81 results on '"Roveda, L."'
Search Results
52. Multi-Objects Robotic Grasping Optimization Employing a 2D camera
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Loris Roveda, Gloria Farinella, Marco Maccarini, Filippo Pura, Nicola Castaman, Blerina Spahiu, Asad Ali Shahid, Mattia Marconi, Oscar Ferrato, Francesco Braghin, Dario Piga, Roveda, L, Farinella, G, Maccarini, M, Pura, F, Castaman, N, Spahiu, B, Shahid, A, Marconi, M, Ferrato, O, Braghin, F, and Piga, D
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Grasping ,Bayesian opti- mization ,transfer learning ,industrial robotic - Abstract
Artificial intelligence algorithms can be exploited to enhance identification, localization, and grasping performance in robotics applications, employing low-cost vision systems (such as 2D cameras). The aim of this paper is, indeed, to optimize the camera pose to improve object detection tasks considering a mul- tiple objects scenario. Therefore, transfer learning capabilities are required to minimize the experimental effort in subsequent grasps. Bayesian optimization (BO) with transfer learning (TL) capabilities has been proposed to address the mentioned scenario. A grasping task of multiple parts has been considered, being executed by an ABB Yumi single-arm manipulator IRB 14050 with a 2D Cognex AE3 In-Sight camera mounted at its end- effector. The proposed BO+ TL methodology has been compared with BO (without TL). The achieved results show that BO+TL is more efficient than BO exploiting the already available data.
- Published
- 2022
53. Three combinations of clonidine in association with tiletamine-zolazepam for anaesthesia induction in rats: evaluation of reflexes and pain sensibility
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U. Prati, Domenico Britti, Giuseppe Spinella, J. M. Vilar, C. Anastasi, Giulia Ricciardi, Angelo Santana, L. Roveda, Spinella G., Vilar JM., Anastasi C., Santana A., Prati U., Roveda L., Ricciardi G., and Britti D.
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α2 agonists ,Loss of righting reflex ,ANESTHESIA ,General Veterinary ,business.industry ,TILETAMINA-ZOLAZEPAM ,Analgesic ,winstar rat ,Pharmacology ,Tiletamine / Zolazepam ,Clonidine ,03 medical and health sciences ,0302 clinical medicine ,030202 anesthesiology ,Anesthesia ,Reflex ,Medicine ,General anaesthesia ,Anaesthesia induction ,business ,clonidine ,030217 neurology & neurosurgery ,medicine.drug - Abstract
The aim of this study was to assess the combination of tiletamine-zolazepam (Zoletil 20 ® ) with three different doses of clonidine for general anaesthesia induction in rats submitted to vascular microsurgery. The evaluation of anaesthetic and analgesic effects was performed in 30 Wistar rats randomly divided into three groups and induced with Zoletil 20 (90 mg/kg Intraperitoneal (IP)) associated with three different doses of clonidine (60-90-120 μg/kg IP). Four clinical parameters were evaluated after induction: loss of righting reflex, voluntary movement, the pedal withdrawal response, and pain sensitivity tested by pinching the tail. The combination of Zoletil with 90 and 120 μg/kg of clonidine provided a surgical anaesthesia; however, 90 μg/kg of clonidine provided the most rapid anaesthesia induction, as confirmed by data obtained by clinical evaluation of the loss of the pedal withdrawal response and the absence of the tail pinch response. The increase in dose of clonidine did not lead to a more rapid action of the α2 agonist, probably due to achievement of a dose-dependent plateau.
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- 2012
54. On the proposal of a unified safety framework for industry 4.0 multi-robot scenario
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Loris Roveda, Spahiu, B., Terkaj, W., Mecella, M, Amato, G, Gennaro, C, Roveda, L, Spahiu, B, and Terkaj, W
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robotics ,ontology ,industry 4.0 ,ontology, semantic web, human-robot collaboration - Abstract
Within the context of Industry 4.0, the presence of robotic systems inside the production plant is increasing, thus leading to the need for appropriate safety rules enhancing human-robot interaction. However, without a systematic approach, mapping all the possible scenarios becomes critical. This paper aims at laying the foundations for a unified safety-based semantic approach in cooperative multi-robot industrial environments. The objective of this study is to investigate an approach to organize, store and re-use construction safety knowledge by means of defining a new ontology and the construction of rules for safety application.
55. Editorial: Human-robot collaboration in Industry 5.0: a human-centric AI-based approach.
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Roveda L
- Abstract
Competing Interests: The author declares that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.
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- 2024
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56. Brain-computer interface for robot control with eye artifacts for assistive applications.
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Karas K, Pozzi L, Pedrocchi A, Braghin F, and Roveda L
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- Humans, Artifacts, Electroencephalography methods, Eye Movements, Algorithms, User-Computer Interface, Brain-Computer Interfaces, Robotics
- Abstract
Human-robot interaction is a rapidly developing field and robots have been taking more active roles in our daily lives. Patient care is one of the fields in which robots are becoming more present, especially for people with disabilities. People with neurodegenerative disorders might not consciously or voluntarily produce movements other than those involving the eyes or eyelids. In this context, Brain-Computer Interface (BCI) systems present an alternative way to communicate or interact with the external world. In order to improve the lives of people with disabilities, this paper presents a novel BCI to control an assistive robot with user's eye artifacts. In this study, eye artifacts that contaminate the electroencephalogram (EEG) signals are considered a valuable source of information thanks to their high signal-to-noise ratio and intentional generation. The proposed methodology detects eye artifacts from EEG signals through characteristic shapes that occur during the events. The lateral movements are distinguished by their ordered peak and valley formation and the opposite phase of the signals measured at F7 and F8 channels. This work, as far as the authors' knowledge, is the first method that used this behavior to detect lateral eye movements. For the blinks detection, a double-thresholding method is proposed by the authors to catch both weak blinks as well as regular ones, differentiating itself from the other algorithms in the literature that normally use only one threshold. Real-time detected events with their virtual time stamps are fed into a second algorithm, to further distinguish between double and quadruple blinks from single blinks occurrence frequency. After testing the algorithm offline and in realtime, the algorithm is implemented on the device. The created BCI was used to control an assistive robot through a graphical user interface. The validation experiments including 5 participants prove that the developed BCI is able to control the robot., (© 2023. Springer Nature Limited.)
