科创中国

目的 观察伤椎置钉并椎体内植骨内固定术在胸腰椎骨折治疗中的应用效果.方法 至少一侧椎弓根完整的胸腰椎骨折26例,予伤椎撬拨复位置钉、椎体内植骨、椎弓根内固定,据胸腰段正侧位片比较术前、术后即刻、术后6个月的椎体高度及Cobb's角,并评估脊髓神经功能和融合情况.结果 术后随访7~28个月.患者术后即刻伤椎椎体前缘高度占正常高度百分比及Cobb's角优于术前(P均<0.05);伤椎外形恢复满意;按ASIA脊髓神经功能分级,伴神经损伤者15例中,A级1例无恢复,余均改善1~3级(P均<0.05),内固定无失效,植骨皆融合.结论 伤椎置钉并椎体内植骨内固定术治疗胸腰椎骨折可重建椎体结构,增强脊柱稳定,近期疗效较好.

Most of current running quadruped robots have similar construction: a stiff body and four compliant legs. Many researches have indicated that the stiff body without spine motion is a main factor in limitation of robots' mobility. Therefore, investigating spine motion is very important to build robots with better mobility. A planar quadruped robot is designed based on cheetahs' morphology. There is a spinal driving joint in the body of the robot. When the spinal driving joint acts, the robot has spine motion; otherwise, the robot has not spine motion. Six group prototype experiments with the robot are carried out to study the effect of spine motion on mobility. In each group, there are two comparative experiments: the spinal driving joint acts in one experiment but does not in the other experiment. The results of the prototype experiments indicate that the average speeds of the robot with spine motion are 8.7%–15.9% larger than those of the robot without spine motion. Furthermore, a simplified sagittal plane model of quadruped mammals is introduced. The simplified model also has a spinal driving joint. Using a similar process as the prototype experiments, six group simulation experiments with the simplified model are conducted. The results of the simulation experiments show that the maximum rear leg horizontal thrusts of the simplified mode with spine motion are 68.2%–71.3% larger than those of the simplified mode without spine motion. Hence, it is found that spine motion can increase the average running speed and the intrinsic reason of speed increase is the improvement of the maximum rear leg horizontal thrust.