Estudo comparativo entre os sincrânios de Otaria byronia e Arctocephalus australis (Pinnipedia, Otariidae)

Observou-se grande variabilidade anatômica no sincrânio de Otaria byronia (Blainville, 1820) e de Arctocephalus australis (Zimmerman, 1783), com correspondentes implicações na sistemática dos Otariidae. As principais diferenças observadas entre as duas espécies foram a largura do rostro, exposição (ou não) do etmóide na órbita, vacuidade palatino/pterigóide, extensão do maxilar, concavidade e forma do palato, tamanho/forma da órbita/processo supra-orbital, altura/forma do palato, tamanho/forma da órbita/processo supra-orbital, altura/forma do arco zigomático, forma do hâmulo pterigóide, tamanho de processos e cristas em geral, esfenóide e neurocrânio; presença ou não do canal vidiano e transverso; forma do pétreo e proporções do processo angular secundário. Enquanto algumas diferenças (etmóide) são bastante incomuns entre espécies contemporâneas pertencentes à mesma família, muitas outras são de natureza alométrica. Algumas diferenças são peramórficas: tamanho do crânio, do palato e das cristas (hipermórficos em O. byronia). Outros caracteres são pedomórficos em O. byronia: forame incisivo, processo maxilar do frontal e canais vidianos. As principais diferenças entre machos e fêmeas de O. byronia, e similiraridades entre os machos desta espécie e A. australis estão relacionadas a modificações no tempo/taxa de desenvolvimento. Alguns caracteres usualmente empregados na sistemática do grupo não foram corroborados, principalmente referentes à fossa naso-labialis, sutura jugo-temporal, meato acústico interno, entotimpânico e extensão do pétreo.

Quarta contribuição ao conhecimento do gênero Archytas Jaennicke, 1867: (Diptera, Tachinidae)

The author studies 5 species of Archytas Jaennicke, 1867, belonging to the "dissimilis group": A. seminigra (Wiedemann, 1830) and four species which are considered as new. The species of this group may be characterized as follow: Species of short body, exceptionally large ones. Abdomen yellowish, with a median blackish V-shapedspot. Second antennal segment with 2/3 length of third. Parafacialia with blackish hairs. Propleura pilose. Post alar wall with few hairs. The following key facilitates the identification of the species: 1. Third article of antennae, strongly convex in the anterior margin (fig. 10); posterior margin straight. Parafacialia with a facio-orbital bristle well differentiated . . . . A. arnaudi sp. n. — Third article of antennae not so convex in the anterior margin; facio-orbital bristle absent, if present not well differentiated [...] 2; 2. Parafrontalia with golden polen [...] 3; — Parafrontalia brownish to shining black with few polen . . . 4; 3. Forcipes superiores slender and sub-truncate apically (figs. 5 and 6)[...] A. seminigra; — Forcipes superiores broad apically (fig .20)[...] A, gongalvesi sp. n.; 4. First, second and third sternites yellowish [...] A. angrensis sp. n.; — All sternites brownish to black [...] A. sabroskpi sp. n.; The material studied belongs to the Instituto Oswaldo Cruz collections, where is located the types of new species.

Anatomical landmarks for transnasal endoscopic skull base surgery.

Resection of midline skull base lesions involve approaches needing extensive neurovascular manipulation. Transnasal endoscopic approach (TEA) is minimally invasive and ideal for certain selected lesions of the anterior skull base. A thorough knowledge of endonasal endoscopic anatomy is essential to be well versed with its surgical applications and this is possible only by dedicated cadaveric dissections. The goal in this study was to understand endoscopic anatomy of the orbital apex, petrous apex and the pterygopalatine fossa. Six cadaveric heads (3 injected and 3 non injected) and 12 sides, were dissected using a TEA outlining systematically, the steps of surgical dissection and the landmarks encountered. Dissection done by the "2 nostril, 4 hands" technique, allows better transnasal instrumentation with two surgeons working in unison with each other. The main surgical landmarks for the orbital apex are the carotid artery protuberance in the lateral sphenoid wall, optic nerve canal, lateral optico-carotid recess, optic strut and the V2 nerve. Orbital apex includes structures passing through the superior and inferior orbital fissure and the optic nerve canal. Vidian nerve canal and the V2 are important landmarks for the petrous apex. Identification of the sphenopalatine artery, V2 and foramen rotundum are important during dissection of the pterygopalatine fossa. In conclusion, the major potential advantage of TEA to the skull base is that it provides a direct anatomical route to the lesion without traversing any major neurovascular structures, as against the open transcranial approaches which involve more neurovascular manipulation and brain retraction. Obviously, these approaches require close cooperation and collaboration between otorhinolaryngologists and neurosurgeons.

