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Objective: In order to solve the problems of poor accuracy and low efficiency of delta robot in dynamic target grasping in current food production. Methods: A new dynamic target grasping method was proposed for the grasping control of delta robot in food production line. The dynamic position of the target was calculated through the offset of the conveyor belt and the feedback value of the encoder, and the grasping order of the target was optimized. The dynamic target was grasped by combining the door trajectory and the improved trapezoidal acceleration and deceleration algorithm. The control methods before and after optimization were analyzed through experiments. Results: At the conveying speed of 20 mm/s, the missed grasping rate of the robot before and after optimization decreased from 3.33% to 0, and the grasping speed increased from 0.756 s-1 to 0.860 s-1. At the conveying speed of 30 mm/s, the missed grasping rate of the robot before and after optimization was reduced from 8.83% to 0, and the grasping speed was increased from 0.885 pieces/s to 1.130 pieces/s. Conclusion: The dynamic target grasping method can effectively improve the grasping efficiency of delta robot.

Objective: The aims of this research were to purify and identify the 130 kDa (CagA) protein of H. pylori clinical isolate HP97002 and evaluate the relationships between the purified 130 kDa (CagA) protein and gastric diseases. Methods: The procedure for isolating the protein included 6 mol/L guanidine extract, size exclusion chromatography and elusion from gel. Sera of 68 patients with gastric diseases (44 with chronic gastritis, 15 with atrophic gastritis, 7 with peptic ulcer disease, 2 with gastric cancer) were obtained, and the serological response to CagA was studied by Western-blot using the purified protein. Results: The purified protein was 130 kDa and preserved good antigenicity and revealed basic isoelectric point about of 8.1. Among 68 sera, 43 sera could recognize the purified protein associated with chronic gastritis 47.7% (21/44), atrophic gastritis 86.7% (13/15), peptic ulcer disease 100% (7/7), gastric cancer 100% (2/2). Compared with each other, the difference was significant (χ2=13.327, P=0.004), and 130 kDa (CagA) protein was associated with severe gastric diseases ( r s=0.442, P=0.001). Conclusion: The 130 kDa (CagA) protein was associated with severe gastric diseases. [ABSTRACT FROM AUTHOR]

Objective: To investigate the differentially expressed genes in keloids in comparison with normal skin using cDNA microarray., Methods: The cDNA microarray consisting of 8064 clones of human genes was employed to detect and screen the differentially expressed genes in keloid and normal skin tissues. Semi-quantitative RT-PCR was applied to verify the results of gene microarray., Results: Totally 277 differentially expressed genes were identified in keloids in comparison with normal skin tissue, including 163 up-regulated genes and 114 down-regulated ones according to the designed data filter criteria. These differentially expressed genes belonged to 26 different functional gene families involving different biological processes. RT-PCR yielded results were consistent with those of microarray study., Conclusion: A variety of genes are involved in the formation of keloids. The 277 differentially expressed genes comprise the differential gene expression profile of keloids and describe the general changes in the gene expressions in keloid at transcriptional level. Further analysis of the identified genes might help reveal the molecular mechanism of abnormal scarring.

Background: Pancreatolithiasis is rarely recognized clinically. This study was undertaken to assess the value of ultrasonography in the diagnosis of 16 patients with pancreatolithiasis and its treatment with pancreatolithotomy plus side-to-side pancreaticojejunostomy. Extracorporeal shock wave lithotripsy was also used in some patients., Methods: In the 16 patients with pancreatolithiasis treated at our hospital from 1977 to June 2002, 3 patients were complicated by pancreatic cancer, 2 pancreatic head cyst, and 1 choledochal cyst. Ten patients underwent operation, 3 received endoscopic sphincterotomy (EST), and 3 refused operation and left the hospital., Results: Epigastric pain was the major symptom of the disease. Ultrasonography was the best choice for the diagnosis of the disease in addition to CT for determining characteristics and location of pancreatolithiasis associated with pancreatic cancer, ERCP for showing pancreatic stone, and EST for detecting stone in the pancreatic head. Pancreatolithotomy plus side-to-side pancreaticojejunostomy was used for the treatment of pancreatolithiasis., Conclusions: Ultrasonography is the first choice for the diagnosis of pancreatolithiasis. Pancreatolithotomy plus side-to-side pancreaticojejunostomy is the best choice for the treatment of pancreatolithiasis. CT is of great value in determining characteristics and locations of pancreatolithiasis associated with pancreatic cancer. For patients with pancreatolithiasis associated with pancreatic cancer, surgical treatment should follow the principles of individualized therapy.