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- 2023
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57. A Backbone-Tracking Passive Exoskeleton to Reduce the Stress on the Low-Back: Proof of Concept Study.
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Pesenti M, Gandolla M, Pedrocchi A, and Roveda L
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- Biomechanical Phenomena, Electromyography, Humans, Muscle, Skeletal, Proof of Concept Study, Range of Motion, Articular, Spine, Exoskeleton Device, Low Back Pain prevention & control
- Abstract
Exoskeletons for the low-back have great potential as tools to both prevent low-back pain for healthy subjects and limit its impact for chronic patients. Here, we show a proof-of-concept evaluation of our low-back exoskeleton. Its peculiar feature is the backbone-tracking kinematic structure that allows tracking the motion of the human spine while bending the trunk. This mechanism is implemented with a rigid-yet-elongating structure that does not hinder nor constrain the motion of the wearer while providing assistance. In this work, we show the first prototype we manufactured. It is equipped with a traction spring to assist the wearer during trunk flexion/extension. Then, we report the results of a preliminary test with healthy subjects. We measured a reduction of the mean absolute value for some target muscles - including the erector spinae - when using the exoskeleton for payload manipulation tasks. This was achieved without affecting task performance, measured as task time and joints range of motion. We believe these preliminary results are encouraging, paving the way for a broader experimental campaign to evaluate our exoskeleton.
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- 2022
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58. Grasping learning, optimization, and knowledge transfer in the robotics field.
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Pozzi L, Gandolla M, Pura F, Maccarini M, Pedrocchi A, Braghin F, Piga D, and Roveda L
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- Bayes Theorem, Hand, Humans, Plastics, Hand Strength, Robotics methods
- Abstract
Service robotics is a fast-developing sector, requiring embedded intelligence into robotic platforms to interact with the humans and the surrounding environment. One of the main challenges in the field is robust and versatile manipulation in everyday life activities. An appealing opportunity is to exploit compliant end-effectors to address the manipulation of deformable objects. However, the intrinsic compliance of such grippers results in increased difficulties in grasping control. Within the described context, this work addresses the problem of optimizing the grasping of deformable objects making use of a compliant, under-actuated, sensorless robotic hand. The main aim of the paper is, therefore, finding the best position and joint configuration for the mentioned robotic hand to grasp an unforeseen deformable object based on collected RGB image and partial point cloud. Due to the complex grasping dynamics, learning-from-simulations approaches (e.g., Reinforcement Learning) are not effective in the faced context. Thus, trial-and-error-based methodologies have to be exploited. In order to save resources, a samples-efficient approach has to be employed. Indeed, a Bayesian approach to address the optimization of the grasping strategy is proposed, enhancing it with transfer learning capabilities to exploit the acquired knowledge to grasp (partially) new objects. A PAL Robotics TIAGo (a mobile manipulator with a 7-degrees-of-freedom arm and an anthropomorphic underactuated compliant hand) has been used as a test platform, executing a pouring task while manipulating plastic (i.e., deformable) bottles. The sampling efficiency of the data-driven learning is shown, compared to an evenly spaced grid sampling of the input space. In addition, the generalization capability of the optimized model is tested (exploiting transfer learning) on a set of plastic bottles and other liquid containers, achieving a success rate of the 88%., (© 2022. The Author(s).)
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- 2022
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59. Review on Patient-Cooperative Control Strategies for Upper-Limb Rehabilitation Exoskeletons.
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Dalla Gasperina S, Roveda L, Pedrocchi A, Braghin F, and Gandolla M
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Technology-supported rehabilitation therapy for neurological patients has gained increasing interest since the last decades. The literature agrees that the goal of robots should be to induce motor plasticity in subjects undergoing rehabilitation treatment by providing the patients with repetitive, intensive, and task-oriented treatment. As a key element, robot controllers should adapt to patients' status and recovery stage. Thus, the design of effective training modalities and their hardware implementation play a crucial role in robot-assisted rehabilitation and strongly influence the treatment outcome. The objective of this paper is to provide a multi-disciplinary vision of patient-cooperative control strategies for upper-limb rehabilitation exoskeletons to help researchers bridge the gap between human motor control aspects, desired rehabilitation training modalities, and their hardware implementations. To this aim, we propose a three-level classification based on 1) "high-level" training modalities, 2) "low-level" control strategies, and 3) "hardware-level" implementation. Then, we provide examples of literature upper-limb exoskeletons to show how the three levels of implementation have been combined to obtain a given high-level behavior, which is specifically designed to promote motor relearning during the rehabilitation treatment. Finally, we emphasize the need for the development of compliant control strategies, based on the collaboration between the exoskeleton and the wearer, we report the key findings to promote the desired physical human-robot interaction for neurorehabilitation, and we provide insights and suggestions for future works., Competing Interests: SD, AP, FB, and MG hold shares in AGADE Srl, Milano, Italy. The remaining authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2021 Dalla Gasperina, Roveda, Pedrocchi, Braghin and Gandolla.)
- Published
- 2021
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60. A Machine Learning Approach for Mortality Prediction in COVID-19 Pneumonia: Development and Evaluation of the Piacenza Score.