Implementation of robotic laparoscopic cholecystectomy in a university hospital.

BACKGROUND: Robot surgery is a further step towards new potential developments in minimally invasive surgery. Surgeons must keep abreast of these new technologies and learn their limits and possibilities. Robot-assisted laparoscopic cholecystectomy has not yet been performed in our institution. The purpose of this report is to present the pathway of implementation of robotic laparoscopic cholecystectomy in a university hospital. METHODS: The Zeus(R) robot system was used. Experimental training was performed on animals. The results of our experimental training allowed us to perform our first two clinical cases. RESULTS: Robot arm set-up and trocar placement required 53 and 35 minutes. Operative time were 59 and 45 minutes respectively. The overall operative time was 112 and 80 minutes, respectively. There were no intraoperative complications. Patients were discharged from the hospital after an overnight stay. CONCLUSION: Robotic laparoscopic cholecystectomy is safe and patient recovery similar to those of standard laparoscopy. At present, there are no advantages of robotic over conventional surgery. Nevertheless, robots have the potential to revolutionise the way surgery is performed. Robot surgery is not reserved for a happy few. This technology deserves more attention because it has the potential to change the way surgery is performed.

Object recognition for autonomous objects: comparison of two approaches

Report for the scientific sojourn at the Swiss Federal Institute of Technology Zurich, Switzerland, between September and December 2007. In order to make robots useful assistants for our everyday life, the ability to learn and recognize objects is of essential importance. However, object recognition in real scenes is one of the most challenging problems in computer vision, as it is necessary to deal with difficulties. Furthermore, in mobile robotics a new challenge is added to the list: computational complexity. In a dynamic world, information about the objects in the scene can become obsolete before it is ready to be used if the detection algorithm is not fast enough. Two recent object recognition techniques have achieved notable results: the constellation approach proposed by Lowe and the bag of words approach proposed by Nistér and Stewénius. The Lowe constellation approach is the one currently being used in the robot localization project of the COGNIRON project. This report is divided in two main sections. The first section is devoted to briefly review the currently used object recognition system, the Lowe approach, and bring to light the drawbacks found for object recognition in the context of indoor mobile robot navigation. Additionally the proposed improvements for the algorithm are described. In the second section the alternative bag of words method is reviewed, as well as several experiments conducted to evaluate its performance with our own object databases. Furthermore, some modifications to the original algorithm to make it suitable for object detection in unsegmented images are proposed.

ETIKETAGGER: herramienta para el etiquetaje de secuencias de imágenes

La adaptación del reconocimiento de objetos sobre la robótica móvil requiere un enfoque y nuevas aplicaciones que optimicen el entrenamiento de los robots para obtener resultados satisfactorios. Es conocido que el proceso de entrenamiento es largo y tedioso, donde la intervención humana es absolutamente necesaria para supervisar el comportamiento del robot y la dirección hacia los objetivos. Es por esta razón que se ha desarrollado una herramienta que reduce notablemente el esfuerzo humano que se debe hacer para esta supervisión, automatizando el proceso necesario para obtener una evaluación de resultados, y minimizando el tiempo que se malgasta debido a errores humanos o falta de infraestructuras.

Estudi de comportaments socials amb eixams de robots reconfigurables

Els eixams de robots distribuïts representen tot un món de possibilitats al camp de la microrobòtica, però existeixen pocs estudis que n'analitzin els comportaments socials i les interaccions entre robots autònoms distribuïts. Aquests comportaments han de permetre assolir de la manera més efectiva possible un bon resultat. Prenent com a base l'objectiu esmentat, aquest treball detalla diferents polítiques de cerca i de reconfiguració dels robots i estudia els seus comportaments per tal de determinar quins d'ells són més útils per solucionar un problema concret amb les plagues d'erugues i corcs als camps de cigroneres.

