Cheung, Tak Hong. / "July 2011." / Thesis (M.D.)--Chinese University of Hong Kong, 2012. / Includes bibliographical references (leaves 166-199). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web.

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

A infecção de sítio cirúrgico (ISC) é uma complicação que pode acometer o paciente, acarretando incremento da mortalidade e morbidade, bem como aumento dos custos em saúde. A videocirurgia surgiu como opção menos invasiva de acesso à cavidade abdominal, reduzindo as taxas de ISC, mas nem mesmo a modernização gerada pela cirurgia minimamente invasiva conseguiu extinguir esse tipo de infecção. O presente estudo teve como objetivo geral analisar a ocorrência e os fatores de risco de infecção de sítio cirúrgico, em pacientes submetidos à colecistectomia videolaparoscópica. Trata-se de estudo descritivo exploratório conduzido em hospital de pequeno porte, localizado no sudoeste de Minas Gerais. A amostra foi composta por 118 pacientes. Para a coleta de dados, elaborou-se instrumento, o qual foi submetido à validação de face e conteúdo por estudiosos da área de conhecimento de enfermagem perioperatória. A coleta dos dados foi realizada no período de março a novembro de 2016 e, em três momentos, a saber: perioperatório, retorno ambulatorial e busca ativa fonada. Os dados foram coletados pelo pesquisador e um auxiliar de pesquisa devidamente treinados. A ocorrência de ISC foi de 5,9% (n=7), sendo todos os casos diagnosticados como infecção incisional superficial. As variáveis investigadas relacionadas ao paciente foram sexo, faixa etária, Índice de Massa Corporal, presença de doença crônica e classificação ASA. As variáveis estudadas relacionadas ao procedimento anestésico-cirúrgico foram tempo total de internação, porte cirúrgico, tempo de anestesia e tempo de cirurgia. Os resultados não apresentaram diferença estatisticamente entre as variáveis de interesse e a presença de ISC. Todos os casos de ISC foram diagnosticados, após a alta hospitalar, desses, seis pacientes (86%) tiveram o diagnóstico no retorno ambulatorial, e um paciente (14%) foi diagnosticado durante a busca ativa fonada. A condução do estudo oferece subsídios para a compreensão da problemática, no âmbito nacional. Além disso, gerou evidências para a reflexão dos profissionais de saúde em relação à subnotificação desse tipo de infecção em cirurgia minimamente invasiva, reforçando a necessidade de implantação de programa de vigilância pós-alta, nos serviços de saúde / Surgical site infection (SSI) is a complication that can affect the patient, leading to an increase in mortality and morbidity, as well as an increase in health costs. Video surgery emerged as a less invasive option for access to the abdominal cavity, reducing SSI rates; however, not even the improvement generated by minimally invasive surgery was enough to eliminate this type of infection. This study aimed to analyze the occurrence and risk factors of surgical site infection in patients submitted to laparoscopic cholecystectomy. It is an exploratory-descriptive study conducted in a small hospital, located in the southwest of Minas Gerais. The sample consisted of 118 patients. An instrument was developed for data collection, which was submitted to face and content validation by experts in perioperative nursing. Data collection was performed from March to November 2016 and, in three stages: perioperative, outpatient return and active phone search. Data were collected by the researcher and a properly trained research assistant. The occurrence of SSI was 5.9% (n=7), being all cases diagnosed as superficial incisional infection. The studied variables related to the patient were gender, age, Body Mass Index, presence of chronic disease and ASA classification. The studied variables related to the anesthetic surgical procedure were total length of hospitalization, surgical procedure size, time of anesthesia and time of surgery. The results did not show statistically difference between the variables of interest and the presence of SSI. All cases of SSI were diagnosed after patient discharge, and among them, six patients (86%) were diagnosed during outpatient return, and one patient (14%) was diagnosed during the active phone search. This study offers subsidies for understanding the problem at national level. In addition, it generated evidence for the reflection of health professionals regarding the underreporting of this type of infection in minimally invasive surgery, reinforcing the need to implement a post-discharge surveillance program in health services

A colelitíase é uma doença frequente na população geral. Um dos seus fatores de risco é a diabetes melitus tipo 2, relacionada à anormalidades metabólicas associadas a sobrepeso, obesidade, resistência à insulina, hipertrigliceridemia e hábitos dietéticos. Fatores de risco semelhantes são encontrados na doença hepática gordurosa não alcoólica (DHGNA). A DHGNA engloba um espectro de condições patológicas que pode evoluir da esteatose, para esteato-hepatite (EHNA), fibrose, cirrose e neoplasia hepática. A distinção entre esteatose e EHNA é de grande relevância na prática clínica, em virtude de a primeira ser uma condição benigna e reversível, enquanto que a segunda apresenta potencial evolutivo para cirrose e carcinoma hepatocelular. Somente a biópsia hepática pode classificar e estadiar a DHGNA. A DHGNA e a colelitíase têm similaridade quanto à patogênese e aos fatores de risco, o que nos motivou a realizar este estudo. Os objetivos do trabalho foram: a) Definir