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Halasz G, Sperti M, Villani M, Michelucci U, Agostoni P, Biagi A, Rossi L, Botti A, Mari C, Maccarini M, Pura F, Roveda L, Nardecchia A, Mottola E, Nolli M, Salvioni E, Mapelli M, Deriu MA, Piga D, and Piepoli M
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- Bayes Theorem, COVID-19 pathology, Cohort Studies, Electronic Health Records, Female, Humans, Italy epidemiology, Male, Research Design, Retrospective Studies, Risk Factors, SARS-CoV-2 isolation & purification, COVID-19 mortality, Machine Learning
- Abstract
Background: Several models have been developed to predict mortality in patients with COVID-19 pneumonia, but only a few have demonstrated enough discriminatory capacity. Machine learning algorithms represent a novel approach for the data-driven prediction of clinical outcomes with advantages over statistical modeling., Objective: We aimed to develop a machine learning-based score-the Piacenza score-for 30-day mortality prediction in patients with COVID-19 pneumonia., Methods: The study comprised 852 patients with COVID-19 pneumonia, admitted to the Guglielmo da Saliceto Hospital in Italy from February to November 2020. Patients' medical history, demographics, and clinical data were collected using an electronic health record. The overall patient data set was randomly split into derivation and test cohorts. The score was obtained through the naïve Bayes classifier and externally validated on 86 patients admitted to Centro Cardiologico Monzino (Italy) in February 2020. Using a forward-search algorithm, 6 features were identified: age, mean corpuscular hemoglobin concentration, PaO
2 /FiO2 ratio, temperature, previous stroke, and gender. The Brier index was used to evaluate the ability of the machine learning model to stratify and predict the observed outcomes. A user-friendly website was designed and developed to enable fast and easy use of the tool by physicians. Regarding the customization properties of the Piacenza score, we added a tailored version of the algorithm to the website, which enables an optimized computation of the mortality risk score for a patient when some of the variables used by the Piacenza score are not available. In this case, the naïve Bayes classifier is retrained over the same derivation cohort but using a different set of patient characteristics. We also compared the Piacenza score with the 4C score and with a naïve Bayes algorithm with 14 features chosen a priori., Results: The Piacenza score exhibited an area under the receiver operating characteristic curve (AUC) of 0.78 (95% CI 0.74-0.84, Brier score=0.19) in the internal validation cohort and 0.79 (95% CI 0.68-0.89, Brier score=0.16) in the external validation cohort, showing a comparable accuracy with respect to the 4C score and to the naïve Bayes model with a priori chosen features; this achieved an AUC of 0.78 (95% CI 0.73-0.83, Brier score=0.26) and 0.80 (95% CI 0.75-0.86, Brier score=0.17), respectively., Conclusions: Our findings demonstrated that a customizable machine learning-based score with a purely data-driven selection of features is feasible and effective for the prediction of mortality among patients with COVID-19 pneumonia., (©Geza Halasz, Michela Sperti, Matteo Villani, Umberto Michelucci, Piergiuseppe Agostoni, Andrea Biagi, Luca Rossi, Andrea Botti, Chiara Mari, Marco Maccarini, Filippo Pura, Loris Roveda, Alessia Nardecchia, Emanuele Mottola, Massimo Nolli, Elisabetta Salvioni, Massimo Mapelli, Marco Agostino Deriu, Dario Piga, Massimo Piepoli. Originally published in the Journal of Medical Internet Research (https://www.jmir.org), 31.05.2021.)- Published
- 2021
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61. Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules.
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Roveda L, Haghshenas S, Caimmi M, Pedrocchi N, and Molinari Tosatti L
- Abstract
Human-robot cooperation is increasingly demanded in industrial applications. Many tasks require the robot to enhance the capabilities of humans. In this scenario, safety also plays an important role in avoiding any accident involving humans, robots, and the environment. With this aim, the paper proposes a cooperative fuzzy-impedance control with embedded safety rules to assist human operators in heavy industrial applications while manipulating unknown weight parts. The proposed methodology is composed by four main components: (i) an inner Cartesian impedance controller (to achieve the compliant robot behavior), (ii) an outer fuzzy controller (to provide the assistance to the human operator), (iii) embedded safety rules (to limit force/velocity during the human-robot interaction enhancing safety), and (iv) a neural network approach (to optimize the control parameters for the human-robot collaboration on the basis of the target indexes of assistance performance defined for this purpose). The main achieved result refers to the capability of the controller to deal with uncertain payloads while assisting and empowering the human operator, both embedding in the controller safety features at force and velocity levels and minimizing the proposed performance indexes. The effectiveness of the proposed approach is verified with a KUKA iiwa 14 R820 manipulator in an experimental procedure where human subjects evaluate the robot performance in a collaborative lifting task of a 10 kg part., (Copyright © 2019 Roveda, Haghshenas, Caimmi, Pedrocchi and Molinari Tosatti.)
- Published
- 2019
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62. Maize plants can enter a standby mode to cope with chilling stress.
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Riva-Roveda L, Escale B, Giauffret C, and Périlleux C
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- Adaptation, Physiological, Plant Breeding, Plant Leaves genetics, Plant Leaves physiology, Zea mays genetics, Cold Temperature, Stress, Physiological physiology, Zea mays physiology
- Abstract
Background: European Flint maize inbred lines are used as a source of adaptation to cold in most breeding programs in Northern Europe. A deep understanding of their adaptation strategy could thus provide valuable clues for further improvement, which is required in the current context of climate change. We therefore compared six inbreds and two derived Flint x Dent hybrids for their response to one-week at low temperature (10 °C day/7 or 4 °C night) during steady-state vegetative growth., Results: Leaf growth was arrested during chilling treatment but recovered fast upon return to warm temperature, so that no negative effect on shoot biomass was measured. Gene expression analyses of the emerging leaf in the hybrids suggest that plants maintained a 'ready-to-grow' state during chilling since cell cycle genes were not differentially expressed in the division zone and genes coding for expansins were on the opposite up-regulated in the elongation zone. In photosynthetic tissues, a strong reduction in PSII efficiency was measured. Chilling repressed chlorophyll biosynthesis; we detected accumulation of the precursor geranylgeranyl chlorophyll a and down-regulation of GERANYLGERANYL REDUCTASE (GGR) in mature leaf tissues. Excess light energy was mostly dissipated through fluorescence and constitutive thermal dissipation processes, rather than by light-regulated thermal dissipation. Consistently, only weak clues of xanthophyll cycle activation were found. CO
2 assimilation was reduced by chilling, as well as the expression levels of genes encoding phosphoenolpyruvate carboxylase (PEPC), pyruvate orthophosphate dikinase (PPDK), and the small subunit of Rubisco. Accumulation of sugars was correlated with a strong decrease of the specific leaf area (SLA)., Conclusions: Altogether, our study reveals good tolerance of the photosynthetic machinery of Northern European maize to chilling and suggests that growth arrest might be their strategy for fast recovery after a mild stress.- Published
- 2016
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63. Ex-vivo characterization of circulating colon cancer cells distinguished in stem and differentiated subset provides useful biomarker for personalized metastatic risk assessment.
