Orientador: Plínio Trabasso / Texto em português e inglês / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Ciências Médicas / Made available in DSpace on 2018-08-25T16:43:11Z (GMT). No. of bitstreams: 1 Madeira_MariaZeliadeAraujo_M.pdf: 1405070 bytes, checksum: 92d0a92bffeb8403785ffcb448a2afbb (MD5) Previous issue date: 2014 / Resumo: INTRODUÇÃO: As Infecções do Sítio Cirúrgico (ISC), compreendendo de 14% a 16% das encontradas em pacientes hospitalizados, são classificadas em incisional superficial, incisional profunda ou de órgão/cavidade. Entre 12% e 84% dessas infecções são detectadas depois que o paciente deixa o hospital, daí a importância da realização da vigilância pós-alta hospitalar. OBJETIVOS: Implementar um serviço de vigilância pós-alta de ISC em mulheres que realizaram cirurgia ginecológica em um Hospital de Ensino em Teresina-PI; monitorizar a ocorrência de ISC e sua associação com fatores de risco; caracterizar o perfil sociodemográfico desse contingente; determinar a taxa de incidência de ISC no ambulatório de ginecologia por meio da vigilância; e identificar o perfil das ISC diagnosticadas após a alta hospitalar. MÉTODO: Estudo quantitativo e prospectivo, realizado no ambulatório de ginecologia do Hospital Getúlio Vargas, o qual é de ensino público, geral, de grande porte e de referência em saúde para o Estado do Piauí e demais regiões do Norte e Nordeste do Brasil. A população foi de 1.026 mulheres egressas do hospital de ensino, que realizaram cirurgia ginecológica, no período de junho de 2011 a março de 2013. O projeto foi aprovado pelo Comitê de Ética e Pesquisa da UFPI, sob o CAAE: 0059. 045. 000.11. RESULTADOS: Utilizou-se a vigilância epidemiológica às ISC do tipo busca ativa, por 30 dias, no ambulatório de ginecologia, por meio de contato presencial e telefônico. A taxa de retorno das mulheres para o ambulatório foi de 86,6% e a incidência de ISC foi de 5,8%, destas, 71,7% foram classificadas como incisional superficial e 28,3% como incisional profunda. O tempo médio entre a cirurgia e o diagnóstico de ISC foi de 12,9 dias; a maior incidência se encontra na faixa etária de 25 a 44 anos (44,3%) de idade; procediam da capital 57,8% e, do interior do Estado, 42,2%; 63% são casadas, 61% tinham até o ensino fundamental; economicamente, 46,4% declararam renda familiar de 1 (um) salário mínimo. Os fatores de risco para o desenvolvimento de ISC foram: Tempo PO (dias), Neoplasia e Diabetes mellitus. CONCLUSÃO: Evidenciou-se o incremento da notificação de incidência de ISC, o que aponta para a importância do acompanhamento das mulheres sob vigilância pós-alta, utilizando uma estratégia sistematizada. Palavras chaves: Vigilância epidemiológica, Procedimentos Cirúrgicos em Ginecologia, Infecção de ferida operatória / Abstract: INTRODUCTION: The Surgical Site Infection (SSI) understanding 14% to 16% of those found in intern patients, and be assorted in superficial incisional SSI, deep incisional SSI, or organ or space SSI. Between 12% and 84% those infections are detected after the patient leaves hospital, hence the importance of post-discharge surveillance. OBJECTIVES: The post-discharge surveillance woman service implementation who underwent gynecological surgery in school hospital in Teresina - PI; monitor the occurrence of ISC and association with risk factors; characterizing the socio-demographic profile; appoint incidence rate (SSI) in gynecological ambulatory for surveillance method, and identify the profile of SSI misdiagnosed after discharge. METHODS: Prospective and quantitative study, accomplished in gynecological ambulatory in Getulio Vargas Hospital, which is for public education, and a large general hospital, and