Objective: To investigate the influence of hepatic ischemia-reperfusion on other organs of rats during the early stage of injury., Methods: Twenty-five healthy male SD rats were randomized equally into 5 groups according to the different time points in the course of hepatic vascular occlusion and reperfusion, namely pre-occlusion, the end of occlusion, and after 0.5, 2.0 and 6.0 h reperfusion, respectively. In each group the rats were killed to obtain samples at the specified time points. The contents of malondialdehyde (MDA) and superoxide dismutase (SOD) in the lung, kidney, pancreas and heart were measured in pre-occlusion and 6-hour reperfusion groups. The triphosphate (ATPase) activity in heart tissues, the contents of MDA and the activity of SOD in blood and the blood biochemistry were observed in different groups., Results: The activity of SOD and ATPase were decreased (P<0.05) after the ischemia-reperfusion as compared with those before ischemia, but the contents of MDA, ALT, AST BUN, AMY and CK-MB increased significantly (P<0.05)., Conclusion: Liver ischemia-reperfusion can induce injury to other organs at the early stage of reperfusion.

Objective: To investigate the clinical value of three-dimensional dynamic contrast-enhanced magnetic resonance (MR) angiography in the liver transplantation., Methods: MR scanning was performed both before and after the operation in 9 patients elected for liver transplantation, and after three-dimensional reconstruction at a computer workstation, the three- dimensional images of the inferior vena cava, hepatic veins, portal vein and bile duct were obtained., Results: The three- dimensional images could be rotated in space to show the size, shape, lining of the veins and anatomic relationships between each other., Conclusion: Three-dimensional dynamic contrast-enhanced MR angiography can be of value in liver transplantation.

Objective: To investigate the early-stage multiple organ injuries in rats subjected to intestinal and hepatic ischemia-reperfusion., Methods: Seventy-five normal male Wistar rats were randomized equally into hepatic ischemia, intestinal ischemia and intestinal-hepatic ischemia groups. Before and at the end of occlusion (45 min), as well as at the time points of 0.5, 2.0 and 6.0 h during the reperfusion, respectively, 5 rats from each group were killed to obtain samples for determination of the contents of malondialdehyde (MDA), superoxide dismutase (SOD) in the blood, lung, kidney, pancreas and heart tissues, along with blood urea nitrogen (BUN), amylase (AMY), and creatine kinase MB (CK-MB)., Results: The activity of SOD was decreased (P<0.05) and MDA, BUN, AMY and CK-MB levels increased significantly (P<0.05) after ischemia-reperfusion as compared with those before ischemia., Conclusions: Intestinal and hepatic ischemia-reperfusion can induce injury of multiple organs at early stage. With the same duration of ischemia-reperfusion, intestinal ischemia may induce severer injury than hepatic ischemia.

Objective: To assess the value of clinical application of ischemic preconditioning (IP) before hepatic vascular exclusion for resection of hepatocellular carcinoma (HCC) accompanied by cirrhosis and explore the possible mechanism underlying the protective effect of this maneuver., Methods: Thirty-four consecutive patients with resectable HCC were randomized into IP group to receive IP with a 5-min ischemia followed by 5-min perfusion before hepatic vascular exclusion and the control group with simply hepatic vascular exclusion. The liver function, hepatic Fas mRNA expression, caspase-3 activity, apoptosis of the hepatocytes were compared between the two groups., Results: In the IP group, the aspartate aminotransferase (AST) and alanine aminotransferase (ALT) levels on postoperative day 1, 3 and 7 were all significantly higher than those of the control group (t=6.985, P<0.01). The total bilirubin levels were also higher in the former group on postoperative day 3 and 7 (t=3.447, P<0.05). The IP group had higher albumin levels on postoperative day 1 than the control group (t=3.360, P<0.05). After 1 hour's reperfusion, the hepatic mRNA expression of Fas, caspase-3 activity and apoptotic sinusoidal endothelial cells were all significantly higher than those of the control group (t=3.771, P<0.05)., Conclusion: IP has a protective effect on liver function after hepatic resection with hepatic vascular exclusion in HCC patients, possibly due to the inhibition of hepatocyte apoptosis by down-regulating hepatic Fas mRNA expression and caspase-3 activity, and is a convenient technique applicable in such operations as hepatic transplants and hepatectomy.