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Malara N, Trunzo V, Foresta U, Amodio N, De Vitis S, Roveda L, Fava M, Coluccio M, Macrì R, Di Vito A, Costa N, Mignogna C, Britti D, Palma E, and Mollace V
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- Adult, Aged, Animals, Cell Adhesion, Cell Cycle, Cell Proliferation, Cell Shape, Cell Survival, Cytokines metabolism, Female, Humans, Male, Mice, SCID, Middle Aged, Neoplasm Metastasis, Xenograft Model Antitumor Assays, Biomarkers, Tumor metabolism, Cell Differentiation, Colonic Neoplasms pathology, Neoplastic Cells, Circulating pathology, Neoplastic Stem Cells pathology, Precision Medicine, Risk Assessment
- Abstract
Background: Circulating tumor cells (CTCs) represent one of the most interesting target in improving diagnosis, prognosis and treatment. Herein we evaluate the possibility of using an emo-cytometric approach on the evaluation of the heterogeneous population of CTCs to improve personalized metastatic risk assessment. We benchmarked ex vivo behavior of distinct subsets of circulating colon tumor cells with correspondent clinical behavior of patients from which we isolated CTCs., Methods: Isolation and CTC expansion were performed by a gradient protocol. In vitro characterization was determined by flow cytometry, immunofluorescence, western blotting and proteomic profiling. Cell sorter was performed with immunomagnetic beads. Confocal microscopy was used to evaluate tissue sections. Kaplan Mayer curves was cared for through Medcalc program., Results: We collected heterogeneous CTCs, derived from the whole blood of seven patients affected by colon cancer, expressing CD133(pos)CD45(neg) (5 ± 1) and (2 ± 1) and CK20(pos)CD45(neg) of (29 ± 3) (11 ± 1) cells/ml in Dukes D and A stage respectively. Proliferation rate of 57 ± 16 %, expression for CXCR4(pos) of 18 ± 7 % and detectable levels of IL-6, IL-8 and SDF-1 cytokines in conditioned culture medium characterized short-time expanded-CTCs (eCTCs). ECTCs organized in tumor sphere were CD45(neg)CD133(pos) while in adhesion were CXCR4(pos)CK20(pos). These two subsets were separately injected in mice. The first group of xenografts developed superficial lesions within 2 weeks. In the second group, in absence of growing tumour, the survival of injected eCTCs was monitored through SDF-1 serum levels detection. The detection of human cancer cells expressing CK20, in mice tissues sections, suggested a different biological behaviour of injected eCTC-subsets: tumorigenic for the first and disseminating for the second. The benchmarking of the experimental data with the clinical course highlights that patients with prevalence of circulating cancer stem cells (CD45(neg)CD133(pos)) have a lower overall survival. Conversely, patients with prevalence of circulating differentiated cells (CXCR4(pos)CK20(pos)) have a low disease-free survival., Conclusion: On the basis of the heterogeneous composition and despite the low number of CTCs, it was possible to distinguish two subgroups of CTCs, suggesting a different clinical outcome. CTC-subsets detailing is useful to better define the metastatic-risk personalized score thus improving disease management and reducing patient care cost.
- Published
- 2016
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64. Nasopharyngeal carcinoma: review of the literature with a focus on therapeutical implications.
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Strazzulla A, Barreca GS, Giancotti A, Pisani V, Costa C, Zicca E, La Boria A, Roveda L, Liberto MC, Tucci L, Donato G, Focà A, and Torti C
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- Animals, Carcinoma, Chemoradiotherapy methods, Chemotherapy, Adjuvant methods, Deoxycytidine administration & dosage, Deoxycytidine analogs & derivatives, Evidence-Based Medicine, Humans, Immunotherapy, Adoptive methods, Lymphocyte Activation, Nasopharyngeal Carcinoma, Treatment Outcome, Valproic Acid administration & dosage, Gemcitabine, Antineoplastic Combined Chemotherapy Protocols therapeutic use, Nasopharyngeal Neoplasms therapy
- Abstract
Nasopharyngeal carcinoma (NPC) is a rare neoplasm which is associated with Epstein-Barr virus (EBV). First of all, we reviewed the literature on NPC treatment. Radio/chemotherapy is currently the gold standard but unfortunately is affected by rates of failure ranging from 7% up to 58%. Because NPC development is promoted by the EBV latent life cycle, EBV-targeted treatments were investigated. Firstly, forcing cytolytic virus activation through administration of gemcitabine and/or valproic acid before administration of a nucleoside analogue showed anti-tumoral activity in vitro as well as in murine model and it was also well tolerated in humans. Secondly, the association of autologous EBV-specific cytotoxic T lymphocytes with chemotherapy correlated with an improved median survival and was safe but not effective versus metastatic lesions. Thirdly, suppression of late membrane protein-1 in the clinic proved controversial because it gave resistance to chemotherapy and, on the other hand, increased radiosensitivity. Finally, we suggest future perspectives for clinical research which should include both prospective and observational cohort studies to assess the role of different risk factors in the development of NPC and the effectiveness of new investigational treatments.
- Published
- 2015
65. Folic acid functionalized surface highlights 5-methylcytosine-genomic content within circulating tumor cells.
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Malara N, Coluccio ML, Limongi T, Asande M, Trunzo V, Cojoc G, Raso C, Candeloro P, Perozziello G, Raimondo R, De Vitis S, Roveda L, Renne M, Prati U, Mollace V, and Di Fabrizio E
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- 5-Methylcytosine blood, 5-Methylcytosine metabolism, Biomarkers, Tumor blood, Biomarkers, Tumor genetics, Blood Chemical Analysis methods, Cells, Cultured, DNA Methylation, Enzyme-Linked Immunosorbent Assay, Folic Acid pharmacology, Genes, Neoplasm, Humans, Microscopy, Confocal instrumentation, Microscopy, Confocal methods, Neoplasms blood, Neoplasms genetics, Neoplasms mortality, Neoplastic Cells, Circulating pathology, Surface Properties, Survival Analysis, 5-Methylcytosine analysis, Biomarkers, Tumor analysis, Blood Chemical Analysis instrumentation, Folic Acid chemistry, Neoplasms diagnosis, Neoplastic Cells, Circulating metabolism
- Abstract
Although the detection of methylated cell free DNA represents one of the most promising approaches for relapse risk assessment in cancer patients, the low concentration of cell-free circulating DNA constitutes the biggest obstacle in the development of DNA methylation-based biomarkers from blood. This paper describes a method for the measurement of genomic methylation content directly on circulating tumor cells (CTC), which could be used to deceive the aforementioned problem. Since CTC are disease related blood-based biomarkers, they result essential to monitor tumor's stadiation, therapy, and early relapsing lesions. Within surface's bio-functionalization and cell's isolation procedure standardization, the presented approach reveals a singular ability to detect high 5-methylcytosine CTC-subset content in the whole CTC compound, by choosing folic acid (FA) as transducer molecule. Sensitivity and specificity, calculated for FA functionalized surface (FA-surface), result respectively on about 83% and 60%. FA-surface, allowing the detection and characterization of early metastatic dissemination, provides a unique advance in the comprehension of tumors progression and dissemination confirming the presence of CTC and its association with high risk of relapse. This functionalized surface identifying and quantifying high 5-methylcytosine CTC-subset content into the patient's blood lead significant progress in cancer risk assessment, also providing a novel therapeutic strategy., (© 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.)