a frequência da esteatose hepática e da EHNA em pacientes com colelitíase submetidos à colecistectomia laparoscópica. b) Avaliar as alterações histopatológicas da DHGNA nos pacientes com colelitíase. c) Avaliar a acurácia dos exames de imagem-ultrassonografia abdominal (US) e tomografia computadorizada (TC) no diagnóstico da DHGNA. d) Relacionar aspectos clínicos, laboratoriais e de imagem com diagnósticos histopatológicos de esteatose e EHNA em portadores de colelitíase. e) Analisar variáveis preditivas da DHGNA na indicação da biópsia hepática para os pacientes com colelitíase a serem submetidos à colecistectomia laparoscópica. Método: Foi realizado estudo prospectivo sequencial de pacientes portadores de colelitíase com indicação cirúrgica que assinaram o termo de consentimento livre e esclarecido. Foram analisados 161 pacientes submetidos à colecistectomia laparoscópica e à biópsia hepática. Os pacientes foram avaliados quanto ao sexo, à idade, história clínica e aos antecedentes pessoais, com ênfase nas comorbidades relacionadas à síndrome metabólica. Foram realizadas as seguintes medidas antropométricas: peso (kg), altura (m) e circunferência abdominal (cm), sendo calculado o Índice de Massa Corpórea (IMC). Além da avaliação bioquímica, foram avaliados parâmetros metabólicos através da dosagem da glicemia e insulinemia de jejum, índice de HOMA IR e perfil lipídico. Os pacientes foram submetidos a dois USs em momentos distintos, nos quais foram avaliados a vesícula biliar, as vias biliares e os possíveis diagnósticos qualitativo e quantitativo da esteatose hepática. Na tomografia abdominal, foram medidos os coeficientes de atenuação hepática e esplênica. O diagnóstico de esteatose foi determinado através de dois índices: TC1 (e-h) calculado pela diferença entre o valor da atenuação esplênica e hepática e o TC2 (h/e) medido pela fração da atenuação hepática sobre a esplênica. Antes da colecistectomia laparoscópica com exploração de vias biliares, foi realizada biópsia hepática com agulha de tru-cut no mesmo tempo cirúrgico. Os parâmetros histopatológicos utilizados para avaliar as biópsias hepáticas foram: esteatose macrovesicular, esteatose microvesicular, infiltrado inflamatório acinar e portal, balonização hepatocelular, corpúsculos hialino de Mallory, alterações ductulares e fibrose perissinusoidal, perivenular, portal, sobrecarga de ferro e pseudoinclusão nuclear de glicogênio. Para o diagnóstico de EHNA, foi utilizado o escore de atividade da doença hepática gordurosa não alcoólica (NAS). Os 161 pacientes foram distribuídos em três grupos formados a partir do resultado da histopatologia hepática: Grupo A - colelitíase sem esteatose (n = 98), Grupo B - colelitíase com esteatose (n = 51) e Grupo C - colelitíase com esteatohepatite (n = 12). Resultados: Entre os 161 pacientes submetidos à colecistectomia com biópsia hepática, 63 (39,1%) eram portadores de DHGNA, dentre eles, 12/161 (7,4%) com EHNA. Cento e trinta e sete (85%) pacientes eram do sexo feminino; 125 (78%) eram brancos. A idade média global foi de 45 anos. A hipertensão arterial sistêmica esteve presente em 40 (25%), diabetes mellitus tipo 2 em 17 (11%) e a síndrome metabólica em 39 (24%). Os aspectos clínicos, laboratoriais e comorbidades que apresentaram diferença estatística significantes entre o grupo A e os grupos B e C foram: idade, IMC, circunferência abdominal, glicemia em jejum, ALT. A síndrome metabólica, a resistência insulínica, diabetes mellitus tipo 2, AST e o colesterol total registraram diferença estatisticamente significante apenas entre os grupos A e C. Não existiram aspectos clínicos, laboratoriais ou de comorbidades que diferenciaram os portadores de esteatose e EHNA. Os exames de US I e II nas duas ocasiões revelaram sensibilidade de 57% e 59%, especificidade de 91% e 90%, respectivamente, e em ambos USs a acurácia foi de 78%. No exame de TC, o índice e o nível de corte de maior sensibilidade (50%), especificidade, (90,72%) e acurácia (74,53%) foi o índice TC 2 (h/e), com nível de corte menor que 1,0 para o diagnóstico da DHGNA. Os parâmetros histopatológicos que apresentaram diferença estatística significante entre os grupos A e C e entre os grupos B e C foram: corpúsculos hialino de Mallory, infiltrado inflamatório portal e fibrose perivenular, perissinusoidal e portal. Houve maior grau de intensidade do infiltrado inflamatório portal nos pacientes do grupo C. Houve diferença estatística significante entre os grupos B e C com relação à esteatose microvesicular e a pseudoinclusão nuclear de glicogênio. Pela regressão logística, foi avaliada a probabilidade de os pacientes portadores de colelitíase apresentarem DHGNA. Os fatores preditivos foram: aumento da glicemia, HOMA-IR, colesterol total, circunferência abdominal e esteatose ao US. Na presença de três ou quatro destes fatores de risco a probabilidade de DHGNA foi de 91%. Conclusão: A prevalência de EHNA em pacientes com colelitíase foi de 7,4% neste grupo de pacientes Assim, é de fundamental importância o reconhecimento dos fatores de risco para a DHGNA em pacientes com colelitíase que serão submetidos à intervenção cirúrgica. Assim sendo, a biópsia hepática durante o procedimento cirúrgico deve ser preconizada na vigência de fatores preditivos, pois é o único método para diferenciar esteatose de EHNA / Cholelithiasis is a very common disease in the population at large, and one of the risk factors is type II diabetes mellitus, which is related to metabolic disorders associated with overweight, obesity, insulin resistance, hypertriglyceridemia