Orientador : Prof. Dr. Newton Sergio de Carvalho / Dissertação (mestrado) - Universidade Federal do Paraná, Setor de Ciências da Saúde, Programa de Pós-Graduação em Tocoginecologia. Defesa : Curitiba, 21/10/2016 / Inclui referências : f. 40-43 / Resumo: A alteração do microbioma vaginal está associado a risco maior de infecção pelo HIV, sendo que este, afeta principalmente mulheres jovens em sua fase reprodutiva e a coinfecção com outras doenças do trato genital é bastante comum pois, a infecção ocorre principalmente pelo contato heterossexual desprotegido. O curso da infecção do HIV pode ser alterado pelas coinfecções e estas também sofrem alterações podendo ser agravadas pelo HIV. Este estudo teve por objetivo Avaliar dados epidemiológicos, aspectos do meio ambiente vaginal, fatores de risco e prevalência de agentes das infecções cérvico-vaginais em mulheres infectadas pelo vírus da imunodeficiência humana comparativamente a um grupo controle e avaliar a prevalência de candida vaginal em função do estado imunológico no grupo com HIV. Estudo transversal, investigou 97 mulheres HIV positivo entre 18 a 49 anos não grávidas, atendidas no ambulatório de infecções ginecológicas do Hospital de Clinicas- UFPr e as pacientes internadas no Hospital Oswaldo Cruz, de Curitiba- Paraná, dentro do período de janeiro de 2015 a janeiro de 2016. Conclui-se que as mulheres HIV positivo são jovens na maioria, no auge de sua vida sexual e reprodutiva com menor número de anos de estudo. O tabagismo teve predomínio neste grupo, assim como a drogadição, sendo o crack a droga mais usada. Houve alteração do meio ambiente vaginal nas mulheres HIV positivas, demonstrado pelo pH que se apresentou igual ou maior a 5. Não houve aumento da prevalência de Chlamydia trachomatis, Neisseria gonorrhoeae, Trichomonas vaginalis e vaginose bacteriana. Foi identificado aumento da prevalência de candida vulvovaginal e entre aquelas com CD4<200/mm3 mostrou maior propensão em apresentar o fungo, onde também com a carga viral mais alta, se observou aumento significativo de candida. Os fungos mais prevalentes foram a C. albicans e C. parapsilosis. Palavras-chaves: microbioma vaginal. Infecções cérvico-vaginais. HIV. Estado Imunológico. / Abstract: Changes in the vaginal microbiome is associated with increased risk of HIV infection, and this affects mainly young women in their reproductive phase and co-infection with other diseases of the genital tract is quite common, as infection occurs primarily by unprotected heterosexual contact. The HIV infection course can be changed by coinfections as coinfections are modified and aggravated by HIV. This study aimed to evaluate epidemiological data, aspects of the environment vaginal environment, risk factors and prevalence of agents of cervicovaginal infections in women infected with the human immunodeficiency virus compared to a control group and assess the prevalence of vaginal candida yeast due to the immune status in the group with HIV. A cross sectional study investigated ninety-seven HIV-infected non-pregnant women between 18 and 49 years old assisted at the Hospital de Clinicas- UFPr's gynecologic infections ambulatory and hospitalized patients at the Hospital Oswaldo Cruz, Curitiba, Paraná, in the period between January 2015 and January 2016. In order to compare the clinical and epidemiological data, vaginal environment and prevalence of cervicalvaginal infections; a control group was enrolled, consisted by women between ages 18-49 originating from general gynecology ambulatories who were examined to conduct Pap-smears procedures, which were HIV-uninfected and participating in another study where the same data was collected. It is concluded that HIV-positive women are mostly young, at the peak of their sexual and reproductive life with fewer years of study. It was concluded that smokers were predominant within these HIVinfected women, as well as drug addiction, in which crack being the most used drug. There were changes in the vaginal environment of HIV-infected women, demonstrated by the pH that presented equal to or greater than 5. There was no increased prevalence of Chlamydia trachomatis, Neisseria gonorrhoeae, trichomonas and bacterial vaginosis in HIV-infected women. It was identified increased prevalence of vulvovaginal candidiasis (VVC) and among those with CD4 &lt;200 / mm3 was shown greater propensity of presenting the fungus. Also with a higher viral load, it was observed a significant increase of VVC. The prevailing fungi found were C. albicans and C. parapsilosis. Key words: Vaginal environment. Cervicovaginal infections. HIV. Immunological Status.

