This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion is provided that relates the actuation modes with the finger motion and the tendon force with the finger characteristics. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the bio-inspired actuation design. The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects. / Master of Science / This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. The robotic fingers employ an adaptive actuation mechanism. The design is minimal and the hand is capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the actuation design. The robotic fingers and the anthropomorphic hand were fabricated using off-the-self materials and additive manufacturing techniques. Several experiments were performed to validate the efficacy of the robot hand.

Mesenchymal stem cells (MSCs) have great potential to improve clinical outcomes for many inflammatory and degenerative diseases through delivery of exogenous MSCs via injection or cell-laden scaffolds and through mobilization and migration of endogenous MSCs to injury sites. MSC fate and function is determined by microenvironmental cues, specifically dimensionality, topography, and cell-cell interactions. MSC responses of migration and differentiation are the focus of this dissertation. Cell migration occurs in several physiological and pathological processes; migration mode and cell signaling are determined by the environment and type of confinement in three-dimensional (3D) models. Tendon injury is a common musculoskeletal disorder that occurs through cumulative damage to the extracellular matrix (ECM). Studies combining nanofibrous scaffolds and MSCs to determine an optimal topographical environment have promoted tenogenic differentiation under various conditions. We investigated cellular response of MSCs on specifically designed nanofiber matrices fabricated using a novel spinneret-based tunable engineered parameters production method (STEP). We designed suspended and aligned nanofiber scaffolds to study cellular morphology, tendon marker gene expression, and matrix deposition as determinants for tendon differentiation. The delivery and maintenance of MSCs at sites of inflammation or injury are major challenges in stem cell therapies. Enhancing stem cell homing could improve their therapeutic effects. Homing is a process that involves cell migration through the vasculature to target organs. This process is defined in leukocyte transendothelial migration (TEM); however, far less is known about MSC homing. We investigated two population subsets of MSCs in a Transwell system mimicking the vasculature; migrated cells that initiated transmigration on the endothelium and nonmigrated cells in the apical chamber that failed to transmigrate. Gene and protein expression changes were observed between these subsets and evidence suggests that multiple signaling pathways regulate TEM. The results of these experiments have demonstrated that microenvironmental cues are critical to understanding the cellular and molecular mechanisms of MSC response, specifically in homing and differentiation. This knowledge has identified scaffold parameters required to stimulate tenogenesis and signaling pathways controlling MSC homing. These findings will allow us to target key regulatory molecules and cell signaling pathways involved in MSC response towards development of regenerative therapies. / Ph. D. / Stem cell therapy is one way to improve tissue injury and inflammatory conditions, but to optimize such therapy, we need to study how the environment around cells influence turning them into the injured tissue and how to control their movement to these sites in order for mesenchymal stem cells (MSCs) to exert their therapeutic functions. MSCs move through and detect their environment through the material around them, including organization of the fibers they attach to and neighboring cells. Cell migration is an important cell behavior that occurs in normal and diseased processes. MSCs have great potential to improve clinical outcomes for many inflammatory and degenerative diseases whether through delivery of exogenous MSCs or through mobilization and migration of endogenous MSCs to injury sites. Tendon damage can occur slowly over time and optimal treatment for normal function after injury remains unknown. Equine MSCs were harvested from bone marrow and subjected to scaffolds of different fiber orientation to study whether cells develop characteristics of tendon cells. Cellular responses were similar between scaffolds of aligned fiber orientation. Manipulation of equine bone marrow MSCs through the use of specifically designed nanofiber scaffolds aid in understanding the mechanisms by which the cells respond and function in tendon development, injury, and repair. Inflammation is a necessary process after tissue injury; however, it must progress in a controlled manner and be resolved before it leads to tissue damage and dysfunction. MSCs function in regulating the effects of inflammation and immune cells; however, getting them to these sites and keeping them there remains challenging. MSCs adhere to and migrate through capillaries towards these sites, known as stem cell homing. Human bone marrow MSCs were loaded onto human synovial microvascular endothelial cells to study migration towards an inflammatory stimulus. This stimulus acted on the endothelial cells to produce another stimulus that attracted MSCs to the endothelial cells. These actions resulted in complete MSC migration through the endothelial cells and activated intracellular signals that can be used to increase the number of MSCs that reach the inflammatory sites and stimulate tissue-healing effects.