and dietary abnormalities. Similar risk factors are found in non-alcoholic fatty liver disease (NAFLD). NAFLD covers a spectrum of pathological conditions that can range from steatosis to steatohepatitis (NASH), fibrosis, cirrhosis and even liver cancer. The distinction between steatosis and NASH is of great importance in clinical practice because the former is a benign, reversible condition whereas the latter can progress to cirrhosis and hepatocellular carcinoma. Only a liver biopsy, however, can be used to classify and stage NAFLD. NAFLD and cholelithiasis have similar pathogenesis and risk factors, a fact which led us to undertake this study, the aims of which were: a) to define the frequency of hepatic steatosis and NASH in patients with cholelithiasis undergoing laparoscopic cholecystectomy; b) to assess the accuracy of abdominal ultrasound imaging (US) and computed tomography (CT) in the diagnosis of NAFLD; c) to assess histological alterations caused by NAFLD in patients with cholelithiasis; d) to relate clinical, laboratory and imaging findings to histopathological diagnoses of steatosis and NASH in cholelithiasis; and e) to analyze predictors of NAFLD used when referring patients with cholelithiasis already scheduled for laparoscopic cholecystectomy for liver biopsy as well. Methods: We performed a prospective sequential study of patients with cholelithiasis who had been referred for surgery and had signed a voluntary informed-consent form. A total of 161 patients were analyzed after they had undergone a laparoscopic cholecystectomy and liver biopsy. Besides sex and age, clinical and medical history were recorded, with emphasis being placed on comorbidities related to metabolic syndrome. The anthropometric measurements weight (kg), height (m) and abdominal circumference (cm) were recorded during the physical examination and the body mass index was calculated. Biochemical and metabolic assessment parameters, including fasting blood sugar and fasting insulin, which were used to calculate the HOMA-IR index, and fasting lipid profile, were evaluated. Patients had two ultrasounds at different times to assess the gallbladder and bile ducts as well as the quantitative and qualitative diagnosis of hepatic steatosis. In the abdominal tomography, the attenuation coefficients of the liver and spleen were measured for diagnosis of steatosis based on two indices: CT1 (S-L), given by the difference between spleen and liver attenuations, and CT2 (L/S), given by the attenuation of the liver divided by the attenuation of the spleen. Before laparoscopic cholecystectomy with bile duct exploration, a liver biopsy with a tru-cut was performed. The following histological parameters were used to evaluate the liver biopsies: macrovesicular steatosis, microvesicular steatosis, acinar and portal inflammatory infiltrate, hepatocellular ballooning, Mallory bodies, ductal changes, perisinusoidal, perivenular and portal fibrosis, iron overload and glycogenated nuclei. The NAFLD activity score was used to diagnose NAFLD in the steatosis or NASH phases. A comparative analysis of the 161 patients was carried out after they had been divided into three groups according to the results of the liver histopathology: group A cholelithiasis without steatosis (n=98), group B - cholelithiasis with steatosis (n=51) and group C - cholelithiasis with NASH (n=12). Results: Of the 161 patients subjected to cholecystectomy with a liver biopsy, 63 (39.1%) had NAFLD, of whom 12 (7.4%) also had NASH. A total of 137 (85%) of the patients were female, and 125 (78%) were Caucasian. Average age was 45 years. Arterial hypertension was observed in 40 (25%) patients, 17 (11%) had diabetes mellitus and 39 (24%) had metabolic syndrome. The clinical and laboratory findings with a statistically significant difference between group A and/or groups B and C were age, BMI, abdominal circumference, fasting blood sugar, total cholesterol, ALT and AST. Metabolic syndrome, insulin resistance and diabetes mellitus only exhibited a statistically significant difference between groups A and C. There were no clinical or laboratory findings or image abnormalities that differentiated steatosis from NASH. The first and second ultrasounds, which were carried out at different times, had sensitivities of 57% and 59% and specificities of 91% and 90%, respectively; both had accuracies of 78%. In the computed tomography, the index with the greatest sensitivity (50%), specificity (90.72%) and accuracy (74.53%) was CT2 (L/S), with a cutoff level of 1.0 for diagnosis of NAFLD. The histopathological parameters with statistically significant differences between the group without steatosis and group C and between groups B and C were Mallory bodies, portal inflammation and perivenular, perisinusoidal and portal fibrosis. Portal inflammation was more intense in patients in group C. There was a statistically significant difference in the intensity of macrovesicular steatosis between groups B and C; this was mild in 42 (82.4%) of the patients in the former group and in only 2 (3.9%) in the latter. There was a statistically significant difference in microvesicular steatosis and glycogenated nuclei between groups B and C. Logistic regression revealed that the associated risk factors for determining the probability of patients with cholelithiasis having NAFLD are increased values of blood glucose, HOMA-IR, total cholesterol abdominal circumference and steatosis on ultrasound. In the presence of three or four risk factors the probability of NAFLD was 91%. Conclusion: The prevalence of NASH in cholelithiasis patients was 7.4%, indicating that NAFLD is a serious problem in this group of patients. It is therefore very important to determine the risk factors for NAFLD in cholelithiasis patients who will be submitted to surgery in order to decide whether a liver biopsy should be performed, as this is the only diagnostic method for differentiating between steatosis and NASH

