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Abstract Renal Artery Sympathetic Denervation (RDN) can lower blood pressure. Different ablation catheters (single electrode, multi‐electrode) have different scopes of ablation (renal artery main stem and branches). Few studies have compared the advantages and disadvantages of different ablation catheters and different procedures in terms of antihypertensive efficacy. To compare the efficacy and safety of 3D reconstruction radiofrequency ablation (3DRA) and basket multi‐electrode radiofrequency ablation (BMRA) in Renal Artery Sympathetic Denervation. Fifty‐three patients with Refractory hypertension (RHT) were divided into BMRA, (n = 28) and 3DRA(n = 25). BMRA group used a stereobasket multi‐electrode ablation catheter with a controlled ablation temperature of 60°C and an ablation time of 120 s per site. 3DRA group used a NavStar pressure‐monitored perfusion monopolar ablation catheter with a controlled ablation temperature of 40°C, an ablation time of 40 s per site, and an ablation energy of 12 W. Baseline and RDN parameters and complications were compared in both groups. Home and 24 h ambulatory blood pressure, type of anti‐hypertensive medication taken, and serum creatinine were followed up at 1, 3, 6, 12, and 24 months after the RDN. There were no differences in baseline characteristics between the two groups. (23.14 ± 2.00)months of follow‐up in the BMRA group resulted in a total of (25.86 ± 8.61) loci ablation. (19.28 ± 7.40)months of follow‐up in the 3DRA group resulted in a total of (21.04 ± 6.47)loci ablation. Home SBP was significantly lower in both groups at 1 month after RDN treatment compared to baseline(H‐SBP/mmHg: BMRA 149.9 ± 10.59 vs. baseline 168.36 ± 12.76; 3DRA 152.6 ± 14.91 vs. 164.89 ± 12.96, both p

The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effective rehabilitation training, the bone structure and motion mechanism of the ankle were analyzed in this paper. Referring to the configuration of the lower-mobility parallel mechanism, a 3-RRS (R and S denote revolute and spherical joint respectively) parallel ankle rehabilitation robot (PARR) was proposed. The robot can realize both single and compound ankle rehabilitation training. The structure of the robot was introduced, and the kinematics model was established. The freedom of movement of the robot was analyzed using the screw theory, and the robot kinematics were analyzed using spherical analytics theory. A circular composite rehabilitation trajectory was planned, and the accuracy of the kinematics model was verified by virtual prototype simulation. The Multibody simulation results show that the trajectory of the target point is basically the same as the expected trajectory. The maximum trajectory error is about 2.5 mm in the simulation process, which is within the controllable range. The experimental results of the virtual prototype simulation show that the maximum angular deflection error of the three motors is 2° when running a circular trajectory, which meets the experimental requirements. Finally, a control strategy for passive rehabilitation training was designed, and the effectiveness of this control strategy was verified by a prototype experiment.

Recent studies suggested that the rich club organization promoting global brain communication and integration of information, may be abnormally increased in obsessive-compulsive disorder (OCD). However, the structural and functional basis of this organization is still not very clear. Given the heritability of OCD, as suggested by previous family-based studies, we hypothesize that aberrant rich club organization may be a trait marker for OCD. In the present study, 32 patients with OCD, 30 unaffected first-degree relatives (FDR) and 32 healthy controls (HC) underwent diffusion tensor imaging (DTI) and functional magnetic resonance imaging (fMRI). We examined the structural rich club organization and its interrelationship with functional coupling. Our results showed that rich club and peripheral connection strength in patients with OCD was lower than in HC, while it was intermediate in FDR. Finally, the coupling between structural and functional connections of the rich club, was decreased in FDR but not in OCD relative to HC, which suggests a buffering mechanism of brain functions in FDR. Overall, our findings suggest that alteration of the rich club organization may reflect a vulnerability biomarker for OCD, possibly buffered by structural and functional coupling of the rich club.

A power-split hybrid electric vehicle with a dual-planetary gearset is researched in this paper. Based on the lever analogy method of planetary gearsets, the power-split device is theoretically modeled, and the driveline simulation model is built by using vehicle modeling and simulation toolboxes in MATLAB. Six operation modes of the vehicle are discussed in detail, and the kinematic constraint behavior of power sources are analyzed. To verify the rationality of the modeling, a rule-based control strategy (RB) and an adaptive equivalent consumption minimization strategy (A-ECMS) are designed based on the finite state machine and MATLAB language respectively. In order to demonstrate the superiority of A-ECMS in fuel-saving and to explore the impact of different energy management strategies on emission, fuel economy and emission performance of the vehicle are simulated and analyzed under UDDS driving cycle. The simulation results of the two strategies are compared in the end, shows that the modeling is rational, and compared with RB strategy, A-ECMS ensures charge sustaining better, enables power sources to work in more efficient areas, and improves fuel economy by 8.65%, but significantly increases NO x emissions, which will be the focus of the next research work.

This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness KT and cable pose stiffness KS. It indicated that the static stiffness of the PCUR was related to the cable tension, the arrangement of the cable, and the cable stiffness. Secondly, a simulation model in MATLAB/Simscape Multibody was built. Cable tension was applied to make the moving platform in a static equilibrium state. The stiffness of the PCUR and the external force on the moving platform were changed, and the motion characteristics of the moving platform were obtained. Finally, the position changes of the moving platform under different external forces were analyzed, and the motion laws of the moving platform under different stiffnesses were summarized.