Les macrophages sont présents en grand nombre durant la réparation tissulaire. Cependant, leurs rôles n'ont jamais été investigués suivant une blessure tendineuse. Une section transversale suivie d’une suture du tendon d'Achille étaient effectuées sur des souris injectées avec des liposomes contenant du clodronate et ainsi rendues déficientes en monocytes circulants ou encore des souris injectées au PBS et recevant le placebo. L'accumulation des macrophages et la prolifération cellulaire diminuaient dans les tendons des souris clodronate. L'œdème et la masse sèche étaient plus importantes dans les tendons des souris placebo. La force absolue et la rigidité étaient comparables entre les 2 groupes. Par contre, le module de Young et le stress maximal étaient supérieurs pour les tendons de souris injectées au clodronate. Globalement, nos résultats supportent l'hypothèse que les macrophages favorisent la prolifération cellulaire et l'accumulation de matrice extracellulaire, mais leur présence entraîne une diminution du stress mécanique maximal du tendon d'Achille blessé. / Macrophages are present in large numbers during the various phases of tissue repair. However, their roles following tendon injury and during repair have never been investigated. Mice were injected with liposome-encapsulated clodronate to deplete circulating monocytes/macrophages or with PBS for placebo mice. Achilles tendons were then transversely sectioned and sutured. Macrophage accumulation and cell proliferation were lower in the tendons from clodronate-treated mice than in those from PBS-treated mice. Edema and dry mass of the Achilles tendons were higher in PBS-treated mice. No differences in absolute strength were observed, but Young's modulus and maximal stress were significantly greater for tendons from clodronate-treated mice than those from PBS-treated mice. Overall, our findings showed that macrophages promote cell proliferation and extracellular matrix accumulation but their presence leads to inferior ultimate tensile strength of the Achilles tendons.

Problématique : La quantification de l’intégrité du tendon d’Achille (TA) représente un défi en réadaptation. L’adoption de mesures quantitatives du TA, extraites à partir d’une image ultrasonographique (QUS), pourrait remédier à cette lacune. Objectifs : 1) Évaluer la fiabilité test-retest et la précision de mesures QUS du TA; 2) Déterminer le meilleur protocole de collecte de mesures QUS à employer en pratique clinique. Méthodologie : Un total de 23 TAs présentant des symptômes d’une tendinopathie achilléenne et 63 TAs asymptomatiques ont été évalués. Pour chaque TA, 8 images ont été enregistrées (2 visites * 2 évaluatrices * 2 images). Différents types de mesures QUS ont été prises : géométriques (épaisseur, largeur, aire), dérivées d’un histogramme des niveaux de gris et dérivées d’une matrice de co-occurrence. Une étude de généralisabilité a quantifié la fiabilité et la précision de chaque mesure QUS et une étude de décision a fait ressortir les meilleurs protocoles de prise de mesures. Résultats : Les mesures géométriques ont démontré une excellente fiabilité et précision. Les mesures dérivées de l’histogramme des niveaux de gris ont démontré une fiabilité et précision médiocres. Les mesures dérivées d’une matrice de co-occurrence ont démontré une fiabilité modérée à excellente et une précision variable. En pratique clinique, il est recommandé de moyenner les résultats de trois images collectées par un évaluateur lors d’une visite. Conclusion : L’utilisation des mesures QUS géométriques permet de quantifier l’intégrité du TA (clinique et recherche). Davantage d’études sur les mesures QUS dérivées d’une matrice de co-occurrence s’avèrent nécessaires. / Background: Quantifying the integrity of the Achilles tendon (AT) represents a challenge in rehabilitation. The adoption of quantitative measurements of the AT, extracted from an ultrasound image (QUS) could remedy this shortcoming. Objectives: 1) To assess the test-retest reliability and accuracy of QUS measurements of the AT; 2) To determine the best protocol of QUS measurements to use in clinical practice. Methods: A total of 23 ATs with symptoms of mid-portion Achilles tendinopathy and 63 asymptomatic ATs were evaluated. For each AT, 8 images were recorded (2visits* 2 evaluators* 2 images). Different types of QUS measurements were taken: geometric (thickness, width, area), derived from a gray-level histogram and derived from a co-occurrence marix. A generalizability study quantified the reliability and accuracy of each QUS measurement whereas a decision study highlighted the best protocols for measuring use. Results: The geometric measurements showed excellent reliability and accuracy. The measures derived from the gray-level histogram showed poor reliability and accuracy. The measurements derived from a co-occurrence matrix have shown moderate to excellent reliability and a variable precision. In clinical practice, it is recommended averaging the results of three images collected by an assessor during a single visit. Conclusions: The use of geometric QUS measures allows to quantify the integrity of the AT in clinical practice and in research. Further studies on QUS measurements derived from a matrix of co-occurrence are needed.

