Search

Shape-sensing in real-time is a key requirement for the development of advanced algorithms for concentric tube continuum robots when safe interaction with the environment is important e.g., for path planning, advanced control, and human-machine interaction. We propose a real-time shape-estimation algorithm for concentric tube continuum robots based on the force-torque information measured at the tubes' basis. It extends a shape estimation algorithm for elastic rods based on discrete Kirchhoff rod theory. For simplicity and efficiency of calculation, we combine it with a model under piece-wise constant curvature assumption, in which we model a concentric tube continuum robot as a combination of segments of planar constant curvatures lying on different equilibrium planes. We evaluate our approach for a single and two combined additively manufactured tubes and achieve an estimation frequency of 333 Hz for two combined tubes with a mean deviation along the backbone of the tubes of 1.91-5.22 mm., Competing Interests: The 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 Donat, Gu and Steil.)

Background : This user experience study evaluated the suitability of single-use versus multi-dose follitropin alfa pen injectors for self-administration by women undergoing fertility treatment. Methods : Twenty-four fertility patients and 19 specialist nurses were recruited in four European countries to assess their use of Bemfola (a single-use pen), Gonal-f®, and Ovaleap® (multi-use pens). Participants completed usability tests in which their performance in assembling and administering doses of each pen was assessed against defined critical steps for ensuring safe and correct administration. Results : Critical error rates among nurses were 4%, 40%, and 49% for Bemfola®, Ovaleap®, and Gonal-f®, respectively; and among patients were 7%, 16%, and 38%. The most frequently reported critical errors occurred with the multi-use pens and were incorrect/lack of priming and failure to check the dose window prior to setting a new dose. The need to 'top up' doses from a new pen or cartridge when a pen contained insufficient dose also caused errors. The single-use pens did not cause these errors. Overall, 63% of nurses and 67% of patients had most confidence in Bemfola® for correct dosing and self-administration. Conclusions : Single-use pens require fewer preparation and administration steps than multi-use pens and are associated with fewer critical handling errors.

Objective: To compare the effectiveness of unsupervised home and supervised group exercise on parameters related to risk of falling among older adults., Design: Prospective, single-blind, randomized and controlled trial., Setting: Nursing home., Subjects: The subjects were selected from 535 independent individuals who resided in a nursing home. Forty-two older adults, aged > 65 years, with risk of falling were recruited, and 32 of them completed the study., Intervention: The 42 subjects were divided into two groups (unsupervised home exercise and supervised exercise group) randomly. Exercise sessions were performed three times a week for a period of eight weeks., Main Measures: Measurements were taken at baseline and after the completion of the exercise programme. The fear of falling was evaluated using a visual analogue scale, quadriceps muscle strength was measured with a dynamometer, flexibility was assessed with the sit and reach test, functional mobility was determined using the Timed Up and Go Test, balance was evaluated using one-leg and tandem standing, and Berg Balance Scale and proprioception was assessed with knee position sense., Results: Thirty-two subjects (unsupervised home exercise n = 15, supervised group exercise n = 17) completed the exercise programme and all of the measurements. The unsupervised home exercise group showed significant improvement in balance, functional mobility and flexibility (P > 0.05). In addition to balance, functional mobility and flexibility, the supervised exercise group also showed significant improvements in both strength and proprioception (P > 0.05)., Conclusions: Supervised group exercise is more effective at reducing the risk factors related to falling among older adults living in a nursing home than is unsupervised home exercise.

Background and Aims: Hand function weakens with age in both men and women, especially after the age of 65. As the number of older people increases, more older adults may have sensorimotor impairment, which affects upper extremity (UE) performance and thus independence in the activities of daily life. The purpose of this study was to detect and evaluate the impact of age on pressure pain threshold (PPT), touch/pressure threshold and grip strength in the decades after the age of 60., Methods: The study was carried out with the participation of older adults living in the Izmir Geriatric Centre. Older adults were subdivided into three age groups and 128 subjects (47 male, 81 female) were selected systematically as one out of every three individuals in each group (group 1: 60 to 69; group 2: 70 to 79; group 3: 80 or over). Touch/pressure threshold test, pressure pain threshold (PPT) test and grip strength measurement were performed on dominant and non-dominant hands., Results: It was found out that touch/pressure thresholds increased with age, but the change was not statistically significant between the three age groups. PPT and grip strength of dominant and non-dominant hands decreased from groups 1 to 3, but analysis indicated that these declines were not statistically significant., Conclusions: Despite the fact that age-related sensorimotor changes are not statistically significant, a reduction is seen in sensorimotor parameters after the age of 60.

