Preliminary clinical trial in percutaneous nephrolithotomy using a real-time navigation system for percutaneous kidney access

Background: Precise needle puncture of renal calyces is a challenging and essential step for successful percutaneous nephrolithotomy. This work tests and evaluates, through a clinical trial, a real-time navigation system to plan and guide percutaneous kidney puncture. Methods: A novel system, entitled i3DPuncture, was developed to aid surgeons in establishing the desired puncture site and the best virtual puncture trajectory, by gathering and processing data from a tracked needle with optical passive markers. In order to navigate and superimpose the needle to a preoperative volume, the patient, 3D image data and tracker system were previously registered intraoperatively using seven points that were strategically chosen based on rigid bone structures and nearby kidney area. In addition, relevant anatomical structures for surgical navigation were automatically segmented using a multi-organ segmentation algorithm that clusters volumes based on statistical properties and minimum description length criterion. For each cluster, a rendering transfer function enhanced the visualization of different organs and surrounding tissues. Results: One puncture attempt was sufficient to achieve a successful kidney puncture. The puncture took 265 seconds, and 32 seconds were necessary to plan the puncture trajectory. The virtual puncture path was followed correctively until the needle tip reached the desired kidney calyceal. Conclusions: This new solution provided spatial information regarding the needle inside the body and the possibility to visualize surrounding organs. It may offer a promising and innovative solution for percutaneous punctures.

Responsabilidade Criminal por Dinheiros Públicos, Branqueamento de Capitais/Lavagem de Dinheiro e Direitos Sociais

Em termos de dinheiros públicos, devemos ter em consideração a necessidade de ter que existir uma boa governança. É importante a participação. Também a transparência. E se os direitos e deveres sociais fundamentais estão interligados, não é menos verdade que é preciso a apresentação de boas contas à população. E aqui temos que falar também em plena responsabilidade pública. Num sentido lato, podemos falar num princípio geral de anticorrupção. O mau uso dos dinheiros públicos pode conduzir à responsabilidade de índole criminal. O crime de branqueamento/lavagem, um crime secundário, pode ter por origem ilícitos e/ou crimes que se relacionam com a utilização indevida de dinheiros públicos. A responsabilidade financeira e criminal pode aliás constituir um incremento na boa gestão dos dinheiros públicos. Deste modo – não tendo o direito penal finalidades de promoção ou de “combate”, mas ainda assim retributivos, preventivos gerais e especiais positivos e restaurativos -, podemos estar a caminhar para uma melhor concretização dos direitos, e dos deveres, que são garantidos do ponto de vista constitucional-constitucional. Afinal, todas as áreas do direito, são peças do mesmo jogo de xadrez. O Tribunal Constitucional em Portugal, o Supremo Tribunal Federal no Brasil, o Supremo Tribunal de Justiça em Portugal, o Superior Tribunal de Justiça no Brasil, os Tribunais de Contas em ambos os países. § In terms of public money, we should take into account the need to have to be good governance. It is important to participate. Also transparency. And if fundamental rights and social duties are interrelated, it is also true that we need to present good accounts to the population. And here we must also speak in full public accountability. In a broad sense, we can speak of a general principle of anti-corruption. The misuse of public funds can lead to criminal nature of responsibility. The crime of money laundering, a secondary crime, may have as illicit origin and / or crimes that relate to the misuse of public funds. The financial and criminal liability may in fact be an increase in the sound management of public funds. Thus - not having the criminal law purposes of promotion or "combat", but still remunerative, general and special preventive and restorative positive - we may be heading for a better realization of the rights, and duties, which are guaranteed the constitutional-constitutional point of view. After all, all areas of the law are parts of the same game of chess. The Constitutional Court in Portugal, the Supreme Court in Brazil, the Supreme Court in Portugal, the Superior Court of Justice in Brazil, the Audit Courts in both countries.