No description available.

Surgical repair of torn rotator cuff tendons have a high rate of failure and does not address the underlying pathophysiology. Tissue engineering strategies, employing the use of multipotent progenitor cells or growth factors, represent potential therapies to improve the outcome of rotator cuff surgery. The use of glycosaminoglycan-based biomaterials in these therapies may enhance the effectiveness of cell and growth factor delivery techniques. Furthermore, understanding the cellular and molecular mediators in tendon overuse can help elucidate the causes of tendon degeneration. Thus the overall goals of this dissertation were to 1) develop heparin-based biomaterials to enhance cell pre-culture and maintain growth factor bioactivity and 2) characterize the histological and enzymatic changes in a supraspinatus tendon overuse model. To investigate the use of heparin in enhancing dynamic signaling, mesenchymal stem cells (MSCs) were encapsulated in heparin-containing hydrogels and evaluated for differentiation markers when cocultured with a small population of differentiated cells. To probe the effect of sulfation of heparin on the interactions with protein, selectively desulfated heparin species were synthesized and evaluated for their ability to bind and protect proteins. Finally, to develop a tendon overuse model that can become a test bed for testing future targeted therapeutics, an animal model was evaluated for tissue damage and protease activity. Together these studies represent a multi-pronged approach to understanding how tendon tissues become degenerative and for developing technologies to improve the biological fixation of tendon to bone in order to reduce the need for revision surgeries.

Musculoskeletal injuries are commonly associated with muscle atrophy as a function of immobilization or change of normal function. For example, injuries to the anterior cruciate ligament (ACL) which may involve ligament reconstruction, results in the "quadriceps avoidance" gait which leads to atrophy of the knee extensormuscles. In these situations it is not clear whether or not the atrophy is associated with loss of specific muscle fibre types with accompanying functional deficits. Such knowledge would be helpful in implementing exercise regimes designed to compensate for loss of particular fibre types. It is believed that isokinetic exercise performed at speeds below 180° per second strengthens type I muscle fibres, and type II fibres at fast speeds. However, there is no evidence to indicate the specific muscle fibre response to different rates of muscle contraction. Identification of muscle fibre type is most directly determined by biopsy technique but is too invasive for a routine measurement. Electromyography median frequency has been used as a non-invasive measure to infer muscle fibre composition in various studies. However, the reliability and accuracy of this technique has been questioned and improvement is necessary. This research was designed to provide a more accurate and reliable protocol for the determination of EMG median frequency which may be used, after validation against more direct biopsy techniques, as a routine method for inferring muscle fibre composition. The investigation also explored the muscular response as measured by EMG median frequency to varying speeds of muscle contraction, fatiguing exercise and atrophy following ACL reconstruction. The ultimate aim of this research was to improve the reliability of the determination of EMG median frequency to enhance its application as a predictor of muscle fibre composition. This provides information which may improve ACL rehabilitation programs designed to restore and prevent specific muscle fibre types loss that have not previously been targeted by current rehabilitation programs. This research was conducted in three studies. Study one determined the stability of the EMG median frequency bilaterally for the quadriceps and hamstrings muscles and identified the mode of