Orientador: Eliana Amaral / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Ciencias Medicas / Made available in DSpace on 2018-08-08T19:54:08Z (GMT). No. of bitstreams: 1 Campos_AngelaBorgesdeCarvalho_M.pdf: 1116989 bytes, checksum: 86a785222163ae5f264dc20b018e039f (MD5) Previous issue date: 2007 / Resumo: OBJETIVO: Estudar os fatores associados à detecção de HPV e HIV na vagina, incluindo sua correlação. MÉTODOS: Trata-se de um estudo de corte transversal em mulheres infectadas por HIV. Excluíram-se gestantes e aquelas com antecedente de histerectomia, em uso de medicações vaginais nas últimas 48h, que tiveram relação sexual desprotegida havia menos de 72h ou com sangramento genital. Utilizou-se amostra endocervical para realização de teste de Captura Híbrida II® (HPV por CH II) para detecção de HPV (alto e baixo risco), clamídia e gonococo. Os tipos de HPV foram identificados por Linear Array®, Roche, após amplificação do DNA viral. Colheu-se lavado vaginal para determinação de RNA-HIV livre (utilizando-se 10 mL de solução salina). As cargas virais vaginal e plasmática de HIV foram mensuradas utilizando-se o kit HIV Monitor v1.5 Cobas Amplicor®. Calcularam-se as razões de prevalência e respectivos intervalos de confiança a 95%. RESULTADOS: Entre as 201 mulheres, das quais 73,6% em uso de TARV identificou-se o HPV de alto ou baixo risco pela CH II em 37,3% delas. O RNA-HIV livre foi detectável no lavado vaginal em 9% dos casos. Houve maior detecção de HPV por CH II com HIV plasmático detectável, menores valores de linfócitos T CD4, uso de contraceptivo combinado e tabagismo, mas não houve associação com RNA-HIV vaginal. O HPV pela CH II também foi mais prevalente quando havia alteração citológica e colposcópica, mas não ectopia, ulceração genital, monilíase ou vaginose bacteriana. Em mais de 80% das amostras, detectou-se algum tipo de HPV (em média, três tipos). Os tipos mais prevalentes foram HPV 62 (24,9%), 6 (19,4%), 53 (17,4%), 51 (14,9%), 61 (13,9%), 16 (12,9%) e HPV 84 (11,4%). HPV 53, 51 e 16 (alto risco) e HPV 84 (indeterminado) foram associados à maior detecção pela CH II. A presença de mais de três tipos de HPV foi o único fator que aumentou a prevalência de HPV por CH II na análise multivariada. Não usar TARV, carga viral plasmática detectável, CD4 reduzido e vaginose bacteriana aumentaram a prevalência de RNA-HIV vaginal, mas carga viral plasmática foi a única variável significativa na análise multivariada. Conclusão: O HPV foi detectável em 37,5% dos casos, quando se usou CH II, e em 80% dos casos quando se usou tipagem por Linear Array®. Ter RNA HIV vaginal detectável não aumentou a prevalência da detecção de HPV. A prevalência de RNA HIV vaginal foi 9%, bem abaixo dos valores da literatura e associada à carga viral plasmática / Abstract: Aim: To study factors associated to HPV and HIV vaginal viral load, including their correlation. Methods: This is a cross-sectional study with HIV- infected women. Those who were pregnant, had undergone histerectomy, using vaginal medication within the last 48 hours, had had unprotected sex less than 72 hours before, or had genital bleeding were excluded. An endocervical sample was used for Hybrid Capture II (HPV by HC II) to detect HPV (high and low risk), Chamydia trachomatis and N. gonorrhoeae. HPV types were identified by Linear Array (Roche), after viral DNA amplification. A cervico-vaginal lavage sample was obtained to determine free RNA-HIV load, using 10 mL of sterile normal saline. HIV vaginal and plasmatic viral loads were measured by HIV Monitor V 1.5 Cobas Amplicor. Prevalence ratios and respective 95% confidence intervals were calculated. RESULTS: Out of 201 women, 73.6% using ARV, 37.3% of women were identified with high or low risk HPV by HC II. Free HIV-RNA was detectable in cervical vaginal lavage of 9% of the cases. Higher HPV prevalence was associated with plasmatic HIV, lower T CD4 lynphocytes, combined hormonal contraceptives and cigarette smoking, but not with vaginal HIV-RNA. HPV by HC II was more prevalent in cases of cytologic or colposcopic abnormalities, but not ectopy, genital ulcerations, candidiasis or bacterial vaginosis. In over 80% of the samples, some type of HPV was detected (on average 3 types). The most prevalent types were HPV 62 (24.9%), 6 (19.4%), 53 (17.4%), 51 (14.9%), 61 (13.9%), 16 (12.9%) and 84 (11.4%). HPV 53, 51 and 16 (high risk) and 84 (undetermined) were associated to higher detection by HC II. The presence of more than three HPV types was the only factor which increased the prevalence of HPV by HC II in multivariate analysis. Using no ART, reduced CD4, plasma HIV viral load, and bacterial vaginosis increased the prevalence of vaginal HIVRNA, but plasmatic viral load was the only significant variable lin the multivariate analysis. CONCLUSIONS: HPV by HC II was detected in 37.5% of samples, and in 80% of the cases when Linear Array typing washed used. Having detectable vaginal RNA-HIV has not increased the prevalence of HPV detection. The prevalence of vagina RNA-HIV was 9%, well below the values found in the medical literature and associated to plasmatic viral load / Mestrado / Tocoginecologia / Mestre em Tocoginecologia