the health reference for the state of Piauí and further the North and Northeast regions of Brazil. The population was 1026 patient women which has undergone gynecological surgery in period from june 2011 to march 2013. The project was approved for the UFPI Research Ethics Committee, under the CAAE: 0059 045 000.11. RESULTS: It was used SSI epidemiologic surveillance, type active report for 30 days in gynecological ambulatory, by face or telephonic contact. Return rate of women to gynecological ambulatory was 86,6% and SSI incidence was 5,8%, those 71,1% was classed in superficial incisional and 28,3% deep incisional. The average time betwixt surgery and SSI diagnosis was 12,9 days; the highest incidence is in the age group 25-44 years (44.3%); came from the city (57,8%) e countryside of the State (42,2%), 63% married women, had basic education 61%, 46,4% declare having minimum wage. The risk factors to SSI development was: OP Time (days), neoplasm and Diabetes mellitus. CONCLUSION: Highlighted the increased incidence of SSI notification, pointing to the importance of accompanying the women in post-discharge surveillance, using a systematic strategy. Key words: Epidemiological surveillance, Gynecologic Surgical Procedures, Surgical wound infection / Mestrado / Ciencias Biomedicas / Doutora em Ciências Médicas

子宮切除術是最常進行的婦科手術之一，據統計，美國每年平均錄得約600,000宗進行子宮切除術的病例。全腹腔鏡子宮切除術為子宮切除術的一種，在手術中，病人的子宮將經由完全使用腹腔鏡的模式被摘除。 / 在普遍全腹腔鏡子宮切除術的流程中，名為舉宮器的手術儀器會被應用於手術中，以改變病人子宮的位置及方向。手術室內，除了負責為病人摘除子宮的醫生外，還需額外一名負責操作舉宮器的醫生在場，以促進手術的進行。於手術的過程中，為使摘除手術能更有效及順利地進行，這名醫生需以人手操作舉宮器以控制病人體內子宮的方位。一般而言，這項工作都是枯燥而疲憊的。然而，在負責進行摘除手術的醫生眼中，縱子宮的方位已被調整，其方位仍然未如理想的情況亦不屬罕見。 / 故此，一個能勝任代替醫生負責操作舉宮器的機械人助手將會是可行的解決方案之一。與此同時，機械人亦能將病人子宮方位的控制權交回負責進行摘除手術的醫生手中。 / 本論文提出一套以把醫生從操作舉宮器的工作中釋放為目標，並使子宮方位操作變得更準確及穩定的機械人系統。機械人系統由兩個部分構成，分別為一支一個自由度的電動舉宮器以及一台三個自由度的舉宮器方位操作機械人。 / 舉宮器方位操作機械人旨在模仿以往醫生操作舉宮器的動作，以負責把固定在它身上的舉宮器移動到及固定在指定的位置。舉宮器方位操作機械人共有三個關節，分別為旋轉關節、滑動關節以及線性關節。關節的佈置滿足特定的幾何約束以構成遠程運動中心，使機械人能把手術儀器從細小的開口（例如：子宮頸）中進行操作。本論文提出的舉宮器方位操作機械人備有配適器以兼容不同款式的舉宮器，例如市場上現存的舉宮器以及本論文提出的電動舉宮器，均可應用在本系統中。 / 本論文提出的電動舉宮器為系統中可選擇性的元件，它是個一自由度附帶可轉動末端的裝置，旨在延伸機械人系統末端執行器的可到達範圍。 / 本論文將論述這套機械人系統的設計，包括其機械設計與電子系統的部分、運動學與及工作空間。一台實驗用的樣機已被建造以作驗證設計之用。該樣機以醫學人體模型為對象的實驗結果亦會在本論文中提出。 / Hysterectomy is one of the most frequently performed gynecologic procedures. In average, around 600,000 cases are recorded annually in the United States. Total laparoscopic hysterectomy (TLH) is one of the approaches of performing hysterectomy in which uterus of a patient is removed from an entirely laparoscopic approach. / In ordinary TLH procedures, a surgical apparatus, uterus manipulator, used for changing the position and orientation of the patient’s uterus is involved. In the operating theatre, apart from the primary surgeon who is responsible for the removal of uterus, an assisting surgeon is also involved for operating the uterus manipulator. Throughout the surgery, she/he has to manipulate the patient’s uterus using the uterus manipulator manually to facilitate the removal procedure. This task is generally tiring and boring. In addition, it is also common that the manipulated position is not satisfactory from the primary surgeon’s point of view. / Thus, a robotic assistant which is capable of taking up the task of this assisting surgeon as well as allowing the primary surgeon to have full control on the position of the patient’s uterus may be one of the potential solutions. / In this thesis, a robotic system aiming at providing more precise and stable manipulating motion and freeing the assisting surgeon who is responsible for operating the uterus manipulator is presented. The presented robotic system is composed of two parts, a motorized uterus manipulator of one degree of