contraction associated with the greatest reliability. The strength and EMG median frequency of the vastus lateralis, medial hamstrings and vastus medialis of 55 subjects was determined across 5 speeds from 0° to 240° per second using a Kin-Com isokinetic dynamometer and an EMG data acquisition system. Isometric contraction was found to have the least bilateral discrepancy (4.01% ±3.06) and between trials standard deviation (4.50) in the vastus lateralis, medial hamstrings and vastus medialis. Study two investigated the EMG median frequency changes in the vastus lateralis which occur immediately following different speeds of isokinetic exercise to the point of fatigue in normal subjects. Thirty-four subjects participated in the study, and performed a 90-second period of isokinetic exercise to activate the knee extensors at either 30° or 300° per second. EMG median frequency of the vastus lateralis was determined before, immediately after and 7 minutes after the fatiguing exercise. The percentage drop in EMG median frequency of the vastus medialis was gnificantly (p<0.05) greater after slow speed (27.9%) than fast speed (20.25%) exercise, while no significant difference was found for the percentage drop in extension torque. Full recovery was found 7 minutes after the fatiguing exercise. By reference to previous research showing a relationship between EMG median frequency and muscle fibre type, an increase in activation of type I muscle fibres with slow speed exercise and an increase in type II muscle fibres with fast speed exercise was observed. Study three identified the changes in EMG median frequency following ACL reconstruction and evaluated the bilateral differences in EMG median frequency of the knee muscles. The relationships between EMG median frequency and the measures of knee functional ability, knee muscle strength, age and time since surgery were also investigated. Twelve subjects who had undergone ACL reconstruction using a semitendinosus and gracilis graft 6 to 12 months earlier, participated in the study. EMG median frequency was determined from an 8-second isometric contraction and knee functional ability was assessed using the Cincinnati Rating Scale. Bilateral EMG median frequency shifts were inconsistent among subjects. On the basis of previous research which indicated a relationship between EMG median frequency and fibre type, no consistent pattern of muscular fibre type atrophy subsequent to ACL reconstruction occurred within 6 to 12 months (ranged from -43 to 57 Hz). Additionally, no significant correlations were found between the EMG median frequency and the knee functional score and knee extension and flexion torques, age, time since operation and the bilateral differences in EMG median frequency. The results of this investigation will serve to improve the reliability of EMG median frequency across a range of conditions in which it has been evaluated. Further research is needed to confirm the relationship between EMG median frequency and direct observations of muscle fibre composition to improve the predictive value of this measure. Following this validation it will be possible to evaluate the bilateral EMG median frequency shift to infer the type of muscle fibre atrophy, and use this measure in determining the efficacy of specific rehabilitation programs. In conclusion * An 8-second isometric contraction is recommended for determining EMG median frequency. * EMG median frequency of a muscle decreases significantly more after slow fatiguing exercise than after fast speed fatiguing exercise. * There was no generalised bilateral EMG median frequency shift found in a group of subjects 6 to 12 months following semitendinosus and gracilis graft ACL reconstruction. * The results of this study will serve to improve the reliability of procedures used to determine EMG median frequency under a range of different contractile conditions. The EMG median frequency changes in response to these conditions require further validations with muscle biopsy in future.