Iniciación del alumno al campo de la investigación en una asignatura multidisciplinar orientada a la robótica

La asignatura de libre elección en la que se realizó la experiencia que se indica pretende ser un trampolín de iniciación para aquellos alumnos de la Universidad Europea de Madrid que tengan inquietud por descubrir el mundo de la robótica. Con una clase de alumnos procedentes de muchas titulaciones distintas, Licenciado en Odontología, Ingeniero de Caminos, Canales y Puertos, Ingeniero Industrial, Ingeniero Informático, Ingeniero en Telecomunicaciones, Técnicos en Obras Públicas y alumnos internacionales, el reto de hacer de la asignatura algo interesante para ellos implicaba saber adaptarse a distintos niveles tanto disciplinar (varias carreras) como académico (los alumnos eran tanto de los primeros cursos como de los últimos). Basándose en el uso del portafolio y el aprendizaje basado en problemas se fueron inculcando los conocimientos básicos necesarios para desarrollar lo que sería el final de la asignatura. Este objetivo final es el que hizo que los alumnos vieran de cerca la labor de un investigador y un grupo de trabajo multidisciplinar. El reto consistió en que debían hacer una solicitud 'ficticia' de un proyecto PROFIT. Los PROFIT constituyen programas de ayuda y fomento a la investigación técnica convocados por el Ministeriode Industria, Turismo y Comercio. Las plantillas son accesibles desde Internet y de esta forma los alumnos pudieron realizar una memoria clara y precisa de sus proyectos. Además, como elemento final de evaluación se invitó a dos profesores expertos en robótica de otra universidad al día de la presentación en el que los alumnos entregaban la memoria y defendían sus trabajos. Tres profesores en total, dos de otra universidad y el profesor de la asignatura asistieron a su defensa y pusieron de manera independiente los trabajos en orden según sus preferencias, al ser 5 grupos la nota debía ponerse entre 10, 9, 8, 7 y 6. La media de la decisión de los tres profesores configuró la nota final.

Pedicle screw insertion: robotic assistance versus conventional C-arm fluoroscopy.

Bone-mounted robotic guidance for pedicle screw placement has been recently introduced, aiming at increasing accuracy. The aim of this prospective study was to compare this novel approach with the conventional fluoroscopy assisted freehand technique (not the two- or three-dimensional fluoroscopy-based navigation). Two groups were compared: 11 patients, constituting the robotical group, were instrumented with 64 pedicle screws; 23 other patients, constituting the fluoroscopic group, were also instrumented with 64 pedicle screws. Screw position was assessed by two independent observers on postoperative CT-scans using the Rampersaud A to D classification. No neurological complications were noted. Grade A (totally within pedicle margins) accounted for 79% of the screws in the robotically assisted and for 83% of the screws in the fluoroscopic group respectively (p = 0.8). Grade C and D screws, considered as misplacements, accounted for 4.7% of all robotically inserted screws and 7.8% of the fluoroscopically inserted screws (p = 0.71). The current study did not allow to state that robotically assisted screw placement supersedes the conventional fluoroscopy assisted technique, although the literature is more optimistic about the former.

Utilització del robot mòbil com a eina d'aprenentatge en ensenyaments tècnics

En aquest Projecte de Millora de la Qualitat Docent es descriu el disseny, la construcció i la utilització d’un robot mòbil com a eina docent en titulacions d’Enginyeria. El robot mòbil té com a element de control un PC portàtil convencional per tal de facilitar el procés d’aprenentatge de l’alumnat estigui centrat en l’objectiu de les pràctiques i no en el funcionament i control del robot. A més a més, el robot disposa d’un elevat nombre de sensors i actuadors per tal d’oferir un elevat grau d’interdisciplinaritat.

Estudi de comportaments socials d'aixams robòtics amb aplicació a la neteja d'espais no estructurats

La intel·ligència d’eixams és una branca de la intel·ligència artificial que està agafant molta força en els últims temps, especialment en el camp de la robòtica. En aquest projecte estudiarem el comportament social sorgit de les interaccions entre un nombre determinat de robots autònoms en el camp de la neteja de grans superfícies. Un cop triat un escenari i un robot que s’ajustin als requeriments del projecte, realitzarem una sèrie de simulacions a partir de diferents polítiques de cerca que ens permetran avaluar el comportament dels robots per unes condicions inicials de distribució dels robots i zones a netejar. A partir dels resultats obtinguts serem capaços de determinar quina configuració genera millors resultats.

Neues aus Diagnostik und Therapie der spinalen Erkrankungen [Novel aspects of diagnostics and therapy of spinal cord diseases].