freedom and a robotic uterus manipulator positioner of three degrees of freedom. / Objective of the uterus manipulator positioner presented is to imitate what is doing by the assisting surgeon when operating the uterus manipulator. It holds and manipulates the uterus manipulator attached to it. The uterus manipulator positioner is a robotic system consisted of three joints, a revolute joint, a sliding joint and a translational joint. Arrangement of the joints is forced to satisfy specific geometric constraints so that a remote center of motion (RCM) is created to allow manipulation through small openings such as the cervix. Adaptors are included to enable the use of different uterus manipulators. Existing uterus manipulators and the motorized uterus manipulator presented in this thesis can be adapted to the system. / The motorized uterus manipulator presented in this thesis is an optional element of the robotic system. It is a device of one degree of freedom with a movable tip aiming at enhancing the reaching capability of the end-effector of the robotic system. / In this thesis, design of the robotic system in both mechanical and electronic aspects is presented. Kinematics and workspace of the system is also discussed. To verify the design, a prototype is built. Finally, verification experiments with the prototype on manikin are provided. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Yip, Hiu Man. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2013. / Includes bibliographical references (leaves 96-98). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstracts also in Chinese. / Abstract --- p.i / 摘要 --- p.iv / Acknowledgement --- p.vi / Table of Contents --- p.viii / List of Figures --- p.x / Chapter Chapter 1. --- Introduction --- p.1 / Chapter 1.1. --- Total Laparoscopic Hysterectomy --- p.1 / Chapter 1.2. --- Existing Uterus Manipulators --- p.4 / Chapter 1.3. --- Existing Uterus Manipulator Positioners --- p.6 / Chapter 1.4. --- Existing Medical Robots --- p.9 / Chapter 1.5. --- Existing RCM Mechanisms --- p.11 / Chapter 1.6. --- Motivation and Contribution --- p.12 / Chapter Chapter 2. --- Conceptual Design --- p.15 / Chapter 2.1. --- Design Requirements --- p.15 / Chapter 2.2. --- Conceptual Design of Prototype --- p.16 / Chapter Chapter 3. --- Design of Prototype --- p.23 / Chapter 3.1. --- Mechanical Design of the Robotic System --- p.25 / Chapter 3.1.1. --- Design of the Robotic Uterus Manipulator Positioner --- p.25 / Chapter 3.1.2. --- Adaptor --- p.35 / Chapter 3.1.3. --- Design of the Motorized Uterus Manipulator --- p.36 / Chapter 3.2. --- Kinematics of the Robotic System --- p.38 / Chapter 3.2.1. --- Coordinates of Points on a Sphere --- p.39 / Chapter 3.2.2. --- The 2-DOF Uterus Manipulator Positioner --- p.40 / Chapter 3.2.3. --- The 3-DOF Uterus Manipulator Positioner --- p.42 / Chapter 3.2.4. --- The 4-DOF robotic system --- p.45 / Chapter 3.2.5. --- Velocity --- p.50 / Chapter Chapter 4. --- Design of Control System --- p.52 / Chapter 4.1. --- Robot Controlling Unit --- p.52 / Chapter 4.1.1. --- Size Reduced Controlling Unit --- p.53 / Chapter 4.2. --- User Interface --- p.62 / Chapter 4.2.1. --- Foot-Controlled Interface --- p.63 / Chapter 4.2.2. --- Hand-Controlled Panel --- p.68 / Chapter Chapter 5. --- Prototype and Experiments --- p.70 / Chapter 5.1. --- Developed Prototype --- p.70 / Chapter 5.2. --- Experiments --- p.72 / Chapter 5.2.1. --- Robot Controller --- p.73 / Chapter 5.2.2. --- Control Algorithm --- p.77 / Chapter 5.2.3. --- Experiment on the Prototype --- p.79 / Chapter 5.2.4. --- Experiment with Manikin --- p.87 / Chapter Chapter 6. --- Conclusion and Future Work --- p.90 / Chapter 6.1. --- Conclusion --- p.90 / Chapter 6.2. --- Robot Positioning Platform --- p.92 / Chapter 6.3. --- Reinforcement of the Robotic System --- p.94 / Chapter 6.4. --- Extension of User Interfaces --- p.95 / List of References --- p.96

