The current mathematical model explains the influence of non-linear thermal radiation on the Casson liquid flow over a moving thin needle by considering Buongiorno’s nanofluid model.The influences of Stefan blowing,D...The current mathematical model explains the influence of non-linear thermal radiation on the Casson liquid flow over a moving thin needle by considering Buongiorno’s nanofluid model.The influences of Stefan blowing,Dufour and Soret effects are also considered in the model.The equations which represent the described flow pattern are reduced to ordinary differential equations(ODEs)by using apt similarity transformations and then they are numerically solved with Runge–Kutta-Fehlberg’s fourth fifth-order method(RKF-45)with shooting process.The impacts of pertinent parameters on thermal,mass and velocity curves are deliberated graphically.Skin friction,rate of heat and mass transfer are also discussed graphically.Results reveal that,the increase in values of Brownian motion,thermophoresis,Dufour number,heating and radiative parameters improves the heat transfer.The increasing values of the Schmidt number deteriorates the mass transfer but a converse trend is seen for increasing values of the Soret number.Finally,the escalating values of the radiative parameter decays the rate of heat transfer.展开更多
This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutane...This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.展开更多
Objective:To observe the clinical efficacy of filiform fire-needling plus continuous passive motion(CPM)therapy for frozen shoulder.Methods:A total of 72 patients were randomized into an observation group and a contro...Objective:To observe the clinical efficacy of filiform fire-needling plus continuous passive motion(CPM)therapy for frozen shoulder.Methods:A total of 72 patients were randomized into an observation group and a control group by the random number table method,with 36 cases in each group.Patients in the control group received celecoxib capsule plus CPM,while those in the observation group received filiform fire-needling plus CPM.The whole course of treatment lasted for 2 weeks in both groups.The visual analog scale(VAS),Constant-Murley score(CMS)and range of motion of shoulder joint were measured for therapeutic efficacy evaluation.Results:The total effective rate was 91.7%in the observation group,higher than 72.2%in the control group,and the between-group comparison showed statistical significance(P<0.05).After treatment,the VAS scores in the two groups dropped significantly,the CMS as well as the range of motion including abduction,forward flexion and extension were all increased significantly,and the intra-group comparisons showed statistical significance(all P<0.05).The betweengroup comparisons showed the improvements in these items in the observation group were more significant than those in the control group(all P<0.05).Conclusion:Filiform fire-needling plus CPM can produce more significant efficacy than celecoxib capsule plus CPM for frozen shoulder;it can alleviate pain,improve shoulder function and restore joint range of motion in such patients.展开更多
文摘The current mathematical model explains the influence of non-linear thermal radiation on the Casson liquid flow over a moving thin needle by considering Buongiorno’s nanofluid model.The influences of Stefan blowing,Dufour and Soret effects are also considered in the model.The equations which represent the described flow pattern are reduced to ordinary differential equations(ODEs)by using apt similarity transformations and then they are numerically solved with Runge–Kutta-Fehlberg’s fourth fifth-order method(RKF-45)with shooting process.The impacts of pertinent parameters on thermal,mass and velocity curves are deliberated graphically.Skin friction,rate of heat and mass transfer are also discussed graphically.Results reveal that,the increase in values of Brownian motion,thermophoresis,Dufour number,heating and radiative parameters improves the heat transfer.The increasing values of the Schmidt number deteriorates the mass transfer but a converse trend is seen for increasing values of the Soret number.Finally,the escalating values of the radiative parameter decays the rate of heat transfer.
文摘This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.
文摘Objective:To observe the clinical efficacy of filiform fire-needling plus continuous passive motion(CPM)therapy for frozen shoulder.Methods:A total of 72 patients were randomized into an observation group and a control group by the random number table method,with 36 cases in each group.Patients in the control group received celecoxib capsule plus CPM,while those in the observation group received filiform fire-needling plus CPM.The whole course of treatment lasted for 2 weeks in both groups.The visual analog scale(VAS),Constant-Murley score(CMS)and range of motion of shoulder joint were measured for therapeutic efficacy evaluation.Results:The total effective rate was 91.7%in the observation group,higher than 72.2%in the control group,and the between-group comparison showed statistical significance(P<0.05).After treatment,the VAS scores in the two groups dropped significantly,the CMS as well as the range of motion including abduction,forward flexion and extension were all increased significantly,and the intra-group comparisons showed statistical significance(all P<0.05).The betweengroup comparisons showed the improvements in these items in the observation group were more significant than those in the control group(all P<0.05).Conclusion:Filiform fire-needling plus CPM can produce more significant efficacy than celecoxib capsule plus CPM for frozen shoulder;it can alleviate pain,improve shoulder function and restore joint range of motion in such patients.