Background: Falls are one of the major health problems that effect the quality of life among older adults. The aim of this study was to explore the relationship between quality of life (Short Form-12) and the risk factors of falls (balance, functional mobility, proprioception, muscle strength, flexibility and fear of falling) in older adults., Methods: One hundred sixteen people aged 65 or older and living in the T.C. Emekli Sandigi Narlidere nursing home participated in the study. Balance (Berg Balance test), functional mobility (Timed Up and Go), proprioception (joint position sense), muscle strength (back/leg dynamometer), flexibility (sit and reach) and fear of falling (Visual Analogue Scale) were assessed as risk factors for falls. The quality of life was measured by Short Form-12 (SF-12)., Results: A strong positive correlation was observed between Physical Health Component Summary of SF-12, General Health Perception and balance, muscle strength. Proprioception and flexibility did not correlated with SF-12 (p > 0.05). There was negative correlation between Physical Health Component Summary of SF-12, General Health Perception and fear of falling, functional mobility (p < 0.05)., Conclusion: We concluded that the risk factors for falls (balance, functional mobility, muscle strength, fear of falling) in older adults are associated with quality of life while flexibility and proprioception are not.

Purpose: ADAMs (A Disintegrin and Metalloprotease) are multifunctional, membrane-bound cell surface glycoproteins, which have numerous functions in cell growth, differentiation, and motility. We wished to investigate the expression of ADAM 9, 10, 12, 15, and in human breast cancer., Methods: Expression of ADAMs was determined in breast cancer specimens and the corresponding non-neoplastic breast tissue from 24 patients, and in the MCF-7 and MDA-MB 453 breast cancer cell lines via quantitative RT-PCR and immunohistochemistry. The effects of anti-ADAM antibodies on cell proliferation were assessed by measuring DNA-synthesis., Results: Breast cancer tissue samples showed increased mRNA expression of ADAM 9, 12, and 17, whereas ADAM 10 and 15 were not differently expressed. Protein expression was studied by immunohistochemistry. All ADAMs were expressed in MCF-7 and MDA-MB453 cell lines, with the highest expression levels being observed for ADAM 9, 12, and 17. Application of anti-ADAM 15 and anti-ADAM 17 antibodies significantly inhibited the proliferation of both MCF-7 and MDA-MB453 breast cancer cell lines. In contrast, the growth of MCF-7 cells appeared to be stimulated by the administration of anti-ADAM 12 antibody., Conclusion: The results of this study suggest that ADAMs are differentially expressed in human breast cancer and are capable of modulating tumour cell growth.

Using the immunoperoxidase technique with monoclonal antibodies the ejaculates of 20 infertile and 15 fertile men were examined for lymphocyte subsets and activation markers to know more about the cellular mucosal immunity in the male genital tract. The results have shown that there are small differences of T-helper (CD4), T-suppressor (CD8), B- (CD19) and Natural Killer cells (CD57) between both groups. The number of monocytes (CD14), activated T- and B-cells and macrophages (CD25), the LCA-positive cells (CD45) and the HLA-DR-positive cells were remarkably increased in fertile patients. It has been established that the number of NK-cells (CD57) correlated with mycoplasma infection and the B-cells (CD19) correlated with the testosterone level. It seems that the increased testosterone value improved the cellular immunity. Infertile men have a disturbed mucosal immunity and a higher rate of genital infections.

The effect of hormone replacement therapy on cellular immunity of postmenopausal women was studied by flow cytometry (FACS). Lymphocyte subsets in peripheral blood before and after hormonal replacement therapy (HRT) were measured. After 6 months of HRT with the sequential combined drug Klimonorm(R) (2 mg estradiol valerate and 0,15 mg levonorgestrel) the cytotoxic T-cells (CD8) were reduced and the CD4/CD8 ratio was increased significantly (p < 0,05).

The presence of T-lymphocyte subsets in human endometrium and tubal mucosa in correlation to the menstrual cycle was investigated by the immunoperoxidase technique. The main cell populations were the pan T-cells (CD 3) and T-suppressor cells (CD 8). The T-helper cells (CD 4) and the B-lymphocytes (CD 22) were sparsely distributed. Significant differences between the phases of menstrual cycle could not be observed.