Ruptura do tendão calcâneo é uma das lesões tendíneas mais frequentes. Embora a maioria dos trabalhos sugira que o exercício seja benéfico na cicatrização tendínea, não há consenso sobre o efeito do antiinflamatório neste contexto. Trabalhos experimentais tentam reproduzir lesão aguda deste tendão, em diferentes espécies animais. Neste estudo, descrevemos uma técnica de tenotomia completa do tendão calcâneo direito em ratos e, em seguida, avaliamos os efeitos do uso do antiinflamatório e do exercício aeróbico, isoladamente e em combinação, sobre a proliferação celular e o perfil biomecânico do tendão calcâneo, durante o processo de cicatrização após tenotomia. Estudo experimental com 156 ratos machos adultos, da raça Wistar, com idade média de 3 meses e peso médio de 300g. Após anestesia com tiopental e com auxílio da microscopia de luz, foi realizada incisão longitudinal posterior de cinco milímetros, em direção proximal, a partir da tuberosidade posterior do calcâneo da pata direita do rato. Foi feito corte transversal do tendão calcâneo, a sete milímetros da tuberosidade do calcâneo, com preservação do tendão plantar. Utilizamos as técnicas de Hematoxilina e Eosina, Picrosirius-red e Resorcina-fucsina de Weigert para avaliação da cicatrização tendínea e das fibras dos sistemas colágeno e elástico. Após a tenotomia, metade dos animais receberam tenoxicam intramuscular por 7 dias e no 8o dia iniciou-se protocolo de exercício em esteira na metade de cada grupo. Os ratos foram divididos aleatoriamente em 4 grupos de tratamento: A sem antiinflamatório E sem exercício (controle); B com antiinflamatório E com exercício; C sem antiinflamatório E com exercício; D com antiinflamatório E sem exercício. Os animais foram eutanasiados com 1, 2, 4 e 8 semanas após a tenotomia, para avaliação histológica pelo PCNA, e biomecânica através do teste de resistência à tração e da medida do ciclo locomotor. Foram realizados análise de variância, teste de Kruskal-Wallis e o método de Bonferroni, no programa R Project, versão 2.11.1. O tempo cirúrgico médio foi de 1 minuto e 24 segundos, sem complicações observadas até a 8a semana pós-operatória. Observamos proliferação celular e fibrilogênese com duas semanas, e diminuição da celularidade e das fibras elásticas na 8a semana, além de mudanças na organização estrutural do sistema colágeno. Encontramos pico da imunomarcação com PCNA na 2a semana em todos os grupos, exceto no grupo A, cujo pico aconteceu com 1 semana da tenotomia. Evidenciamos resistência à tração significativamente maior (p=0,02) nos ratos submetidos ao exercício, 8 semanas após ruptura. Nos grupos com antiinflamatório, observamos um ciclo locomotor mais estável durante todo o tempo avaliado. Consideramos a técnica cirúrgica experimental de tenotomia completa do tendão calcâneo, realizada com auxílio da microscopia de luz e preservação do tendão plantar, simples, rápida, com sinais de cicatrização tendínea normal e de fácil reprodução em ratos. O exercício aeróbico, iniciado precocemente após tenotomia completa do tendão calcâneo, é significativamente benéfico na sua recuperação biomecânica e o uso combinado com antiinflamatório confere maior estabilidade na marcha, o que pode proteger contra rerruptura tendínea em ratos / Achilles tendon rupture is one of the most frequent tendon injuries. Although most studies have shown the benefits of exercise on tendon regeneration, controversy still exists concerning non-steroidal antinflammatory drug (NSAID) effects in this context. Several experimental models have been used for the study of Achilles tendon injury. In this study, we describe the surgical technique of right Achilles tenotomy in rats and subsequently evaluate the effects of NSAID and aerobic exercise, in an isolated fashion and combined, on cell proliferation and biomechanical aspects of the Achilles tendon after tenotomy. Experimental study with 156 male Wistar rats with an average age of 3 months and with average weight of 300g. Surgical procedures were performed under light microscopy, after anesthesia with thiopental. A five millimeters posterior longitudinal incision was created, proximally directed, starting five millimeters proximal to the posterior calcaneal tuberosity. A complete tenotomy of the Achilles tendon was performed, seven millimeters away from the calcaneal tuberosity. The plantaris tendon was preserved. We used Hematoxilin and Eosin, Picrosirius-red and Weigerts Resorcin-fucsin to observe general tendon healing, especially regarding collagen and elastic fibers. After tenotomy, half of the rats received an intramuscular injection of tenoxican for 7 days and exercise was initiated on the 8th day for half the animals of each group. Rats were randomly divided into four treatment groups: A) no NSAID and no exercise; B) NSAID plus exercise; C) no NSAID, with exercise; D) NSAID and no exercise. Animals were sacrificed at 1, 2, 4 and 8 weeks after the tenotomy and cell