- Published
- 2014
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66. In vitro expansion of tumour cells derived from blood and tumour tissue is useful to redefine personalized treatment in non-small cell lung cancer patients.
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Malara NM, Givigliano F, Trunzo V, Macrina L, Raso C, Amodio N, Aprigliano S, Minniti AM, Russo V, Roveda L, Coluccio ML, Fini M, Voci P, Prati U, Di Fabrizio E, and Mollace V
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- Aged, Aged, 80 and over, Biopsy, Carcinoma, Non-Small-Cell Lung therapy, Cell Cycle, Humans, Lung Neoplasms therapy, Lymphocytes, Tumor-Infiltrating pathology, Male, Middle Aged, Precision Medicine, Carcinoma, Non-Small-Cell Lung pathology, Lung Neoplasms pathology, Neoplastic Cells, Circulating
- Abstract
The clinical development of locally and advanced non-small cell lung cancer (NSCLC) suffers from a lack of biomarkers as a guide in the selection of optimal prognostic prediction. Circulating Tumour Cells (CTCs) are correlated to prognosis and show efficacy in cancer monitoring in patients. However, their enumeration alone might be inadequate; it might also be critical to understand the viability, the apoptotic state and the kinetics of these cells. Here, we report what we believe to be a new and selective approach to visually detect tumour specific CTCs. Firstly, using labelled human lung cancer cells, we detected a specific density interval in which NSCL-CTCs were concentrated. Secondly, to better characterize CTCs in respect to their heterogeneous composition and tumour reference, blood and tumour biopsy were performed on specimens taken from the same patient. The approach consisted in comparing phenotype profile of CTCs, and their progenitor Tumour Stem Cells, (TSCs). Moreover, NSCL-CTCs were cultivated in short-time human cultures to provide response to drug sensitivity. Our bimodal approach allowed to reveal two items. Firstly, that one part of a tumour, proximal to the bronchial structure, displays a predominance of CD133+. Secondly, specific NSCL-CTCs Epithelial Cell Adhesion Molecule (EpCAM)+CD29+ can be used as a negative prognostic factor as well the high expression of CTCs EpCAM+. These data were confirmed by drug-sensitivity tests, in vitro, and by the survival curves, in vivo.
- Published
- 2014
67. Role of systemic chemotherapy in the management of resected or resectable colorectal liver metastases: a systematic review and meta-analysis of randomized controlled trials.
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Ciliberto D, Prati U, Roveda L, Barbieri V, Staropoli N, Abbruzzese A, Caraglia M, Di Maio M, Flotta D, Tassone P, and Tagliaferri P
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- Chemotherapy, Adjuvant, Colorectal Neoplasms pathology, Colorectal Neoplasms surgery, Combined Modality Therapy, Disease-Free Survival, Female, Humans, Liver Neoplasms surgery, Male, Randomized Controlled Trials as Topic, Survival Analysis, Colorectal Neoplasms drug therapy, Liver Neoplasms drug therapy, Liver Neoplasms secondary
- Abstract
Liver metastases are a common event in patients with colorectal cancer. Surgical resection, if feasible, produces a survival benefit. We performed a systematic review of randomized clinical trials (RCT) and meta-analysis to address the question if current available studies support the use of systemic chemotherapy as an adjunct to surgery in resected/resectable patients. The search was based on major databases (Pubmed, CancerLit, Embase, Medscape and Cochrane) of published literature and selecting abstracts from major cancer meetings. We performed a literature for the January 1982-May 2010 time frame. The hazard ratios (HRs), with confidence intervals, as presented in retrieved studies, referred to the disease- and/or progression-free (DFS and/or PFS) and overall survival (OS) were extracted. The meta-analysis was carried out by the fixed-effect and the random-effects model. Three studies randomizing combined treatment vs. surgery alone for a total of 666 patients (642 evaluable for survival analysis) were selected and included in the final analysis. Evidence for chemotherapy-induced benefit in terms of both DFS (pooled HR, 0.71; CI, 0.582-0.878; p=0.001) and PFS (pooled HR, 0.75; CI, 0.620-0.910; p=0.003) was demonstrated. However, our meta-analysis failed to demonstrate a significant advantage of combined treatment in terms of OS (pooled HR, 0.743; CI, 0.527-1.045; p=0.088). Chemotherapy combined with surgical resection of colorectal liver metastases improves DFS and PFS whereas the benefit in OS is not demonstrated on the basis of the available results of RCTs. New prospective trials in the era of targeted therapy are eagerly awaited on this specific topic.
- Published
- 2012
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68. Mass spectrometry-based identification of the tumor antigen UN1 as the transmembrane CD43 sialoglycoprotein.