Diss. (sammanfattning) Linköping : Univ., 2004. / Härtill 4 uppsatser.

A histerectomia é um dos procedimentos cirúrgicos mais frequentes em Ginecologia. As técnicas minimamente invasivas trazem benefícios às pacientes e possibilitam o retorno precoce às atividades diárias. O presente estudo envolveu 42 pacientes do Setor de Laparoscopia da Divisão de Clínica Ginecológica do Hospital das Clínicas da Faculdade de Medicina da Universidade de São Paulo com indicação de histerectomia. As pacientes foram randomizadas em dois grupos: HLM (21 pacientes submetidas à histerectomia total laparoscópica com 3 punções) e HLU (21 pacientes submetidas à histerectomia total laparoscópica com punção única umbilical). Foram analisados tempo cirúrgico, sangramento operatório (variação de hemoglobina pré e pós-operatória, e volume de sangue aspirado durante a cirurgia), resposta inflamatória aguda (dosagens seriadas de Proteína C Reativa, de citocinas: interleucina-6, interleucina-10, fator de necrose tumoral alfa, fator de crescimento endotelial vascular e de leucócitos), complicações operatórias imediatas e tardias, dor pós-operatória (escala visual analógica de dor) e grau de satisfação das pacientes (questionário validado de qualidade de vida SF36). O tempo cirúrgico foi significativamente maior no grupo das histerectomias por punção única umbilical comparado ao grupo de múltiplas punções (p= 0,001). O sangramento operatório foi semelhante entre os dois grupos. Não ocorreram complicações imediatas maiores, porém, em um caso de HLU, houve necessidade de realização de duas punções auxiliares para lise de extensas aderências pélvicas. Em relação à resposta inflamatória, os grupos se comportaram de forma semelhante nas dosagens de IL-6 (p = 0,833), IL-10 (p = 0,420), TNF alfa (p = 0,098), VEGF (p =0,092) e leucograma (p = 0,712). Embora o comportamento da proteína C-reativa tenha sido diferente entre os dois grupos, seus valores médios não apresentaram diferença estatisticamente significativa em nenhum momento avaliado (p = 0,666). A análise subjetiva da dor foi semelhante nos dois grupos estudados. Um ano após a cirurgia, verificamos a presença de hérnia umbilical em três pacientes submetidas à histerectomia por punção única umbilical, sem diferença significativa em relação à cirurgia com múltiplas punções (p = 0,09). Além disso, houve melhora da qualidade de vida em ambos os grupos, segundo avaliação feita antes e um ano após a cirurgia. Conclusões: A HLU apresentou tempo cirúrgico maior do que HLM; entretanto, não observamos diferença entre os grupos em relação ao sangramento operatório, à resposta inflamatória, à dor pós-operatória, às complicações e à qualidade de vida. As duas técnicas propostas para realização de histerectomia laparoscópica foram viáveis e seguras. Há limitações da técnica com punção umbilical única para pacientes com úteros volumosos ou com múltiplas aderências pélvicas / Hysterectomy is one of the most common surgical procedures in gynecology. Minimally invasive techniques bring benefits to patients and including early return to normal activities. This study included 42 women candidates to hysterectomy at the Gynecological Clinic Division of Clinics Hospital of São Paulo University Medical School. The patients were randomized in two groups: HLM (21 patients underwent to total laparoscopic hysterectomy with three abdominal incisions) and HLU (21 patients underwent to total laparoscopic hysterectomy with single umbilical