Made available in DSpace on 2014-06-12T23:00:17Z (GMT). No. of bitstreams: 2 arquivo4089_1.pdf: 5136740 bytes, checksum: 431f2d1b5e10c745dd986354656ff670 (MD5) license.txt: 1748 bytes, checksum: 8a4605be74aa9ea9d79846c1fba20a33 (MD5) Previous issue date: 2011 / O papillomavirus humano (HPV) é o principal causador do câncer cervical e também está associado com o desenvolvimento do câncer anal e vaginal. A vagina é um órgão que, devido a sua topografia, encontra-se em estreita relação com o colo de útero, e por isto, sujeito a infecção pelo HPV. O câncer vaginal é extremamente incomum e o de menor freqüência na mulher, em torno de 1% das neoplasias malignas do trato genital feminino. O câncer de canal anal também pode ser considerado incomum, e sua incidência na população geral atinge em torno de 1,5% dos tumores do sistema digestivo inferior e 2% a 4% entre os tumores colorretais. Apesar disso, o câncer anal vem nos últimos anos apresentando um aumento progressivo de sua incidência, principalmente no sexo feminino. Trabalhos científicos onde o canal anal seja o foco ainda são poucos, principalmente quando se refere a mulheres imunocompetentes. Desta forma, o objetivo deste trabalho foi pesquisar sobre as lesões provocadas pelo HPV no canal anal de mulheres negativas para o vírus da imunodeficiência adquirida (HIV) e portadoras da neoplasia intra-epitelial cervical grau 3 (NIC3) ou vaginal grau 2 (NIVA2). Foram avaliadas 122 mulheres voluntárias, onde 114 tinham NIC3 e 08 NIVA2. No caso de detecção de lesão anuscópica pelo exame de anuscópia de magnificação, realizou-se biópsia do tecido anal para diagnóstico histológico e análise molecular para o HPV. Os resultados histológicos do canal anal mostraram a neoplasia intra-epitelial grau 1 (NIA1) em 20,2%, NIA2/3 9,5% e a presença do HPV em 9,4% das amostras. A análise molecular destas amostras foi positiva em 12,2%, 5,4% e 6,8% respectivamente; enquanto nas amostras de NIC3 e NIVA2 obtivemos 27,2% e 75% de positividade. Tais dados sugerem que o HPV seja responsável pelas lesões prémalignas do canal anal, cervical e vaginal possivelmente pela circulação viral nestas regiões