O criptorquidismo é a uma afecção hereditária caracterizada por ausência de um ou ambos os testículos na bolsa escrotal devido à interrupção de seu trajeto normal de migração da cavidade abdominal para a bolsa escrotal. Tal interrupção faz com que o testículo se apresente ectópico, permanecendo no tecido subcutâneo, abdômen ou região do anel inguinal. Para a correção desta patologia, indica-se, na Medicina Veterinária, a criptorquidectomia convencional ou laparoscópica, sendo que a laparoscópica tem se firmado como melhor alternativa devido ao menor trauma tecidual, melhor visualização, menor dor, necessidade de menor analgesia, tempo menor de recuperação do paciente e melhor aspecto do ferimento cirúrgico. Este estudo objetivou desenvolver uma técnica para criptorquidectomia através de um único portal (LESS-single site surgery) utilizando o trocarte Centry Port®, com apenas dois canais de trabalho. Foram utilizados dez coelhos machos, da raça Nova Zelândia e Califórnia, com peso entre 2,8 kg e 3,85 kg. Após a intubação e manutenção do plano anestésico e colocação do animal em posição de Trendelenburg a 200, foi introduzido o Centry Port® aproximadamente a 1 cm cranial à cicatriz umbilical através de incisão de aproximadamente 1,5 cm de extensão. O pneumoperitôneo com CO2 foi estabelecido e mantido durante todos os procedimentos com 10 mm Hg. Por meio de compressão manual o testículo foi introduzido para o interior da cavidade abdominal através do anel inguinal. Após sua visualização e apreensão com uma pinça de Kelly, foi fixado à parede abdominal com auxílio de sutura transparietal. A hemostasia foi realizada com auxílio da eletrocoagulação bipolar regulada em 20 watts. Após a secção do cordão espermático os testículos foram removidos por dentro do trocarte. Ao término dos procedimentos laparoscópicos e após a inspeção da cavidade, foi desfeito o pneumoperitôneo, sendo realizada a sutura da musculatura e da pele. Todos os tempos cirúrgicos foram anotados, para que uma curva de aprendizado fosse avaliada. As intercorrências cirúrgicas não foram clinicamente significativas e o procedimento foi factível em todos os animais do experimento. Os coelhos foram doados após a retirada dos pontos. As maiores dificuldades encontradas com o uso do Centry Port® foram a visualização em linha e o choque entre as mãos do cirurgião e câmera junto ao trocarte. Concluiu-se com este estudo que a técnica de criptorquidectomia por single-port em coelhos, utilizando o Centry Port® é viável e que as dificuldades são superadas na medida em que a equipe estabelece maior experiência com a técnica por um único acesso. / The cryptorchidism is a hereditary disease characterized by the absence of one or both testicles in the scrotum due to interruption of their normal migration path of the abdominal cavity to the scrotum. Such interruption causes the testicle is ectopic, remaining in the subcutaneous tissue, abdomen or inguinal ring region. In Veterinary Medicine, the indication for this is the exerese surgical pathology by means of conventional or laparoscopic criptorquidectomia and laparoscopic has signed as a better alternative due to the less tissue trauma, better view, less pain, less need for analgesia, less patient recovery time and better aspect of the surgical wound. This study aimed to develop a technique to criptorquidectomia through a single portal (LESSsingle site surgery) using the Centry Port® trocar, with only two working channels. Ten male rabbits were used, the New Zealand-bred and California, weighing between 2.8 kg and 3.85 kg. After intubation and anesthetic plan maintenance and placement of the animal in the Trendelenburg position 200, Centry Port® was introduced approximately 1 cm cranial to the umbilical scar through incision about 1.5 cm long. The pneumoperitôneo with CO2 was established and maintained during all procedures with 10 mm Hg. Through manual compression the testicle was introduced into the abdominal cavity through the inguinal ring. After your viewing and seizure with a clamp on Kelly, was attached to the abdominal wall with the aid of transparietal suture. The haemostasis was performed with the aid of bipolar electrocoagulation adjusted to 20 watts. After the section of the spermatic cord the testicles were removed inside the trocar. At the end of laparoscopic procedures and after inspection of the well, was shattered the pneumoperitôneo, being performed the suture of the muscles and the dermal suture. All surgical times were noted for which a learning curve to be evaluated. The surgical complications were not clinically significant and the procedure was doable in all animals in the experiment. The rabbits were donated after the withdrawal of points. The major difficulties encountered with the use of Centry Port® were viewing online and the clash between the hands of the surgeon and the camera next to the trocar. This study concluded that the technique of criptorquidectomia by single-port in rabbits using Centry Port® is feasible and that the difficulties related to its use are exceeded in that the team establishes greater experience with the technique by single port.