Objective: In order to study the diagnosis and treatment of HBV and HCV infection., Methods: We retrospectively analysed clinical data of 680 patients with cholangiocarcinoma from 1995 to 2001 and stated by SPSS software., Results: (1) The fastigium of cholangiocarcinoma was 60 - 65 years old. The incidence of cholangiocarcinoma was higher in aged males and the sex ratio (male:female) was 1.36:1. (2) The proximal cholangiocarcinoma was most (41.6%) and distant cholangiocarcinoma was secondly (28.7%). (3) Most patients of cholangiocarcinoma were late. The resection rate was low and the rate of radical operation was 21.6% (147/680). (4) The incidence of proximal cholangiocarcinoma was higher in the positive Serologic marks for HBV and HCV and course of diseases was short. Moreover, the pathology of. positive Serologic marks for HBV and HCV trended to low-differentiation and invasion, metastasis and the resection rate was lower., Conclusions: Cholangiocarcinoma is common in the aged males. The infection of HB(C)V and hilar cholangiocarcinoma are correlated and incline to the proximal bile duct. The hilar cholangiocarcinoma infected HB(C)V may have higher malignant degree in biological characteristics and more badly prognosis.

Objective: To evaluate the surgical treatment of pancreatic carcinoma., Methods: 101 patients with pancreatic carcinoma admitted from 1995 to 2002 were studied retrospectively. Of 83 patients undergoing surgery, 56 (64.5%) were subjected to tumor resection. Whipple's procedure was performed in 48 patients, extended regional pancreatectomy and autograft intestinal transplantation in 2, combined resection of pancreatic body or tail carcinoma in 6, and 27 patients with unresectable pancreatic carcinoma were given inner drainage., Results: Wound dehiscence and digestive bleeding were found in one patient respectively. Pancreatic fistula was found in one patient undergoing extended regional pancreatectomy and autograft intestinal transplantation. Other patients recovered uneventfully., Conclusions: Most patients with pancreatic carcinoma could undergo tumor resection. Blood vessel repair or transplantation can be used if the tumor adherent to the superior mesenteric-portal vein. Extended regional pancreatectomy and autograft intestinal transplantation are feasible. Simple inner drainage should be used in the patient whose neoplasm is unresectable.

Objective: To study the feasibility and operative procedures of liver resection in combination with collateral devascularization for treating patients with hepatic cancer complicated by portal hypertension., Methods: A retrospective analysis was conducted in 45 cases of hepatectomy for hepatic cancer in combination with portaazygous devascularization for portal hypertension from Jan. 1995 to Jan. 2002., Results: Operative mortality was zero. The absolute survival rate in 1/2, 1, 2, 3, 4, 5, 6, and 7 years was 44/45(97.8%), 30/41(73.2%), 26/36 (72.2%), 13/27(48.1%), 10/19(52.6%), 5/13(38.5%), 1/7(14.3%), 0/2(0) respectively. During hospitalization, refractory ascites occurred in 1 case and hepatorenal syndrome in another. Upper gastrointestinal hemorrhage occurred in 2 cases during the follow-up period. In the 14 patients who died during the follow-up, 9 died of cancer recurrence, 4 of liver function failure, and 1 of upper gastrointestinal hemorrhage., Conclusion: Hepatectomy in combination with portaazygous devascularization for patients with liver cancer complicated by portal hypertension is safe and feasible.