Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification

Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article. Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy. The RCM constraint is performed without having any mechanical constraint. Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements. Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations. The experimental results demonstrate accuracy and performance of the proposed position control algorithms.

Force measurement capability for robotic assisted minimally invasive surgery systems

An automated laparoscopic instrument capable of non-invasive measurement of tip/tissue interaction forces for direct application in robotic assisted minimally invasive surgery systems_ is introduced in this paper. It has the capability to measure normal grasping forces as well as lateral interaction forces without any sensor mounted on the tip jaws. Further to non-invasive actuation of the tip, the proposed instrument is also able to change the grasping direction during surgical operation. Modular design of the instrument allows conversion between surgical modalities (e.g., grasping, cutting, and dissecting). The main focus of this paper is on evaluation of the grasping force capability of the proposed instrument. The mathematical formulation of fenestrated insert is presented and its non-linear behaviour is studied. In order to measure the stiffness of soft tissues, a device was developed that is also described in this paper. Tissue characterisation experiments were conducted and results are presented and analysed here. The experimental results verify the capability of the proposed instrument in accurately measuring grasping forces and in characterising artificial tissue samples of varying stiffness.

Tumour but not stromal expression of β3 integrin is essential, and is required early, for spontaneous dissemination of bone-metastatic breast cancer.

Although many preclinical studies have implicated β3 integrin receptors (αvβ3 and αIIbβ3) in cancer progression, β3 inhibitors have shown only modest efficacy in patients with advanced solid tumours. The limited efficacy of β3 inhibitors in patients could arise from our incomplete understanding of the precise function of β3 integrin and, consequently, inappropriate clinical application. Data from animal studies are conflicting and indicate heterogeneity with respect to the relative contributions of β3-expressing tumour and stromal cell populations in different cancers. Here we aimed to clarify the function and relative contributions to metastasis of tumour versus stromal β3 integrin in clinically relevant models of spontaneous breast cancer metastasis, with particular emphasis on bone metastasis. We show that stable down-regulation of tumour β3 integrin dramatically impairs spontaneous (but not experimental) metastasis to bone and lung without affecting primary tumour growth in the mammary gland. Unexpectedly, and in contrast to subcutaneous tumours, orthotopic tumour vascularity, growth and spontaneous metastasis were not altered in mice null for β3 integrin. Tumour β3 integrin promoted migration, protease expression and trans-endothelial migration in vitro and increased vascular dissemination in vivo, but was not necessary for bone colonization in experimental metastasis assays. We conclude that tumour, rather than stromal, β3 expression is essential and is required early for efficient spontaneous breast cancer metastasis to bone and soft tissues. Accordingly, differential gene expression analysis in cohorts of breast cancer patients showed a strong association between high β3 expression, early metastasis and shorter disease-free survival in patients with oestrogen receptor-negative tumours. We propose that β3 inhibitors may be more efficacious if used in a neoadjuvant setting, rather than after metastases are established. Copyright © 2014 Pathological Society of Great Britain and Ireland. Published by John Wiley & Sons, Ltd.

Muscle atrophy and changes in spinal morphology: is the lumbar spine vulnerable after prolonged bed-rest?

STUDY DESIGN: prospective longitudinal study. OBJECTIVE: to evaluate the effect of bed-rest on the lumbar musculature and soft-tissues. SUMMARY OF BACKGROUND DATA: earlier work has suggested that the risk of low back injury is higher after overnight bed-rest or spaceflight. Changes in spinal morphology and atrophy in musculature important in stabilizing the spine could be responsible for this, but there are limited data on how the lumbar musculature and vertebral structures are affected during bed-rest. METHODS: nine male subjects underwent 60-days head-down tilt bed-rest as part of the second Berlin Bed-Rest Study. Disc volume, intervertebral spinal length, intervertebral lordosis angle, and disc height were measured on sagittal plane magnetic resonance images. Axial magnetic resonance images were used to measure cross-sectional areas (CSAs) of the multifidus (MF), erector spinae, quadratus lumborum, and psoas from L1 to L5. Subjects completed low back pain (LBP) questionnaires for the first 7-days after bed-rest. RESULTS: increases in disc volume, spinal length (greatest at lower lumbar spine), loss of the lower lumbar lordosis, and move to a more lordotic position at the upper lumbar spine (P < 0.0097) were seen. The CSAs of all muscles changed (P < 0.002), with the rate of atrophy greatest at L4 and L5 in MF (P < 0.002) and at L1 and L2 in the erector spinae (P = 0.0006). Atrophy of the quadratus lumborum was consistent throughout the muscle (P = 0.15), but CSA of psoas muscle increased (P < 0.0001). Subjects who reported LBP after bed-rest showed, before reambulation, greater increases in posterior disc height, and greater losses of MF CSA at L4 and L5 than subjects who did not report pain (all P < 0.085). CONCLUSION: these results provide evidence that changes in the lumbar discs during bed-rest and selective atrophy of the MF muscle may be important factors in the occurrence of LBP after prolonged bed-rest.

