1 0 0 0 OA 器械出し看護師ロボットにおける中枢神経系と末梢神経系の構築と統合に関する研究
C++で記述したプログラムとUppaalで記述した外科モデルとの交信を可能とするソフトウェア的アダプタであるDTRONの開発によって、SNRの末梢神経系と中枢神経系が統合され、SNRは術中情報および自分自身の行動やその目的を”認識”できるようになった。手術野で使用されている手術器具情報を実時間に取得するシステムはほぼ完成した。RFIDアンテナが隙間無く敷き詰められた手術器具トレイ上の手術器具の認証と位置同定はまだであるが、隣り合うアンテナを2mm離せば同定は可能となった。腹部内臓の実時間同定に関して、種々の波長の光に対するウサギ腹部臓器表面の反射特性に臓器特異的なパターンがあることが判った。
1 0 0 0 心筋細胞活動電位シミュレーションを用いたQT延長メカニズムの検討
- 著者
- 山口 喬弘 荒船 龍彦 佐久間 一郎 大内 克洋 柴田 仁太郎 本荘 晴朗 神谷 香一郎 児玉 逸雄
- 出版者
- 公益社団法人 日本生体医工学会
- 雑誌
- 生体医工学 (ISSN:1347443X)
- 巻号頁・発行日
- vol.43, no.1, pp.43-49, 2005
In heart failure, QT interval and action potential duration (APD) is prolonged and <i>I</i><sub>Ks</sub>, a slow component of delayed rectifier potassium current, decreases. We have reported that the KCNE1 gene, coding <i>I</i><sub>Ks</sub> channel, increases and QT interval is prolonged in patients with heart failure. Since it is known that increasing KCNE1 increases the maximum conductance of the <i>I</i><sub>Ks</sub> channel, the mechanism of APD prolongation is not explained by the over expression of KCNE1. In this study, we construct a cardiac membrane action potential simulation model based on the experimental data from oocytes expression to investigate the relationship between the increase of KCNE1 and APD. In the experiment of oocyte expression, 1 ng and 5 ng of KCNE1 were co-injected with 5 ng of KCNQ1. Expressed currents were recorded 1-2 days after injection by the double-microelectrode voltage clamp method at 35 degrees centigrade. Maximum <i>I</i><sub>Ks</sub> conductance and relationships between time constants, maximum activation parameter and membrane potential were obtained from fitting functions describing <i>I</i><sub>Ks</sub> channel properties in the Luo-Rudy model to experimental results with the Nelder-Mead simplex method. In simulations, APD was prolonged by increasing the co-injected amount of KCNE1. APD at 5 ng KCNE1 was 183 ms, which is 3.4% longer than that at 1 ng KCNE1 (APD=177 ms). This study shows that increasing the KCNE1 expression level makes maximum <i>I</i><sub>Ks</sub> conductance increase and <i>I</i><sub>Ks</sub> channel open slowly and <i>I</i><sub>Ks</sub> conductance decrease according to the APD time scale. Therefore increasing the KCNE1 expression level may prolong APD with this mechanism. This method of constructing a simulation model based on experiments helps to explain the relationship between KCNE1 expression ratio and QT interval prolongation.