Orientador : Jose Aristodemo Pinotti / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Ciencias Medicas / Made available in DSpace on 2018-07-16T04:44:03Z (GMT). No. of bitstreams: 1 Rudge_MarilzaVieiraCunha_D.pdf: 2163842 bytes, checksum: 47e9248992ae7f1e9bbe925f43c81b57 (MD5) Previous issue date: 1976 / Resumo: Não informado / Abstract: Not informed / Doutorado / Doutor em Ciências Médicas

The human vagina is unlike that of any closely related phylogenetic species due to the abundance of a lactic acid producing bacteria, known as Lactobacillus. This microbial species is known for its direct and indirect contributions to vaginal pathogenic defense, some of which include the elicitation of host immunomodulators, release of bacteriocins and biosurfactants, and lowering of vaginal pH. While Lactobacillus is often considered the hallmark of a healthy human vagina, a significant number of women worldwide lack its abundance in their vaginal microbial communities. The lack of Lactobacillus- dominance does not necessarily equate to a disease-state but could potentially explain an increased risk of viral transmission and recurrent vaginal dysbiosis in these women. This thesis aims to investigate the numerous antimicrobial properties associated with the Lactobacillus species to better understand its significance for female reproductive and vaginal health.

Eve Ensler's goal in writing The Vagina Monologues was to generate a dialogue regarding women's sexuality to counter the silence that pervades the patriarchal culture that they inhabit. To achieve this goal, Ensler constructs two ideologies—one grounded in patriarchy and another supposedly grounded in female agency and dialogue—to reveal the problems within the current ideology in hopes that her audience will adopt her new ideology and resolve the detrimental silence women endure. To evaluate its success, this study utilizes an eclectic approach—comprised of constitutive rhetoric, second persona, third persona, and bell hooks' rhetorical options—to determine if the play's content encourages the dialogue Ensler desires. / Master of Arts

Thesis (Ph.D.)--Boston University / PLEASE NOTE: Boston University Libraries did not receive an Authorization To Manage form for this thesis or dissertation. It is therefore not openly accessible, though it may be available by request. If you are the author or principal advisor of this work and would like to request open access for it, please contact us at open-help@bu.edu. Thank you. / The vagina is a key organ in the peripheral genital arousal response. In animal models, pelvic nerve stimulation increases vaginal wall compliance, blood flow and transudation of fluid. Decreases in ovarian steroids are known to induce structural changes in the vagina, and evidence is mounting that alterations in the hormonal milieu contribute to genital pathophysiology. To date, however, mechanisms by which sex steroids regulate vaginal arousal responses have not been adequately studied. Further, limited data are available on the effects of hormone replacement on tissue morphology, hormone receptor distribution and vaginal innervation. We propose that imbalances in sex steroid hormone levels alter the distribution, expression and actions of steroid receptors and neurotransmitters, leading to structural and functional changes in vaginal tissue and impairment the arousal response. The goal of this study was to assess dynamic changes in vaginal tissue structure with hormone deprivation and administration. Female Sprague-Dawley rats were used as an animal model. Intact animals served as controls. Ovariectomized animals were treated for a two week period with vehicle, estradiol, testosterone, progesterone, or a combination of estradiol plus testosterone or progesterone. To assess changes in vaginal physiology and morphology, physiological and histological techniques were used, including stereological analysis and immunohistochemistry for localization of hormone receptors and various neuronal markers. / 2999-01-01