A colelitíase é uma doença frequente na população geral. Um dos seus fatores de risco é a diabetes melitus tipo 2, relacionada à anormalidades metabólicas associadas a sobrepeso, obesidade, resistência à insulina, hipertrigliceridemia e hábitos dietéticos. Fatores de risco semelhantes são encontrados na doença hepática gordurosa não alcoólica (DHGNA). A DHGNA engloba um espectro de condições patológicas que pode evoluir da esteatose, para esteato-hepatite (EHNA), fibrose, cirrose e neoplasia hepática. A distinção entre esteatose e EHNA é de grande relevância na prática clínica, em virtude de a primeira ser uma condição benigna e reversível, enquanto que a segunda apresenta potencial evolutivo para cirrose e carcinoma hepatocelular. Somente a biópsia hepática pode classificar e estadiar a DHGNA. A DHGNA e a colelitíase têm similaridade quanto à patogênese e aos fatores de risco, o que nos motivou a realizar este estudo. Os objetivos do trabalho foram: a) Definir a frequência da esteatose hepática e da EHNA em pacientes com colelitíase submetidos à colecistectomia laparoscópica. b) Avaliar as alterações histopatológicas da DHGNA nos pacientes com colelitíase. c) Avaliar a acurácia dos exames de imagem-ultrassonografia abdominal (US) e tomografia computadorizada (TC) no diagnóstico da DHGNA. d) Relacionar aspectos clínicos, laboratoriais e de imagem com diagnósticos histopatológicos de esteatose e EHNA em portadores de colelitíase. e) Analisar variáveis preditivas da DHGNA na indicação da biópsia hepática para os pacientes com colelitíase a serem submetidos à colecistectomia laparoscópica. Método: Foi realizado estudo prospectivo sequencial de pacientes portadores de colelitíase com indicação cirúrgica que assinaram o termo de consentimento livre e esclarecido. Foram analisados 161 pacientes submetidos à colecistectomia laparoscópica e à biópsia hepática. Os pacientes foram avaliados quanto ao sexo, à idade, história clínica e aos antecedentes pessoais, com ênfase nas comorbidades relacionadas à síndrome metabólica. Foram realizadas as seguintes medidas antropométricas: peso (kg), altura (m) e circunferência abdominal (cm), sendo calculado o Índice de Massa Corpórea (IMC). Além da avaliação bioquímica, foram avaliados parâmetros metabólicos através da dosagem da glicemia e insulinemia de jejum, índice de HOMA IR e perfil lipídico. Os pacientes foram submetidos a dois USs em momentos distintos, nos quais foram avaliados a vesícula biliar, as vias biliares e os possíveis diagnósticos qualitativo e quantitativo da esteatose hepática. Na tomografia abdominal, foram medidos os coeficientes de atenuação hepática e esplênica. O diagnóstico de esteatose foi determinado através de dois índices: TC1 (e-h) calculado pela diferença entre o valor da atenuação esplênica e hepática e o TC2 (h/e) medido pela fração da atenuação hepática sobre a esplênica. Antes da colecistectomia laparoscópica com exploração de vias biliares, foi realizada biópsia hepática com agulha de tru-cut no mesmo tempo cirúrgico. Os parâmetros histopatológicos utilizados para avaliar as biópsias hepáticas foram: esteatose macrovesicular, esteatose microvesicular, infiltrado inflamatório acinar e portal, balonização hepatocelular, corpúsculos hialino de Mallory, alterações ductulares e fibrose perissinusoidal, perivenular, portal, sobrecarga de ferro e pseudoinclusão nuclear de glicogênio. Para o diagnóstico de EHNA, foi utilizado o escore de atividade da doença hepática gordurosa não alcoólica (NAS). Os 161 pacientes foram distribuídos em três grupos formados a partir do resultado da histopatologia hepática: Grupo A - colelitíase sem esteatose (n = 98), Grupo B - colelitíase com esteatose (n = 51) e Grupo C - colelitíase com esteatohepatite (n = 12). Resultados: Entre os 161 pacientes submetidos à colecistectomia com biópsia hepática, 63 (39,1%) eram portadores de DHGNA, dentre eles, 12/161 (7,4%) com EHNA. Cento e trinta e sete (85%) pacientes eram do sexo feminino; 125 (78%) eram brancos. A idade média global foi de 45 anos. A hipertensão arterial sistêmica esteve presente em 40 (25%), diabetes mellitus tipo 2 em 17 (11%) e a síndrome metabólica em 39 (24%). Os aspectos clínicos, laboratoriais e comorbidades que apresentaram diferença estatística significantes entre o grupo A e os grupos B e C foram: idade, IMC, circunferência abdominal, glicemia em jejum, ALT. A síndrome metabólica, a resistência insulínica, diabetes mellitus tipo 2, AST e o colesterol total registraram diferença estatisticamente significante apenas entre os grupos A e C. Não existiram aspectos clínicos, laboratoriais ou de comorbidades que diferenciaram os portadores de esteatose e EHNA. Os exames de US I e II nas duas ocasiões revelaram sensibilidade de 57% e 59%, especificidade de 91% e 90%, respectivamente, e em ambos USs a acurácia foi de 78%. No exame de TC, o índice e o nível de corte de maior sensibilidade (50%), especificidade, (90,72%) e acurácia (74,53%) foi o índice TC 2 (h/e), com nível de corte menor que 1,0 para o diagnóstico da DHGNA. Os parâmetros histopatológicos que apresentaram diferença estatística significante entre os grupos A e C e entre os grupos B e C foram: corpúsculos hialino de Mallory, infiltrado inflamatório portal e fibrose perivenular, perissinusoidal e portal. Houve maior grau de intensidade do infiltrado inflamatório portal nos pacientes do grupo C. Houve diferença estatística significante entre os grupos B e C com relação à esteatose microvesicular e a pseudoinclusão nuclear de glicogênio. Pela regressão logística, foi avaliada a probabilidade de os pacientes portadores de colelitíase apresentarem DHGNA. Os fatores preditivos foram: aumento da glicemia, HOMA-IR, colesterol