proliferation was evaluated by immunohistochemistry for PCNA, biomechanical evaluation was performed with ultimate load and gait cycle analysis was also carried out. We used the test of analysis of variance, the Kruskal-Wallis test and also, Bonferroni method, in the R Project program 2.11.1. The mean operative time was one minute and 24 seconds, without complications observed until the 8th postoperative week. Histological studies showed cellular proliferation and fibrilogenesis at two weeks, with decreased amounts of cellularity and elastic fibers at the 8th week, besides changes in structural organization of collagen fibers. The highest intensity of PCNA immunostaining was found at 2 weeks in all groups except for group A (control) that had the highest intensity at 1 week. Animals submitted to exercise had significantly higher (P = 0.02) ultimate loads at 8 weeks after injury. The animals that received NSAID presented with a more stable gait cycle. The surgical technique described for complete Achilles tenotomy, under light microscopy and sparing the plantaris tendon, is simple and quick, shows signs of normal healing process, and it is easily reproducible in rats. Aerobic exercise, initiated early after a complete Achilles tendon tenotomy, was beneficial to the biomechanical aspects of the tendon during regeneration and the combined use of NSAID improved the gaits characteristics, which could be protective against reruptures

Ruptura do tendão calcâneo é uma das lesões tendíneas mais frequentes. Embora a maioria dos trabalhos sugira que o exercício seja benéfico na cicatrização tendínea, não há consenso sobre o efeito do antiinflamatório neste contexto. Trabalhos experimentais tentam reproduzir lesão aguda deste tendão, em diferentes espécies animais. Neste estudo, descrevemos uma técnica de tenotomia completa do tendão calcâneo direito em ratos e, em seguida, avaliamos os efeitos do uso do antiinflamatório e do exercício aeróbico, isoladamente e em combinação, sobre a proliferação celular e o perfil biomecânico do tendão calcâneo, durante o processo de cicatrização após tenotomia. Estudo experimental com 156 ratos machos adultos, da raça Wistar, com idade média de 3 meses e peso médio de 300g. Após anestesia com tiopental e com auxílio da microscopia de luz, foi realizada incisão longitudinal posterior de cinco milímetros, em direção proximal, a partir da tuberosidade posterior do calcâneo da pata direita do rato. Foi feito corte transversal do tendão calcâneo, a sete milímetros da tuberosidade do calcâneo, com preservação do tendão plantar. Utilizamos as técnicas de Hematoxilina e Eosina, Picrosirius-red e Resorcina-fucsina de Weigert para avaliação da cicatrização tendínea e das fibras dos sistemas colágeno e elástico. Após a tenotomia, metade dos animais receberam tenoxicam intramuscular por 7 dias e no 8o dia iniciou-se protocolo de exercício em esteira na metade de cada grupo. Os ratos foram divididos aleatoriamente em 4 grupos de tratamento: A sem antiinflamatório E sem exercício (controle); B com antiinflamatório E com exercício; C sem antiinflamatório E com exercício; D com antiinflamatório E sem exercício. Os animais foram eutanasiados com 1, 2, 4 e 8 semanas após a tenotomia, para avaliação histológica pelo PCNA, e biomecânica através do teste de resistência à tração e da medida do ciclo locomotor. Foram realizados análise de variância, teste de Kruskal-Wallis e o método de Bonferroni, no programa R Project, versão 2.11.1. O tempo cirúrgico médio foi de 1 minuto e 24 segundos, sem complicações observadas até a 8a semana pós-operatória. Observamos proliferação celular e fibrilogênese com duas semanas, e diminuição da celularidade e das fibras elásticas na 8a semana, além de mudanças na organização estrutural do sistema colágeno. Encontramos pico da imunomarcação com PCNA na 2a semana em todos os grupos, exceto no grupo A, cujo pico aconteceu com 1 semana da tenotomia. Evidenciamos resistência à tração significativamente maior (p=0,02) nos ratos submetidos ao exercício, 8 semanas após ruptura. Nos grupos com antiinflamatório, observamos um ciclo locomotor mais estável durante todo o tempo avaliado. Consideramos a técnica cirúrgica experimental de tenotomia completa do tendão calcâneo, realizada com auxílio da microscopia de luz e preservação do tendão plantar, simples, rápida, com sinais de cicatrização tendínea normal e de fácil reprodução em ratos. O exercício aeróbico, iniciado precocemente após tenotomia completa do tendão calcâneo, é significativamente benéfico na sua recuperação biomecânica e o uso combinado com antiinflamatório confere maior estabilidade na marcha, o que pode proteger contra rerruptura tendínea em ratos / Achilles tendon rupture is one of the most frequent tendon injuries. Although most studies have shown the benefits of exercise on tendon regeneration, controversy still exists concerning non-steroidal antinflammatory drug (NSAID) effects in