incision). The surgical time, blood loss (pre and postoperative hemoglobin variation and total blood volume aspirated during the surgery), complications rate, acute inflammatory response (C-reactive protein, interleukin-6, interleukin-10, tumor necrosis factor alpha, vascular endothelium growth factor and leucogram), postoperative pain (Visual Analogical Pain Score) and patient satisfaction (Short Form 36 Health Survey) were analyzed. The operative time was significantly larger in the umbilical single incision hysterectomy group compared to the multiple incisions group (p = 0,001). Blood loss was similar in both groups. There were no major immediate complications; however, one hysterectomy started with single incision needed two additional trocars to remove extensive pelvic adhesions. In terms of inflammatory response, both groups were similar in terms of IL-6 (p = 0,833), IL- 10 (p = 0,420), TNF alfa (p = 0,098), VEGF (p =0,092) and leucogram (p = 0,712) measures. Although the C-reactive protein behavior was different between the groups, their average values showed no statistically significant difference in any evaluated moment (p = 0,666). Pain evaluation was similar in both groups. Twelve months after surgery we observed the presence of umbilical hernia in three patients submitted to single-port hysterectomy, with no significant difference compared to multiport hysterectomy (p = 0,098). There was improvement in quality of life, according assessment before and after surgery in both groups. Conclusions: Singleport laparoscopic hysterectomy did have significantly larger operative time than multiport laparoscopic hysterectomy; however, no difference was observed between the groups in terms of operative bleeding, inflammatory response, postoperative pain and quality of life. Both techniques for laparoscopic hysterectomy were feasible and safe. Single-port hysterectomy presented technical limitations in patients with large uterus or extensive pelvic adhesions

A histerectomia é um dos procedimentos cirúrgicos mais frequentes em Ginecologia. As técnicas minimamente invasivas trazem benefícios às pacientes e possibilitam o retorno precoce às atividades diárias. O presente estudo envolveu 42 pacientes do Setor de Laparoscopia da Divisão de Clínica Ginecológica do Hospital das Clínicas da Faculdade de Medicina da Universidade de São Paulo com indicação de histerectomia. As pacientes foram randomizadas em dois grupos: HLM (21 pacientes submetidas à histerectomia total laparoscópica com 3 punções) e HLU (21 pacientes submetidas à histerectomia total laparoscópica com punção única umbilical). Foram analisados tempo cirúrgico, sangramento operatório (variação de hemoglobina pré e pós-operatória, e volume de sangue aspirado durante a cirurgia), resposta inflamatória aguda (dosagens seriadas de Proteína C Reativa, de citocinas: interleucina-6, interleucina-10, fator de necrose tumoral alfa, fator de crescimento endotelial vascular e de leucócitos), complicações operatórias imediatas e tardias, dor pós-operatória (escala visual analógica de dor) e grau de satisfação das pacientes (questionário validado de qualidade de vida SF36). O tempo cirúrgico foi significativamente maior no grupo das histerectomias por punção única umbilical comparado ao grupo de múltiplas punções (p= 0,001). O sangramento operatório foi semelhante entre os dois grupos. Não ocorreram complicações imediatas maiores, porém, em um caso de HLU, houve necessidade de realização de duas punções auxiliares para lise de extensas aderências pélvicas. Em relação à resposta inflamatória, os grupos se comportaram de forma semelhante nas dosagens de IL-6 (p = 0,833), IL-10 (p = 0,420), TNF alfa (p = 