total, circunferência abdominal e esteatose ao US. Na presença de três ou quatro destes fatores de risco a probabilidade de DHGNA foi de 91%. Conclusão: A prevalência de EHNA em pacientes com colelitíase foi de 7,4% neste grupo de pacientes Assim, é de fundamental importância o reconhecimento dos fatores de risco para a DHGNA em pacientes com colelitíase que serão submetidos à intervenção cirúrgica. Assim sendo, a biópsia hepática durante o procedimento cirúrgico deve ser preconizada na vigência de fatores preditivos, pois é o único método para diferenciar esteatose de EHNA / Cholelithiasis is a very common disease in the population at large, and one of the risk factors is type II diabetes mellitus, which is related to metabolic disorders associated with overweight, obesity, insulin resistance, hypertriglyceridemia and dietary abnormalities. Similar risk factors are found in non-alcoholic fatty liver disease (NAFLD). NAFLD covers a spectrum of pathological conditions that can range from steatosis to steatohepatitis (NASH), fibrosis, cirrhosis and even liver cancer. The distinction between steatosis and NASH is of great importance in clinical practice because the former is a benign, reversible condition whereas the latter can progress to cirrhosis and hepatocellular carcinoma. Only a liver biopsy, however, can be used to classify and stage NAFLD. NAFLD and cholelithiasis have similar pathogenesis and risk factors, a fact which led us to undertake this study, the aims of which were: a) to define the frequency of hepatic steatosis and NASH in patients with cholelithiasis undergoing laparoscopic cholecystectomy; b) to assess the accuracy of abdominal ultrasound imaging (US) and computed tomography (CT) in the diagnosis of NAFLD; c) to assess histological alterations caused by NAFLD in patients with cholelithiasis; d) to relate clinical, laboratory and imaging findings to histopathological diagnoses of steatosis and NASH in cholelithiasis; and e) to analyze predictors of NAFLD used when referring patients with cholelithiasis already scheduled for laparoscopic cholecystectomy for liver biopsy as well. Methods: We performed a prospective sequential study of patients with cholelithiasis who had been referred for surgery and had signed a voluntary informed-consent form. A total of 161 patients were analyzed after they had undergone a laparoscopic cholecystectomy and liver biopsy. Besides sex and age, clinical and medical history were recorded, with emphasis being placed on comorbidities related to metabolic syndrome. The anthropometric measurements weight (kg), height (m) and abdominal circumference (cm) were recorded during the physical examination and the body mass index was calculated. Biochemical and metabolic assessment parameters, including fasting blood sugar and fasting insulin, which were used to calculate the HOMA-IR index, and fasting lipid profile, were evaluated. Patients had two ultrasounds at different times to assess the gallbladder and bile ducts as well as the quantitative and qualitative diagnosis of hepatic steatosis. In the abdominal tomography, the attenuation coefficients of the liver and spleen were measured for diagnosis of steatosis based on two indices: CT1 (S-L), given by the difference between spleen and liver attenuations, and CT2 (L/S), given by the attenuation of the liver divided by the attenuation of the spleen. Before laparoscopic cholecystectomy with bile duct exploration, a liver biopsy with a tru-cut was performed. The following histological parameters were used to evaluate the liver biopsies: macrovesicular steatosis, microvesicular steatosis, acinar and portal inflammatory infiltrate, hepatocellular ballooning, Mallory bodies, ductal changes, perisinusoidal, perivenular and portal fibrosis, iron overload and glycogenated nuclei. The NAFLD activity score was used to diagnose NAFLD in the steatosis or NASH phases. A comparative analysis of the 161 patients was carried out after they had been divided into three groups according to the results of the liver histopathology: group A cholelithiasis without steatosis (n=98), group B - cholelithiasis with steatosis (n=51) and group C - cholelithiasis with NASH (n=12). Results: Of the 161 patients subjected to cholecystectomy with a liver biopsy, 63 (39.1%) had NAFLD, of whom 12 (7.4%) also had NASH. A total of 137 (85%) of the patients were female, and 125 (78%) were Caucasian. Average age was 45 years. Arterial hypertension was observed in 40 (25%) patients, 17 (11%) had diabetes mellitus and 39 (24%) had metabolic syndrome. The clinical and laboratory findings with a statistically significant difference between group A and/or groups B and C were age, BMI, abdominal circumference, fasting blood sugar, total cholesterol, ALT and AST. Metabolic syndrome, insulin resistance and diabetes mellitus only exhibited a statistically significant difference between groups A and C. There were no clinical or laboratory findings or image abnormalities that differentiated steatosis from NASH. The first and second ultrasounds, which were carried out at different times, had sensitivities of 57% and 59% and specificities of 91% and 90%, respectively; both had accuracies of 78%. In the computed tomography, the index with the greatest sensitivity (50%), specificity (90.72%) and accuracy (74.53%) was CT2 (L/S), with a cutoff level of 1.0 for diagnosis of NAFLD. The histopathological parameters with statistically significant differences between the group without steatosis and group C and between groups B and C were Mallory bodies, portal inflammation and perivenular, perisinusoidal and portal fibrosis. Portal inflammation was more intense in patients in group C. There was a