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de Laurentiis A, Gaspari M, Palmieri C, Falcone C, Iaccino E, Fiume G, Massa O, Masullo M, Tuccillo FM, Roveda L, Prati U, Fierro O, Cozzolino I, Troncone G, Tassone P, Scala G, and Quinto I
- Subjects
- Acetylgalactosamine immunology, Amino Acid Sequence, Antibodies, Monoclonal, Antigens, Neoplasm genetics, Antigens, Neoplasm immunology, Antigens, Neoplasm metabolism, Breast Neoplasms metabolism, Breast Neoplasms pathology, Cell Line, Tumor, Colorectal Neoplasms metabolism, Colorectal Neoplasms pathology, Electrophoresis, Gel, Two-Dimensional, Epitopes, Female, Glycosylation, Humans, Leukosialin genetics, Leukosialin immunology, Leukosialin metabolism, Molecular Sequence Data, Protein Structure, Tertiary, RNA Interference, Tandem Mass Spectrometry, Antigens, Neoplasm chemistry, Leukosialin chemistry
- Abstract
The UN1 monoclonal antibody recognized the UN1 antigen as a heavily sialylated and O-glycosylated protein with the apparent molecular weight of 100-120 kDa; this antigen was peculiarly expressed in fetal tissues and several cancer tissues, including leukemic T cells, breast, and colon carcinomas. However, the lack of primary structure information has limited further investigation on the role of the UN1 antigen in neoplastic transformation. In this study, we have identified the UN1 antigen as CD43, a transmembrane sialoglycoprotein involved in cell adhesion, differentiation, and apoptosis. Indeed, mass spectrometry detected two tryptic peptides of the membrane-purified UN1 antigen that matched the amino acidic sequence of the CD43 intracellular domain. Immunological cross-reactivity, migration pattern in mono- and bi-dimensional electrophoresis, and CD43 gene-dependent expression proved the CD43 identity of the UN1 antigen. Moreover, the monosaccharide GalNAc-O-linked to the CD43 peptide core was identified as an essential component of the UN1 epitope by glycosidase digestion of specific glycan branches. UN1-type CD43 glycoforms were detected in colon, sigmoid colon, and breast carcinomas, whereas undetected in normal tissues from the same patients, confirming the cancer-association of the UN1 epitope. Our results highlight UN1 monoclonal antibody as a suitable tool for cancer immunophenotyping and analysis of CD43 glycosylation in tumorigenesis.
- Published
- 2011
- Full Text
- View/download PDF
69. Thirteenth International Congress on Neutron Capture Therapy.
- Author
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Altieri S, Bortolussi S, Barth RF, Roveda L, and Zonta A
- Subjects
- Humans, Boron Neutron Capture Therapy trends
- Published
- 2009
- Full Text
- View/download PDF
70. Intra-operative PAIR of hepatic echinococcal cyst after cholecystectomy with laparoscopic approach.
- Author
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Trotta F, Prati U, Roveda L, Brunetti E, and Filice C
- Subjects
- Echinococcosis, Hepatic diagnostic imaging, Humans, Male, Middle Aged, Ultrasonography, Cholecystectomy, Laparoscopic, Echinococcosis, Hepatic surgery, Injections, Punctures, Suction, Surgery, Computer-Assisted
- Published
- 2007
- Full Text
- View/download PDF
71. Efficacy of boron neutron capture therapy on liver metastases of colon adenocarcinoma: optical and ultrastructural study in the rat.
- Author
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Nano R, Barni S, Chiari P, Pinelli T, Fossati F, Altieri S, Zonta C, Prati U, Roveda L, and Zonta A
- Subjects
- Adenocarcinoma pathology, Animals, Cell Line, Tumor, Colonic Neoplasms pathology, Kupffer Cells pathology, Kupffer Cells radiation effects, Kupffer Cells ultrastructure, Liver pathology, Liver radiation effects, Liver ultrastructure, Liver Neoplasms secondary, Male, Microscopy, Electron, Rats, Rats, Inbred Strains, Treatment Outcome, Adenocarcinoma radiotherapy, Boron Neutron Capture Therapy, Colonic Neoplasms radiotherapy, Liver Neoplasms radiotherapy
- Abstract
The effect of neutron boron capture therapy (BNCT) was studied in rat tumor liver cells after induction of the liver metastases by splenic inoculation of cells from DHA/K12/TRb line. Ten days following the treatment, the BPA was injected into rats and therefore the animals were sacrificed, the liver was exposed to neutron irradiation and processed. In some experiments the liver was reimplanted (after irradiation) in syngenic animals and studied 3 days later, following sacrifice. Samples of tissue obtained from metastasised and non-metastasised areas of the liver parenchyma, before and after the neutron irradiation, were examined in light microscopy and electron microscopy. The analysis pointed out damages induced by the neutron treatment in single tumor cells mostly localised in the synusoidal blood stream. Debris and apoptotic cells were sometimes observed in the neoplastic nodules before treatment, while the tumor cell death (apoptosis) increased in the tumor cells following BNCT treatment. An intense scavenger activity of Kupffer cells after irradiation was accompanied by a strong acid phosphatase reaction detectable in wide cytoplasmic areas. In the liver parenchyma of reimplanted animals, the presence of large collagen bundles spread among the hepatocytes was observed at electron microscopy.
- Published
- 2004
72. Intraoperative sonography still the standard technique in hepatic surgery.
- Author
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Prati U, Trotta F, Roveda L, and Filice C
- Subjects
- Colorectal Neoplasms surgery, Fluorodeoxyglucose F18, Humans, Radiopharmaceuticals, Tomography, Emission-Computed, Ultrasonography, Colorectal Neoplasms diagnostic imaging, Colorectal Neoplasms secondary, Liver Neoplasms pathology, Monitoring, Intraoperative
- Published
- 2002
- Full Text
- View/download PDF
73. Boron-loaded liposomes in the treatment of hepatic metastases: preliminary investigation by autoradiography analysis.
- Author
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Pavanetto F, Perugini P, Genta I, Minoia C, Ronchi A, Prati U, Roveda L, and Nano R
- Subjects
- Animals, Autoradiography, Liposomes, Phenylalanine administration & dosage, Polyethylene Glycols administration & dosage, Rats, Boron Compounds administration & dosage, Boron Neutron Capture Therapy, Liver Neoplasms radiotherapy, Liver Neoplasms secondary, Phenylalanine analogs & derivatives, Radiation-Sensitizing Agents administration & dosage
- Abstract
Boronophenylalanine (BPA)-loaded conventional and stabilized liposomes were prepared by the reversed phase evaporation method to treat liver metastases by boron neutron capture therapy. Conventional vesicles were composed of phosphatidylcholine and cholesterol, molar ratio 1:1. To obtain stealth liposomes, GM1 or PEG were included in the lipidic bilayer at a concentration of 6.67 or 5 mol%, respectively. Large unilamellar vesicles were formulated encapsulating BPA in the liposome aqueous compartment as a complex with fructose; BPA free base also was embedded into the lipidic bilayer. In vivo experiments were carried out after intravenous injection of liposome suspensions in BD-IX strain rats in which liver metastases had been induced. Alpha particle spectroscopy associated with histological analysis was performed to visualize boron spatial distribution in liver. Simultaneously, tissue boron concentrations were determined using inductively coupled plasma-mass spectroscopy. Results showed that PEG-modified liposomes accumulated boron in therapeutic concentrations (> 30 micrograms boron/g tissue) in metastatic tissue. The PEG-liposomes could be further explored in enhancing boron delivery to tumor cells.