this context. Several experimental models have been used for the study of Achilles tendon injury. In this study, we describe the surgical technique of right Achilles tenotomy in rats and subsequently evaluate the effects of NSAID and aerobic exercise, in an isolated fashion and combined, on cell proliferation and biomechanical aspects of the Achilles tendon after tenotomy. Experimental study with 156 male Wistar rats with an average age of 3 months and with average weight of 300g. Surgical procedures were performed under light microscopy, after anesthesia with thiopental. A five millimeters posterior longitudinal incision was created, proximally directed, starting five millimeters proximal to the posterior calcaneal tuberosity. A complete tenotomy of the Achilles tendon was performed, seven millimeters away from the calcaneal tuberosity. The plantaris tendon was preserved. We used Hematoxilin and Eosin, Picrosirius-red and Weigerts Resorcin-fucsin to observe general tendon healing, especially regarding collagen and elastic fibers. After tenotomy, half of the rats received an intramuscular injection of tenoxican for 7 days and exercise was initiated on the 8th day for half the animals of each group. Rats were randomly divided into four treatment groups: A) no NSAID and no exercise; B) NSAID plus exercise; C) no NSAID, with exercise; D) NSAID and no exercise. Animals were sacrificed at 1, 2, 4 and 8 weeks after the tenotomy and cell proliferation was evaluated by immunohistochemistry for PCNA, biomechanical evaluation was performed with ultimate load and gait cycle analysis was also carried out. We used the test of analysis of variance, the Kruskal-Wallis test and also, Bonferroni method, in the R Project program 2.11.1. The mean operative time was one minute and 24 seconds, without complications observed until the 8th postoperative week. Histological studies showed cellular proliferation and fibrilogenesis at two weeks, with decreased amounts of cellularity and elastic fibers at the 8th week, besides changes in structural organization of collagen fibers. The highest intensity of PCNA immunostaining was found at 2 weeks in all groups except for group A (control) that had the highest intensity at 1 week. Animals submitted to exercise had significantly higher (P = 0.02) ultimate loads at 8 weeks after injury. The animals that received NSAID presented with a more stable gait cycle. The surgical technique described for complete Achilles tenotomy, under light microscopy and sparing the plantaris tendon, is simple and quick, shows signs of normal healing process, and it is easily reproducible in rats. Aerobic exercise, initiated early after a complete Achilles tendon tenotomy, was beneficial to the biomechanical aspects of the tendon during regeneration and the combined use of NSAID improved the gaits characteristics, which could be protective against reruptures

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2008. / A solution is sought for the measurement of human deep tendon reflexes as part of a comprehensive patient condition monitoring system for use in a telemedicine context. This study focused on the development, testing and performance evaluation of a prototype compact patellar tendon reflex measurement system that is able to provide a quantitative reflex evaluation for use by medical practitioners and in a telemedicine environment. A prototype system was developed that makes use of Xsens MTx orientation sensors, force-sensing resistors and an electromyogram (EMG) to measure the reflex response. Suitable parameters identified for analysis included the change in pitch, angular velocity and acceleration of the lower leg, the EMG response, the tendon impact, and various latencies associated with these measurements. Other information considered included the age, mass, and physical dimensions of the test subject. Clinical testing was performed to collect data to evaluate the system performance. Subjective reflex evaluations were conducted by three doctors according to a standard reflex grading scale using video recordings of the tests. Self-organizing maps and multi-layer feed-forward (MLFF) artificial neural networks (ANNs) were used to analyze the collected data with the aim of pattern identification, data classification and reflex grading prediction. It was found that the MLFF network delivered the correct reflex grading with an accuracy of 85%, which was of the same order as the rate of differences between the subjective reflex evaluations performed by the doctors (80%). Furthermore, analysis of the data suggested that certain parameters were not necessary for the autonomous evaluation, such as EMG data and the tendon impact. The use of ANNs to analyze a reflex measurement as proposed by this study offers an accurate, repeatable and concise representation of the reflex that is familiar to doctors and suitable for use in a general clinical setting or for telemedicine purposes.