A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework

A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework. Marinho, M. M., Bernardes, M. C., & Bo, A. P. L. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014.

Paper doi abstract bibtex

Background and aim: A 32-year-old woman presented with a 10-year history of left side ulcerative colitis treated only with oral and topic mesalazine until April 2006. Last relapse in April 2006 treated with 20 days topic methylprednisolone. No pancolonoscopy was performed before. Material and methods: A surveillance ileo-colonoscopy was performed without premedication using a pediatric colonoscope Fuji EC-250-MP-5. The cecum was reached without difficulties. The mucosa had sign of minimal active inflammation only in the rectum. Biopsy specimens were taken from the ileum to the distal rectum (4 for each segment) to evaluate the extension of disease and the presence of dysplasia. We used biopsy forceps with needle Olympus FB-24U-1 (2300 mm). Neither insertion of the colonoscope nor its withdrawal with sampling created any significant pain. At the end of colonoscopy the patient referred abdominal discomfort and was kept in observation for about 2 hours. The examination did not reveal clinical sign of perforation, hemodynamic parameters were normal and after application of rectal probe and rectal expulsion of air she referred improve of abdominal discomfort and was discharged. In the afternoon she experienced abdominal pain and growing of abdominal circumference; the physical examination revealed sign of acute abdomen and abdomen x-ray revealed a massive pneumoperitoneum. An immediate laparotomy was performed that did not reveal evident perforation; pneumatic evaluation with water revealed minimal loss of air in more than one site of biopsy, that was known because of presence of little hematomas in the colon wall. Defects were sutured and the patient's further hospital course was uneventful. Results: All biopsy showed severe mucosal atrophy with almost absent submucosa, and in more than one specimens were present also muscle of the muscularis propria. Conclusions: Biopsy-related perforation is a rare complication of colonoscopy with modern flexible colonoscope and small caliber biopsy forceps, nevertheless it cannot be totally excluded, particularly in a patient with clinical suspicion of severe mucosa atrophy like patient affected by ulcerative colitis even if without large use of corticosteroid therapy.

@article{Marinho2014,
abstract = {Background and aim: A 32-year-old woman presented with a 10-year history of left side ulcerative colitis treated only with oral and topic mesalazine until April 2006. Last relapse in April 2006 treated with 20 days topic methylprednisolone. No pancolonoscopy was performed before. Material and methods: A surveillance ileo-colonoscopy was performed without premedication using a pediatric colonoscope Fuji EC-250-MP-5. The cecum was reached without difficulties. The mucosa had sign of minimal active inflammation only in the rectum. Biopsy specimens were taken from the ileum to the distal rectum (4 for each segment) to evaluate the extension of disease and the presence of dysplasia. We used biopsy forceps with needle Olympus FB-24U-1 (2300 mm). Neither insertion of the colonoscope nor its withdrawal with sampling created any significant pain. At the end of colonoscopy the patient referred abdominal discomfort and was kept in observation for about 2 hours. The examination did not reveal clinical sign of perforation, hemodynamic parameters were normal and after application of rectal probe and rectal expulsion of air she referred improve of abdominal discomfort and was discharged. In the afternoon she experienced abdominal pain and growing of abdominal circumference; the physical examination revealed sign of acute abdomen and abdomen x-ray revealed a massive pneumoperitoneum. An immediate laparotomy was performed that did not reveal evident perforation; pneumatic evaluation with water revealed minimal loss of air in more than one site of biopsy, that was known because of presence of little hematomas in the colon wall. Defects were sutured and the patient's further hospital course was uneventful. Results: All biopsy showed severe mucosal atrophy with almost absent submucosa, and in more than one specimens were present also muscle of the muscularis propria. Conclusions: Biopsy-related perforation is a rare complication of colonoscopy with modern flexible colonoscope and small caliber biopsy forceps, nevertheless it cannot be totally excluded, particularly in a patient with clinical suspicion of severe mucosa atrophy like patient affected by ulcerative colitis even if without large use of corticosteroid therapy.},
author = {Marinho, Murilo M. and Bernardes, Mariana C. and Bo, Antonio P. L.},
doi = {10.1109/BIOROB.2014.6913799},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2014) BIOROB.pdf:pdf},
isbn = {978-1-4799-3128-6},
issn = {2155-1774},
journal = {5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics},
pages = {339--344},
title = {{A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework}},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6913799},
year = {2014}
}

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