Metastatic intraocular chondrosarcoma in a dog

Chondrosarcoma accounts for about 10% of all canine bone tumors and is the second most common primary bone tumor in dogs. In veterinary medicine, chondrosarcomas are classified as skeletal and extraskeletal. Extraskeletal chondrosarcomas are mesenchymal neoplasms of soft tissues and visceral organs that produce neoplastic chondrocytes in a fibrillary matrix. There is no involvement of bone or periosteal tissues in extraskeletal chondrosarcomas. The aim of this report is to describe the first case of a metastatic intraocular extraskeletal chondrosarcoma in a dog.

Uso de membrana biossintética a base de celulose na regeneração tecidual guiada

Guided Tissue Regeneration (GTR) is a regenerative treatment modality that requires the placement of a physical barrier over a bone defect in such a way that the proliferation of the surrounding soft tissues into the barrier-protected area is prevented. Thereby in the guided osseous regeneration allowing bone-forming cells from the existent bone edges to invade the space and produce bone. The physical barriers should be biocompatible, allow cellular occlusion, maintain adequate space, tissue integration and facility in the application. They can be occlusive or permeable, absorbable or non-absorbable. Among various types of physical barriers in the market, the cellulose biosynthetic membrane is emphasizing by the necessary characteristics for GTR and to be a national product developed in low cost.

Xantelasma: relato de um caso

Os autores relatam um caso raro em paciente do sexo masculino, de 71 anos de idade, com história de surgimento de carocinho na pálpebra superior direita há nove anos, que teve aumento importante há um ano. A tomografia computadorizada evidenciou espessamento da musculatura do reto lateral e de partes moles adjacentes. O diagnóstico pela biópsia foi de xantelasma.

Inclusões de quitosana no subcutâneo de rato: avaliação clínica, histológica e morfométrica

FUNDAMENTOS: A quitosana é polímero derivado da quitina, com vários tipos de aplicação na área médica. OBJETIVO: Avaliar a biocompatibilidade de membranas de quitosana no subcutâneo de ratos. MÉTODOS: Foram utilizados 20 ratos Wistar machos, nos quais foram implantadas membranas de quitosana, na região mediana dorsal. Os animais foram sacrificados: sete, 15, 30 e 60 dias após a cirurgia, tendo sido avaliados clinicamente durante o período experimental e com fotodocumentação no momento do sacrifício. Após o sacrifício, as membranas e tecidos adjacentes foram removidos e preparados para exame histológico e morfométrico. RESULTADOS: Nenhum animal apresentou efeitos adversos que pudessem ser atribuídos à implantação das membranas. O exame histológico mostrou que as inclusões são lisas e homogêneas e não são colonizadas por células do hospedeiro, sendo circundadas por pseudocápsula composta por fibroblastos e células inflamatórias. A morfometria da pseudocápsula revelou espessura semelhante durante todo o período experimental (P>0,05). CONCLUSÃO: A quitosana pode ser opção para uso como implante não integrado. Novos estudos devem ser realizados para comprovar a biocompatibilidade a longo prazo.

Systemic congenital lymphangiomatosis

A linfoangiomatose é uma doença rara, caracterizada pela exarcebação da proliferação dos canais linfáticos, ocorrendo em crianças e adultos jovens. Nós descrevemos um caso extremamente raro de linfoangiomatose sistêmica congênita, em um recém-nascido que apresentava ascite e insuficiência respiratória, desenvolvidos imediatamente após o nascimento. O óbito ocorreu nas primeiras horas de vida. Achados de autópsia demonstraram numerosos cistos em tecido mole da região cervical, mediastino, diafragma, e em diversos outros órgãos incluindo: fígado, baço, tireóide e rins. O grave e difuso acometimento de cistos nos pulmões pela linfoangiomatose foi associado ao mau prognóstico e morte no caso relatado.

Surto de abscesso mandibular por Pseudomonas aeruginosa em ovinos

Descreve-se um surto de abscesso mandibular em ovelhas da raça Bergamácia no município de Botucatu, estado de São Paulo. do rebanho de 120 animais, 35 apresentaram aumento de volume mandibular com a presença de nódulos únicos, de consistência pétrea, de diferentes tamanhos, fistulados ou não e sem indicativos de inflamação dos tecidos moles adjacentes. Os animais eram criados em pasto de Panicum maximum cv. Tanzânia com água e sal mineral ad libitum e everminados, via oral, com pistolas dosificadoras. O material para diagnóstico microbiológico e antibiograma foi coletado de cinco animais acometidos, por punção e aspiração dos nódulos. Dos 35 animais acometidos, 19 foram submetidos ao exame radiográfico, um ao exame tomográfico e outro à biópsia óssea da região submandibular. O único ovino que morreu, encontrava-se em estado de caquexia provavelmente devido à localização do aumento de volume que afetou a implantação dos dentes molares daquela região impedindo a apreensão e mastigação adequadas levando a perda da condição corporal e morte. Ao exame necroscópico, observaram-se áreas de necrose caseosa na mandíbula direita de onde isolou-se Pseudomonas aeruginosa. O tratamento utilizado foi baseado na aplicação de iodeto de sódio a 10% por via intramuscular e antibioticoterapia segundo antibiograma com enrofloxacina por via intramuscular, porém com pouca eficácia. Diante do quadro clínico, dos dados de anamnese, da localização das lesões no tecido ósseo mandibular, do resultado do cultivo microbiológico, das alterações radiográficas e tomográficas foi feito o diagnóstico de abscesso mandibular causado por Pseudomonas aeruginosa.