statistically significant difference in the intensity of macrovesicular steatosis between groups B and C; this was mild in 42 (82.4%) of the patients in the former group and in only 2 (3.9%) in the latter. There was a statistically significant difference in microvesicular steatosis and glycogenated nuclei between groups B and C. Logistic regression revealed that the associated risk factors for determining the probability of patients with cholelithiasis having NAFLD are increased values of blood glucose, HOMA-IR, total cholesterol abdominal circumference and steatosis on ultrasound. In the presence of three or four risk factors the probability of NAFLD was 91%. Conclusion: The prevalence of NASH in cholelithiasis patients was 7.4%, indicating that NAFLD is a serious problem in this group of patients. It is therefore very important to determine the risk factors for NAFLD in cholelithiasis patients who will be submitted to surgery in order to decide whether a liver biopsy should be performed, as this is the only diagnostic method for differentiating between steatosis and NASH

The aims of the studies was to evaluate the short and long term effects on the development of parastomal hernia and stoma complications of a prophylactic prosthetic mesh placed in a sublay position at the index operation.  Also the purpose was to validate a definition of parastomal hernia at clinical examination and a method and a definition of parastomal hernia at CT-scan. In the first two studies 27 patients were randomized to a conventional stoma or to a stoma with the addition of a partly absorbable low weight large pore mesh in sublay position. Patients were examined after one and five years.  After five years the rate of parastomal hernia was 80% with a conventional stoma and 14% with the addition of a mesh.  A prophylactic mesh did not increase the rate of complications. In the third study a prophylactic mesh was intended at stoma formation in 93 consecutive patients in routine surgery. In 75 patients provided with a mesh the rate of parastomal hernia after one year was 13%. Complication rates were not increased in 19 severely contaminated wounds. In the fourth study 27 patients with ostomies were examined by tree surgeons and parastomal hernia was defined as any protrusion in the vicinity of the stoma. CT-scans with patients examined in the supine and prone positions were assessed by three radiologists. Herniation was then defined as any intra abdominal content protruding beyond peritoneum or the presence of a hernia sac. Kappa was 0.85 for surgeons and 0.85 for radiologists with CT-scan in the prone position. Kappa was 0.80 for surgeons and radiologists collectively, with CT-scan in the prone position. Four parastomal hernias detected at CT-scan in the prone position could not be detected in the supine position. A parastomal hernia diagnosed at clinical examination was always detected at CT-scan in the prone position. Conclusions: A prophylactic mesh placed in a sublay position at the index operation reduces the rate of parastomal hernia without increasing the rate of complications. Parastomal hernia should at clinical examination be defined as any protrusion in the vicinity of the stoma with the patient straining in the supine and erect positions.  At CT-scan, with the patient examined in the prone position, herniation should be defined as any intra abdominal content protruding beyond peritoneum or the presence of a hernia sac. / Embargo, publiceras 2011-05-01

Το θέμα αυτής της διπλωματικής εργασίας είναι ο σχεδιασμός, η παραγωγή, η κατασκευή και ο έλεγχος ενός χειρουργικού ρομποτικού εργαλείου με βελτιωμένα χαρακτηριστικά από το προηγούμενο πρωτότυπο. Το λαπαροσκοπικό εργαλείο αποτελείται από συνδέσμους σε σειρά οι οποίοι ενεργοποιούνται με μορφομνήμονα καλώδια, οι οποίοι λειτουργούν σαν δυαδικοί ενεργοποιητές με δύο πιθανές καταστάσεις. Κάθε σύνδεσμος αποτελείται από τρεις πρισματικούς ενεργοποιητές, οι οποίοι δημιουργούν μια πλατφόρμα Stewart και παρέχουν μια 3 βαθμών ελευθερίας κινητικότητα σε κάθε σύνδεσμο. Τα ηλεκτρονικά είναι ενσωματωμένα στο εσωτερικό των συνδέσμων, σε αρχιτεκτονική Master-Slave. Η επικοινωνία μεταξύ του χειρούργου και του εργαλείου επιτυγχάνεται με I2C δικτυωμένους μικρο-ελεγχτές, Στον τελευταίο σύνδεσμο του εργαλείου, υπάρχει μια στερεοσκοπική κάμερα και μια πλακέτα IMU η οποία προσφέρει πληροφορίες προσανατολισμού. Επιπρόσθετα, ένα σύστημα αντίληψης δύναμης το οποίο είναι ικανό να επικολληθεί στην επόμενη έκδοση του εργαλείου. Εν κατακλείδι, σχεδιαστικές παράμετροι καθώς και η κινηματική του δυαδικού βραχίονα παρουσιάζεται σε προσομοίωση και πειραματικές μελέτες του λαπαροσκοπικού πρωτότυπου εργαλείου. / The subject of this master thesis is the design, the fabrication, the construction and the control of a surgical robotic tool with improved characteristics than previous version. The laparoscopic tool consists of cascaded links which are powered by Shape Memory Alloys wires, acting as binary actuators with two stable states. Each link is composed of three prismatic actuators, creating a Stewart platform and providing a 3-DOF maneuverability for each joint. The electronics are embedded in the inner cavity of the links in, Master-Slave architecture. The communication between the surgeon and the tool is achieved with I2C-networked microcontrollers. In the distal link of the tool, there is a stereoscopic camera and an IMU board that offers orientation information. Moreover, a Force Sensing System, that is able to be attached to the next version of the current tool. Finally, certain design aspects as well as the kinematics of the binary manipulator are presented simulation and experimental studies on the laparoscopic tool prototype.