- Published
- 2000
- Full Text
- View/download PDF
74. Feasibility and safety of a new technique of extracorporeal photochemotherapy: experience of 240 procedures.
- Author
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Perotti C, Torretta L, Viarengo G, Roveda L, Bernuzzi S, Carbone S, Del Fante C, La Torre R, Locatelli F, Bonetti F, Gabba P, Bellosta M, and Salvaneschi L
- Subjects
- Adolescent, Adult, Aged, Child, Evaluation Studies as Topic, Feasibility Studies, Female, Graft Rejection prevention & control, Graft vs Host Disease drug therapy, Heart Transplantation immunology, Hepatitis C drug therapy, Humans, Infection Control, Leukocytes, Mononuclear drug effects, Leukocytes, Mononuclear radiation effects, Male, Middle Aged, Pemphigus drug therapy, Photopheresis adverse effects, Reproducibility of Results, Safety, Photopheresis methods
- Abstract
Background and Objective: Extracorporeal photochemotherapy (ECP) is a therapeutic approach based on the biological effects of ultraviolet light (UV) - A and psoralens on mononuclear cells collected by apheresis. Recently, ECP has been under investigation as an alternative treatment for various immune and autoimmune diseases. The aim of this study was to evaluate the safety and feasibility of a new three-step ECP technique, in terms of reproducibility, acceptance, tolerability, and short and long term side effects., Design and Methods: Seventeen patients affected by acute or chronic graft-versus-host disease (GvHD), pemphigus vulgaris, or interferon-resistant chronic hepatitis C and one patient being treated for prevention of heart transplant rejection underwent 240 ECP procedures. MNC collection and processing parameters were recorded, biological effects of UV-A/8 methoxy-psoralen (8-MOP) were evaluated, and short and long term side effects were monitored., Results: At a mean follow up of 7 months (range 2-19) 240 ECP had been completed, a mean of 7,136 mL (range 1,998-10,591) of whole blood having beenprocessed per procedure. The mean of total nucleated cells collected per procedure was 6.5x109 (range 0.65-23.8), with a mean MNC percentage of 85% (41. 4-98%) in a mean final volume of 115.5 mL (37-160). No severe side effects were documented and no infectious episodes occurred throughout the course of the treatment., Interpretation and Conclusions: The new ECP technique was highly reproducible as regards the collection and each processing step. Short and long term side effects were mild. No increase in infectious episodes was recorded. All patients willingly underwent ECP, demonstrating an excellent tolerability for the procedure even after several courses.
- Published
- 1999
75. Radioimmunoassisted surgery for lung metastases from colorectal cancer: results and perspectives.
- Author
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Prati U, Roveda L, Scoppetta N, Ngntejeu ST, Trotta F, Valsecchi P, and Zonta A
- Subjects
- Antibodies, Monoclonal, Carcinoembryonic Antigen immunology, Humans, Immunohistochemistry, Intraoperative Period, Lung Neoplasms diagnostic imaging, Survival Analysis, Colorectal Neoplasms pathology, Lung Neoplasms secondary, Lung Neoplasms surgery, Minimally Invasive Surgical Procedures, Radioimmunodetection
- Abstract
The high incidence of resectable lung metastases from colorectal cancer and the very poor prognosis of untreated patients (less than 24-month survival) has promoted the surgical approach to treatment. Since the main aims of this kind of surgery are the complete resection of the tumor, the preservation of tumor-free parenchyma, and a minimal surgical trauma, innovative surgical techniques have been developed. We report on our experience in the radioimmunoassisted pulmonary metastasectomy by the use of a hand-held gamma-detecting probe (GDP) and describe the application of the intraoperative radioimmunolocalization of tumor to video-assisted minimally invasive surgery.
- Published
- 1998
- Full Text
- View/download PDF
76. Radioimmunoassisted follow-up and surgery vs traditional examinations and surgery after radical excision of colorectal cancer.
- Author
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Prati U, Roveda L, Cantoni A, Saponaro R, Bosi F, Sandolo R, and Zonta A
- Subjects
- Aged, Antibodies, Monoclonal, CA-19-9 Antigen blood, Carcinoembryonic Antigen blood, Carcinoembryonic Antigen immunology, Colorectal Neoplasms blood, Colorectal Neoplasms pathology, Cost-Benefit Analysis, Female, Follow-Up Studies, Humans, Immunoglobulin Fab Fragments, Indium Radioisotopes, Male, Reoperation, Colorectal Neoplasms diagnostic imaging, Colorectal Neoplasms surgery, Radioimmunodetection
- Abstract
The authors report their experience in the radioimmunodetection of recurrent colorectal cancer in comparison with traditional examinations. 485 patients were studied after radical surgery for colorectal cancer: 168 (Group 1) were studied with a radioimmunoassisted follow-up plan including: Immunoscintigraphy (IS), serum markers assays, Radioimmunoguided Endoscopy (RIGE), Intraoperative Radioimmuno-localization (IORIL) in case of reoperation; 317 (Group 2) underwent a protocol with traditional examinations. In 24 patients of Group 1 IS was performed even at the time of their admission for primary cancer. 7 patients underwent RIGE for primary cancer and 16 in the follow-up. IORIL was performed in 12 patients with primary cancer and in 16 in the course of reoperation. The radioimmunodiagnostic methods were performed after a single administration of the radiolabeled MAb (111In F(ab')2 a-CEA and 111In B72.3). The radioimmunoassisted follow-up plan detected a greater number of recurrences than traditional examinations (27% vs 13%). The rates of radical reoperation in Group 1 and 2 were 61% and 37% respectively. 33% of the patients of Group 2 were alive 24 months after radical reoperation vs 62.5% of the patients of Group 1. Immunoscintigraphy demonstrated a good sensitivity and specificity, mainly in the detection of pelvic recurrences (sens. 92%, spec. 84%). The radioimmunoassisted follow-up plan was well accepted by the patients. RIGE led to the detection of 3 periluminal recurrences of rectal cancer that traditional investigations failed to demonstrate and in 5 cases influenced the patients management. IORIL detected minimal tumor foci (2 mm.) where pre and intraoperative study were negative, while the histopathologic examination gave evidence of tumor. Considering that the costs of the radioimmunodiagnostic methods and of traditional examinations are very similar, we can conclude that the radioimmunoassisted follow-up plan has a favorable cost/benefit rate and a remarkable impact on the treatment of patients with colorectal cancer.