BACKGROUND: Both non-traumatic and traumatic spinal cord injuries have in common that a relatively minor structural lesion can cause profound sensorimotor and autonomous dysfunction. Besides treating the cause of the spinal cord injury the main goal is to restore lost function as far as possible. AIM: This article provides an overview of current innovative diagnostic (imaging) and therapeutic approaches (neurorehabilitation and neuroregeneration) aiming for recovery of function after non-traumatic and traumatic spinal cord injuries. MATERIAL AND METHODS: An analysis of the current scientific literature regarding imaging, rehabilitation and rehabilitation strategies in spinal cord disease was carried out. RESULTS: Novel magnetic resonance imaging (MRI) based techniques (e.g. diffusion-weighted MRI and functional MRI) allow visualization of structural reorganization and specific neural activity in the spinal cord. Robotics-driven rehabilitative measures provide training of sensorimotor function in a targeted fashion, which can even be continued in the homecare setting. From a preclinical point of view, defined stem cell transplantation approaches allow for the first time robust structural repair of the injured spinal cord. CONCLUSION: Besides well-established neurological and functional scores, MRI techniques offer the unique opportunity to provide robust and reliable "biomarkers" for restorative therapeutic interventions. Function-oriented robotics-based rehabilitative interventions alone or in combination with stem cell based therapies represent promising approaches to achieve substantial functional recovery, which go beyond current rehabilitative treatment efforts.

Hypertonie oculaire dans l'orbitopathie dysthyroidienne: considerations physiopathologiques, diagnostiques et therapeutiques. A propos de trois cas significatifs. [Intraocular high pressure in thyroid-associated orbitopathy: physiopathological mechanisms, diagnosis, and management. Three case reports]

PURPOSE: To determine the mechanisms and treatment of ocular hypertension in patients with thyroid-associated orbitopathy and to differenciate it from glaucomatous damage. DESIGN: Three case reports. METHODS: Retrospective review of clinical findings, course, and treatment of the three patients. RESULTS: Elevated intraocular pressure in thyroid-associated orbitopathy observed in the three cases may involve different physiopathological abnormalities such as disturbances of venous circulation, compression by infiltrative muscles, and long corticosteroid use. In the first two cases, defects demonstrated in the perimetry are in consistent with glaucomatous damage. In the third case, visual field abnormalities may be compatible with a glaucomatous disease, but all defects resolved after therapy. Treatement was of the greatest difficulty for the three cases, associating antiglaucomatous medication, steroids, orbital radiotherapy, orbital decompression and extraocular muscle surgery. Intraocular pressure was controlled in all cases. CONCLUSIONS: Elevated intraocular pressure in thyroid-associated orbitopathy is distinguished from glaucomatous disease by its physiopathological mechanisms, clinical course, visual field defects, and treatment. The management of this hypertension is closely related to the treatment of dysthyroid orbitopathy.

The Rare Cancer Network: achievements from 1993 to 2012.

The Rare Cancer Network (RCN), founded in 1993, performs research involving rare tumors that are not common enough to be the focus of prospective study. Over 55 studies have either been completed or are in progress.The aim of the paper is to present an overview of the 30 studies done through the RCN to date, organized by disease site. Five studies focus on breast pathology, including sarcoma, lymphoma, phyllodes tumor, adenoid cystic carcinoma, and ductal carcinoma in situ in young women. Three studies on prostate cancer address prostatic small cell carcinoma and adenocarcinoma of young and elderly patients. Six studies on head and neck cancers include orbital and intraocular lymphoma, mucosal melanoma, pediatric nasopharyngeal carcinoma, olfactory neuroblastoma, and mucosa-associated lymphoid tissue lymphoma of the salivary glands. There were 4 central nervous system studies on patients with cerebellar glioblastoma multiforme, atypical and malignant meningioma, spinal epidural lymphoma and myxopapillary ependymoma. Outside of these disease sites, there is a wide variety of other studies on tumors ranging from uterine leiomyosarcoma to giant cell tumors of the bone. The studies done by the RCN represent a wide range of rare pathologies that were previously only studied in small series or case reports. With further growth of the RCN and collaboration between members our ability to analyze rare tumors will increase and result in better understanding of their behavior and ultimately help direct research that may improve patient outcomes.

Experimentació amb eina d'àudio i vídeo a la carta i arxiu multidocumental en entorn web

L'objectiu d'aquest pràcticum és treballar amb una eina d'edició i catalogació remota de vídeos accessible via internet. L'eina ha estat desenvolupada per l'empresa Vision Robotics. La memòria reflecteix les experiències viscudes a través del treball amb aquesta eina i analitza les possibilitats de millora, les potencialitats de l'eina a més d'afegir unes reflexions finals de l'eina en general.