable sleeveless blood pressure measurement device of Institute of Electrical and Electronics Engineers(IEEE).Results:Both NC-BPM and CNAP Monitor500 collected 13753 data points,and there were high correlation in systolic blood pressure(SBP),diastolic blood pressure(DBP)and mean blood pressure(MAP)between the two devices(r=0.96,0.97,0.98,P<0.05).A total of 379 data points were collected by Omron J760,and there were high correlation in SBP and DBP between NC-BPM and Omron J760(r=0.98,0.95,P<0.05).According to the standards of British Hypertension Society(BHS)and the American Association for the Advancement of Medical Instrumentation(AAMI)to conduct grade evaluation,and the proportions of the SBP differences between NC-BPM and CNAP Monitor500 within the ranges of 0～5 mmHg,0～10 mmHg and 0～15 mmHg were respectively 85.01%,97.60%and 99.47%,and the proportions of the DBP differences between them within the three ranges were respectively 84.34%,99.85%and 100%,and the proportions of the MAP differences were respectively 92.66%,99.72%and 99.96%,all of which belonged to BHS grade A.The pressure difference values of measured SBP,DBP and MAP between the two devices were respectively(0.67±5.07)mmHg,(2.43±2.87)mmHg and(1.43±2.89)mmHg,which were within the(5±8)mmHg of AAMI standard range.The proportions of the SBP differences between NC-BPM and Omron J76 within the ranges of 0～5 mmHg,0～10 mmHg and 0～15 mmHg were respectively 79.95%,97.36%and 100%,and the proportions of the DBP differences between them within the three ranges were respectively 89.71%,99.74%and 100%,all of which belonged to BHS grade A.The difference values of systolic and diastolic blood pressures of brachial artery between the two devices were respectively(1.57±4.18)mmHg and(0.57±5.20)mmHg,which were within the(5±8)mmHg of AAMI standard range.Conclusion:The NC-BPM device has passed the first stage of clinical trials in accordance with IEEE standards,which can proceed to the next stage of clinical verification trials.
RESUMEN
Situs inversus totalis is a rare congenital anatomical anomaly that causes some difficult problems for surgeons when performing an operation. However, without histopathology specimens from surgery, a misdiagnosis of cancer may be unavoidable, in addition to affecting the improvement of prognosis. This study reports a rare patient with situs inversus totalis who presented with the main complaints of pruritus and vague abdominal pain. She was first misdiagnosed with cholangiocarcinoma and was finally diagnosed with duodenal papilla adenocarcinoma via laparoscopic pancreaticoduodenectomy. Situs inversus totalis was not a contraindication for surgery. Skilled surgeons and complete preparation during the perioperative period are two important keys to successful surgeries. Performing laparoscopic pancreaticoduodenectomy for patients with situs inversus totalis to avoid misdiagnosis of cancer and tailor appropriate therapy plans is cost-effective.
RESUMEN
This work presents the design and test of a novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist. The morphology is designed into a compact tuning fork shape (130 × 110 × 260 mm, 389 g) with two bidirectional sheet-shaped soft fingers and a biaxial bidirectional (universal) cylinder-shaped soft wrist. The multi-degree of freedom of soft fingers and wrist makes the gripper versatile and adaptable to gripping objects of various shapes, sizes, and orientations in a wide range. The bidirectional fingers with double-side inflatable chambers can tune their gripping stiffness and force by varying the common and differential pressure of the two sides. The wrist can tune its deflecting stiffness and force in the same way. Therefore, the gripper can grip objects of various stiffness and weights. The soft gripper is tested to characterize its workspace, stiffness, gripping force, and dynamic response time. Gripping function tests are also performed to evaluate the achieved degree of functions of the gripper. Tests show that the proposed gripper can grip objects in the size of 0-245 mm and in the orientation of -88.2°-90.8° (pitch/roll) with a maximum gripping force of 40 N and a response time of 1.22-1.60 s to force and 0.56-2.61 s to motion, respectively. The gripping stiffness can be tuned in the range of 0.029-0.137 N/mm (i.e., the tunable scope is 79%) by varying common pressure in the range of 0-0.2 MPa. Functional tests verify that the proposed soft gripper is versatile and adaptable to gripping objects of various shapes, sizes, weights, and orientations. Therefore, the proposed soft gripper has great potential applications in production and daily life.