Šiuo metu Pasaulyje skrandžio apjuosimo reguliuojama juosta operacijos sudaro apie 43 % visų chirurginių operacijų, atliekamų nutukimui gydyti. Iki šiol nėra pilnai ištirta operacijoje naudojamų skrandį apjuosiančių reguliuojamų juostų konstrukcijos skirtumų įtaka gydymo rezultatams, taip pat nėra priimtų pacientų atrankos šiai operacijai kriterijų. Disertacijoje palyginome vienerių metų nutukimo chirurginio gydymo rezultatus naudojant skirtingas skrandį apjuosiančias reguliuojamas juostas – SAGB ir MiniMizer Extra. Nustatėme, kad skrandžio apjuosimo reguliuojama juosta operacija yra efektyvus ir saugus nutukimo gydymo būdas: vidutinis procentinis perteklinio kūno masės indekso sumažėjimas buvo 33,1 ± 21,9%; vertinant pagal BAROS, 34.1% pacientų pasiekė patenkinamą, 30,6% - gerą, 9,4% – labai gerą ir 2,4% – puikų gydymo rezultatą; pasitaikė 5 (4,9%) „didžiosios” komplikacijos. Esminių skirtumų tarp lygintų juostų efektyvumo ir komplikacijų skaičiaus po vienerių metų po operacijos nenustatyta: vidutinis procentinis perteklinio kūno masės indekso sumažėjimas SAGB ir MiniMizer Extra grupėse buvo atitinkamai 28,9 ± 21,3% ir 36,8 ± 22.1%, p=0.075, o „didžiųjų” komplikacijų skaičius atitinkamai 0 (0%) ir 5 (9.3%), p=0.069. 40 metų ir vyresni pacientai geresnių rezultatų pasiekė naudojant MiniMizer Extra juostą - vidutinis procentinis perteklinio kūno masės indekso sumažėjimas buvo 37,5 ± 20,8% prieš 23,6 ± 13,8 % SAGB grupėje, p=0.002. Pacientai, kurių pradinis KMI ≤ 47, geresnių... [toliau žr. visą tekstą] / It has been estimated that LAGB represents about 42% of bariatric operations performed worldwide. There are a number of different adjustable gastric bands available. Few attempts have been made to compare the influence of band design differences for efficiency and complication rate. There are no accepted criteria for choosing this particular operation. In the dissertation we compared one year results after adjustable gastric banding using different adjustable gastric bands – SAGB and MiniMizer Extra. We have determined that laparoscopic adjustable gastric banding is effective and safe bariatric procedure: the average percentage of initial excess body mass index loss was 33,1 ± 21,9%; 34.1% of patients achieved fair, 30,6% - good, 9,4% - very good and 2,4% - excellent results according to BAROS; only 5 (4,9%) major complications were diagnosed. No radical differences were stated between the efficiency and complication rate of the compared adjustable gastric bands: the average percentage of initial excess body mass index loss in SAGB and MiniMizer Extra groups was 28,9 ± 21,3% and 36,8 ± 22.1% respectively, p=0.075; major complication rate was 0 (0%) and 5 (9.3%) respectively, p=0.069. Patients at the age of 40 and older achieved better results using MiniMizer Extra band - the average percentage of initial excess body mass index loss was 37,5 ± 20,8% versus 23,6 ± 13,8% in SAGB group, p=0.002. Patients with initial BMI ≤ 47 achieved better results using MiniMizer Extra band... [to full text]

This study was an investigation into the cost-effectiveness of using re-usable instrumentation in laparoscopic surgery. The model used for the study was the laparoscopic cholecystectomy which is the commonest laparoscopic procedure performed by the general surgeons. The study was done at KZNGOV Hospital in Kwazulu Natal, one of the largest tertiary hospitals in the province. The research done was both qualitative and quantitative. An exploratory study was conducted initially by drawing up the case study, and then quantitative and qualitative research was conducted to evaluate the use of re-usable instrumentation in laparoscopic surgery. In order to conduct a more focused design, the three most commonly used laparoscopic instruments were evaluated. These were the trocars (sizes 11.0mm and 5.0mm), the endoshears / scissors and the clip applicators. The study aimed to assess whether the use of the re-usable instruments was more cost-effective, whether their use in minimal access surgery was feasible, and whether the use of re-usable instrumentation compromised patient well-being. Information for the case study was obtained from the hospital notes of the patients who had a laparoscopic cholecystectomy at KZNGOV Hospital, and from interviews with experienced surgeons. The study found that the re-usable instrumentation used at KZNGOV Hospital had no adverse effects on the patients. The Department of Surgery and the theatre committee at this hospital have chosen an excellent and cost-effective protocol for laparoscopic surgery, and the choice of instrumentation cannot be faulted. Analysis of the results showed a large cost saving obtained by using the re-usable laparoscopic instrumentation, with no adverse patient outcomes. / Thesis (MBA)-University of KwaZulu-Natal, Durban, 2003.