Improving treatment and prevention of pelvic organ prolapse, a disorder affecting up to half of parous women, requires thorough mechanical analysis of the vagina and other endopelvic structures at the cellular level. In this study, we tested single vaginal smooth muscle cells (SMCs) to quantify their elastic moduli. Cells were enzymatically isolated from vaginal walls of freshly sacrificed, virgin Long Evans rats and cultured using well-established methods. A custom-built experimental setup was used to perform tensile tests. Micropipettes were fabricated to serve as cantilever-type load cells, which were coated in cellular adhesive. Two pipettes applied tension to SMCs until adhesion between the cell and a pipette failed. During mechanical testing, images of SMCs were collected and translated into strain and stress. Specifically, force/stress data were calculated using Euler-Bernoulli Beam Theory and by making simplifying geometric assumptions. The average initial and total elastic moduli (mean ± SEM) for single vaginal SMCs were 6.06 ± 0.26 kPa and 5.4 ± 0.24 kPa, respectively, which is within the range reported for other types of SMCs, mainly airway and vascular, of various species. This protocol can and will be applied to further investigate mechanics of single cells from the pelvic region with independent variables such as parity, age, body mass index, and various stages of POP. Results of these experiments will provide critical information for improving current treatments like drug therapies, surgical procedures, medical grafts and implants, and preventative practices like stretching and exercise techniques. / Master of Science / Pelvic organ prolapse, the descent of the pelvic organs into the vagina or rectum, affects up to half of women who have undergone childbirth. Improving treatment requires thorough analysis and quantification of the vagina and other endopelvic structures at the tissue and cellular levels. In this study, we tested single vaginal smooth muscle cells (SMCs) to quantify their elastic moduli. A custom-built experimental setup was used to pull single SMCs using two micropipettes. By measuring the deflection of a flexible pipette, we calculated force applied to each cell and the corresponding strain. The pipettes were coated in cellular adhesive and applied tension to SMCs until adhesion between the cell and a pipette failed. During mechanical testing, images of SMCs were collected and translated into strain and stress. Specifically, force/stress data were calculated using Euler-Bernoulli Beam Theory and by making simplifying geometric assumptions. The average initial and total elastic moduli (mean ± SEM) for single vaginal SMCs were 6.06 ± 0.26 kPa and 5.4 ± 0.24 kPa, respectively, which is within the range reported for other types of SMCs, mainly airway and vascular, of various species. This protocol can and will be applied to further investigate mechanics of single cells from the pelvic region with independent variables such as pregnancy, age, body mass index, and various stages of POP. Results of these experiments will provide critical information for improving current treatments like drug therapies, surgical procedures, medical grafts and implants, and preventative practices like stretching and exercise techniques.

No / Streptococcus agalactiae is a major neonatal pathogen that is able to colonise various host environments and is associated with both gastrointestinal and vaginal maternal carriage. Maternal vaginal carriage represents the major source for transmission of S. agalactiae to the foetus/neonate and thus is a significant risk factor for neonatal disease. In order to understand factors influencing maternal carriage we have investigated growth and long term survival of S. agalactiae under conditions of low pH and nutrient stress in vitro. Surprisingly, given that vaginal pH is normally <4.5, S. agalactiae was found to survive poorly at low pH and failed to grow at pH 4.3. However, biofilm growth, although also reduced at low pH, was shown to enhance survival of S. agalactiae. Proteomic analysis identified 26 proteins that were more abundant under nutrient stress conditions (extended stationary phase), including a RelE family protein, a universal stress protein family member and four proteins that belong to the Gls24 (PF03780) stress protein family. Cumulatively, these data indicate that novel mechanisms are likely to operate that allow S. agalactiae survival at low pH and under nutrient stress during maternal vaginal colonisation and/or that the bacteria may access a more favourable microenvironment at the vaginal mucosa. As current in vitro models for S. agalactiae growth appear unsatisfactory, novel methods need to be developed to study streptococcal colonisation under physiologically-relevant conditions.

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