0,098), VEGF (p =0,092) e leucograma (p = 0,712). Embora o comportamento da proteína C-reativa tenha sido diferente entre os dois grupos, seus valores médios não apresentaram diferença estatisticamente significativa em nenhum momento avaliado (p = 0,666). A análise subjetiva da dor foi semelhante nos dois grupos estudados. Um ano após a cirurgia, verificamos a presença de hérnia umbilical em três pacientes submetidas à histerectomia por punção única umbilical, sem diferença significativa em relação à cirurgia com múltiplas punções (p = 0,09). Além disso, houve melhora da qualidade de vida em ambos os grupos, segundo avaliação feita antes e um ano após a cirurgia. Conclusões: A HLU apresentou tempo cirúrgico maior do que HLM; entretanto, não observamos diferença entre os grupos em relação ao sangramento operatório, à resposta inflamatória, à dor pós-operatória, às complicações e à qualidade de vida. As duas técnicas propostas para realização de histerectomia laparoscópica foram viáveis e seguras. Há limitações da técnica com punção umbilical única para pacientes com úteros volumosos ou com múltiplas aderências pélvicas / Hysterectomy is one of the most common surgical procedures in gynecology. Minimally invasive techniques bring benefits to patients and including early return to normal activities. This study included 42 women candidates to hysterectomy at the Gynecological Clinic Division of Clinics Hospital of São Paulo University Medical School. The patients were randomized in two groups: HLM (21 patients underwent to total laparoscopic hysterectomy with three abdominal incisions) and HLU (21 patients underwent to total laparoscopic hysterectomy with single umbilical incision). The surgical time, blood loss (pre and postoperative hemoglobin variation and total blood volume aspirated during the surgery), complications rate, acute inflammatory response (C-reactive protein, interleukin-6, interleukin-10, tumor necrosis factor alpha, vascular endothelium growth factor and leucogram), postoperative pain (Visual Analogical Pain Score) and patient satisfaction (Short Form 36 Health Survey) were analyzed. The operative time was significantly larger in the umbilical single incision hysterectomy group compared to the multiple incisions group (p = 0,001). Blood loss was similar in both groups. There were no major immediate complications; however, one hysterectomy started with single incision needed two additional trocars to remove extensive pelvic adhesions. In terms of inflammatory response, both groups were similar in terms of IL-6 (p = 0,833), IL- 10 (p = 0,420), TNF alfa (p = 0,098), VEGF (p =0,092) and leucogram (p = 0,712) measures. Although the C-reactive protein behavior was different between the groups, their average values showed no statistically significant difference in any evaluated moment (p = 0,666). Pain evaluation was similar in both groups. Twelve months after surgery we observed the presence of umbilical hernia in three patients submitted to single-port hysterectomy, with no significant difference compared to multiport hysterectomy (p = 0,098). There was improvement in quality of life, according assessment before and after surgery in both groups. Conclusions: Singleport laparoscopic hysterectomy did have significantly larger operative time than multiport laparoscopic hysterectomy; however, no difference was observed between the groups in terms of operative bleeding, inflammatory response, postoperative pain and quality of life. Both techniques for laparoscopic hysterectomy were feasible and safe. Single-port hysterectomy presented technical limitations in patients with large uterus or extensive pelvic adhesions

Diss. Uppsala : Univ., 2003.