- Published
- 1995
77. [Tumors of the breast in old age].
- Author
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Pannella A, Tibaldeschi C, Prati U, Roveda L, Picchio GL, Zambianchi M, Cattaneo G, and Pezza A
- Subjects
- Age Factors, Aged, Aged, 80 and over, Breast Neoplasms pathology, Breast Neoplasms surgery, Female, Humans, Italy epidemiology, Lymphatic Metastasis, Male, Mastectomy statistics & numerical data, Postoperative Complications epidemiology, Breast Neoplasms epidemiology
- Abstract
After reviewing the literature on this topic the authors studied all patients admitted to the Institute of Surgical Pathology I at the University of Pavia for breast cancer between 1-1-1974. An analysis of the findings revealed that: (a) Out of 993 patients with breast cancer, 204 (20.54%) belonged to the geriatric age group (> 65 years old) and of the latter 135 (66.17%) belonged to the 3rd age group and 69 (33.82%) belonged to the 4th age group (> 75 years old). (b) In the 3rd age group 25 (18.51%) were benign tumours and 110 (81.48%) were malignant, whereas in the 4th age group 4 (5.79%) were benign and 65 (94.20%) were malignant. (c) Familial patterns were also examined and were found to be positive in 47 (23.03%) cases in the 3rd age group and in 30 (14.71%) in the 4th age group. (d) In the physiological anamnesis it is interesting to note that there was 1 menarche before 12 (0.9%) in the 3rd age group; delayed menopause (after 50) in 66 cases (60%) in the 3 rd age group and in 29 cases (44.61%) in the 4 th age group. (e) In the pathological anamnesis of the patients in question it was observed that the most frequent site of previous tumours was the breast (72 cases, equivalent to 10.9% in the 3rd age group; 9 cases, 13.8% in the 4th age group). (f) In the next pathological anamnesis and at EOL it was observed that the tumours was most often found in the supero-external quadrant, in the right breast in the 3rd age group (66 cases, 48.89%) and in the left one in the 4th age group (42 cases, 60.87%). (g) Test included breast cancer scan, mammography, aspirated needle and biopsy where required. (h) Surgery in the form of Halsted's mastectomy was the preferred therapy and as early as possible. Some Authors use conservative therapy. (i) Histological tests were performed in all patients and revealed that the most frequent malignant tumour was ductal carcinoma. (j) Postoperative complications took the form of wound suppuration. (k) Only one tumour (carcinoma) was observed in male patient aged 83 years old, without metastasis. From the above findings it can be concluded that the most evident risk factor for breast cancer is the influence of the estrogen hormone.
- Published
- 1993
78. [Reconstructive possibilities in thoracic surgery. Our experience].
- Author
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Berti A, Prati U, Roveda L, Galbiati E, Gastaldo L, Nazari S, and Zonta A
- Subjects
- Carcinoma, Bronchogenic surgery, Chondrosarcoma diagnostic imaging, Chondrosarcoma surgery, Humans, Lung Neoplasms surgery, Prostheses and Implants, Thoracic Neoplasms diagnostic imaging, Thoracic Neoplasms secondary, Thoracic Neoplasms surgery, Tomography, X-Ray Computed, Surgery, Plastic, Thoracic Surgery
- Published
- 1991
79. [Tumors of the glomus caroticum (clinical cases)].
- Author
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Fraipont G, Prati U, Fossati GS, Zanini MR, Roveda L, and Zonta A
- Subjects
- Carotid Body pathology, Carotid Body surgery, Carotid Body Tumor pathology, Carotid Body Tumor surgery, Humans, Carotid Body Tumor diagnosis
- Published
- 1991
80. [Radioimmunoscintigraphy with monoclonal antibodies in recurrences and metastases of colorectal tumors].
- Author
-
Roveda L
- Subjects
- Colorectal Neoplasms surgery, Endoscopy, Humans, Neoplasm Metastasis, Neoplasm Recurrence, Local diagnostic imaging, Radionuclide Imaging, Antibodies, Monoclonal, Colorectal Neoplasms diagnostic imaging
- Abstract
An experimental follow-up plan based on immunoscintigraphy was evaluated in 48 patients, who had undergone resection for colorectal cancer. The results were compared with those concerning other 317 patients submitted to a traditional follow-up (physical examination, blood analysis, endoscopy, ultrasonography, CT scan, barium enema, etc.). Immunoscintigraphy was performed with Iodine 131--or Indium 111--labeled anti-CEA and-19.9 monoclonal antibody, using a gamma-detecting probe (GDP) enabling to perform radioimmunodetections. In addition, radioimmunoguided surgery was performed in two cases of highly suspected recurrence, and radioimmunoguided endoscopy was made in two cases of suspected recurrence after anterior resection for tumor of the rectum. Our gamma-detecting probe differs from the other ones because of its collimator which enables to detect all the radioisotopes that are used for external scanning and because of its particular shape that enables to perform endoscopic radioimmuno detections. The experimental follow-up plan showed cancer recurrence in 27% of the patients vs. 13% of extensive instrumental investigations. Radioimmunoguided surgery appears to provide a higher level of radicality. The same GDP used for intraoperative immunoscintigraphies seems to be effective in the endoscopic study of the pelvis after anterior resection, a clinical occurrence which can hardly be investigated by means of other instrumental diagnostic procedures.
- Published
- 1990
81. Circadian rhythm in human intraocular pressure.
- Author
-
Ferrario VF, Bianchi R, Giunta G, and Roveda L
- Subjects
- Adolescent, Adult, Age Factors, Aged, Child, Female, Glaucoma etiology, Humans, Male, Middle Aged, Risk, Circadian Rhythm, Intraocular Pressure
- Published
- 1982
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