Aspectos clínicos, ultra-sonográficos e venográficos da tromboflebite jugular experimental em equinos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Esthetic Interim Acrylic Resin Prosthesis Reinforced with Metal Casting

Fabrication of an interim prosthesis is an important procedure in oral rehabilitation because it aids in determining the esthetics, phonetics, and occlusal relationship of the definitive restoration. The typical material (acrylic resin) used in interim prostheses commonly fails due to fractures. During extended oral rehabilitation with fixed partial prostheses, high strength interim prostheses are often required to protect hard and soft tissues, avoid dental mobility, and to allow the clinician and patient a chance to evaluate cosmetics and function before the placement of the definitive prosthesis. Furthermore, a satisfactory interim prosthesis can serve as a template for the construction of the definitive prosthesis. The maintenance of this prosthesis is important during treatment for protection of teeth and occlusal stability. Procedures to reinforce interim prostheses help to improve performance and esthetics in long-term treatment. Due to the low durability of acrylic resin in long-term use, the use of reinforcing materials, such as metal castings or spot-welded stainless steel matrix bands, is indicated in cases of extensive restoration and long-term treatment. This paper describes an easy technique for fabricating a fixed interim prosthesis using acrylic resin and a cast metallic reinforcement.

Clinical and radiographic changes around dental implants inserted in different levels in relation to the crestal bone, under different restoration protocols, in the dog model

Background: The aim of the present study was to evaluate clinical and radiographic changes that occur around dental implants inserted in different levels in relation to crestal bone under different restoration protocols.Methods: Thirty-six implants were inserted in the edentulous mandible of six mongrel dogs. Each implant was assigned to an experimental group according to the distance from the top of the implant to the crestal bone: Bone Level (at crestal bone level), Minus 1 (1 mm below crestal bone), or Minus 2 (2 mm below crestal bone). Each hemimandible was submitted to a restoration protocol: conventional (prosthesis was installed 120 days after implant placement, including 30 days with healing cap) or immediate (prosthesis was installed 24 hours after implant placement). Fixed partial prostheses were installed bilaterally in the same day. After 90 days, clinical and radiographic parameters were evaluated.Results: As long as the implants were inserted in more apical positions, the first bone-to-implant contact (fBIC) was positioned more apically (P<0.05). However, the apical positioning of the implants did not influence the ridge loss or the position of the soft tissue margin (PSTM) (P>0.05). In addition, in immediately restored sites, the PSTM was located significantly more coronally than that in conventionally restored sites (P=0.02).Conclusions: Despite the more apical positioning of the fBIC, the height of the peri-implant soft tissues and ridge was not jeopardized. Moreover, the immediate restoration protocol was beneficial to the maintenance of the PSTM. Further studies are suggested to evaluate the significance of these results in longer healing periods.

Intoxicação natural por Solanum glaucophyllum (Solanaceae) em búfalos no Pantanal Matogrossense

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

RADIOGRAFIA E MACROSCOPIA do JOELHO APÓS ESTABILIZAÇÃO EXTRA-ARTICULAR UTILIZANDO FÁSCIA LATA, FIO DE POLIÉSTER TRANÇADO OU FIO DE POLIAMIDA PARA CORREÇÃO da RUPTURA do LIGAMENTO CRUZADO CRANIAL em CÃES

A ruptura do ligamento cruzado cranial é uma das principais doenças ortopédicas que afetam os cães. Muitas técnicas cirúrgicas foram descritas no intuito de aliviar a dor, restaurar a estabilidade biomecânica do joelho e prevenir a progressão da osteoartrite. Fáscia lata, fio de poliéster trançado e fio de poliamida foram empregados na estabilização do joelho após excisão do ligamento cruzado cranial em cães, os quais foram submetidos à avaliação radiográfica e macroscópica da articulação. Neste estudo, foram utilizados 18 cães com massa corporal superior a 15Kg (peso médio - 19,67kg), separados em 3 grupos eqüitativos correspondentes a cada técnica, avaliados durante 30 e 60 dias. Ao exame radiográfico, independentemente de grupo, os cães apresentaram evidência de efusão articular moderada a severa, distensão da cápsula articular e, na maioria dos casos, ausência de sinais de doença articular degenerativa. Ao exame macroscópico da articulação do joelho observou-se espessamento da cápsula articular e tecidos moles periarticulares, erosão da cartilagem articular dos côndilos femorais em todos os grupos e afrouxamento dos fios nos cães submetidos às técnicas de estabilização extra-articular com fio de poliéster trançado e fio de poliamida.