Problem: Immunohistochemical investigations for the detection of lymphocyte subsets in the human oviduct have been performed. Knowledge about local immunity especially cell-mediated immunity, in the fallopian tube has been, up to now, limited. As an essential structure for the human reproduction process, the tubal mucous membrane is exposed to a variety of antigens., Method: A total number of 20 tubal biopsies obtained from fertile women during gynecological operations like tubal ligations or hysterectomy were examined by the immunoperoxidase technique. Seven specimens were obtained during the proliferative phase, ten during the secretory phase and three during a caesarean section with tubal ligations., Results: It could be established that the presence of lymphocytes in the oviductal mucous membrane is physiological. These cells can be identified by their typical immunohistochemical patterns. There were no significant differences of the type and number of lymphocytes in the mucosa within the phases of menstrual cycle. The dominant cell types in the tubal mucosa were the CD3+ and CD8+ lymphocytes., Conclusions: It can be suggested that the lymphocytes in the tubal mucosa may involved in the process of immune tolerance, which could realize the transport of sperms and blastocysts through the oviduct under normal conditions without activation of local immune mechanisms. The lymphoid tissue of the oviduct is a specialized form of mucosal-associated lymphoid tissue (MALT).

The knowledge about the ontogenicity of the human immune system based on animal experiments. In this study expulsed fetus of women with sponeous and arteficial abortions were analysed because of the content of T4(+)-lymphocytes in the lymphatic tissues. The thymus, spleen, and a piece of the bone marrow were dissected, homogenised and the lymphocytes were separated. The identification of the T4+ cells was performed by the cytochemical staining of dideptidyl peptidase IV (DP IV). It could established that from the 15th to the 26th week of gestation the number of T4+ cells increased in the thymus and spleen but not in the bone marrow. In cases with rubella infection was the number of T4+ cells in the spleen increased if the fetus have had no signs of embryopathy.

Primary melanoma of the vagina is a rare tumor associated with a poor prognosis. We report on a 82 years old woman with a malignant melanoma of the vagina. The treatment performed was the removal of the vaginal tumor and a hemivulvectomy followed by a chemotherapy over 6 month. A recurrence of the tumor and the development of metastases in the brain and in the lungs was observed 3 weeks after the end of the chemotherapy. The patient expired 10 month after the primary treatment.

Seventeen patients with a primary Fallopian tube carcinoma have been treated in the Landesfrauenklinik Magdeburg between 1961 and 1990. Initial therapy consisted of surgery alone. The adjuvant postoperative therapy was radiation or combined chemotherapy. The overall 5-year survival rate was 56%, of stage I 75%, of stage II 40% and 35% of stage III.

Symptoms, tumor morphology and clinical course were reviewed in 15 cases of granulosa cell tumors of the ovaries. The main symptoms were irregular menstrual bleedings. In 2 cases were found signs of glandular cystic hyperplasia additionally and in one case an adenocarcinoma of the endometrium. The appropriate treatment was the hysterectomy with bilateral salpingo-oophorectomy performed in most of the cases, followed by additional irradiation and polychemotherapy in 4 cases each.

The quantitative distribution of peripheral T cells, monocytes/granulocytes, natural killer cells and B cells was estimated in aborting women using the peroxidase-antiperoxidase technique with monoclonal antibodies. 30 women with spontaneous abortions were included in the study and 30 fertile and 50 healthy pregnant women as control groups. It could established that the normal pregnancy has no influence on the distribution of mononuclear cells. In cases with threatened abortions was the number of monocytes/granulocytes and of natural killer cells increased if the loss of pregnancy occurred. The differentiation of mononuclear cells may be helpful for the prognosis of abortions.

Twenty-one workmen exposed to herbicide as organic mercury compounds and to pesticide as halogenic hydrocarbon has been investigated concerning their fertility. If the concentrations of organic mercury compounds increase in the air of the place of employment then the levels of this heavy metal are also higher in the urine and in the ejaculate, and the fertility is reduced. It could also be established that a correlation exists between the concentration of pesticide in the place of employment and the male fertility, especially in cases with an excess of maximum permitted concentrations.

There are demonstrated two cases of advanced cervical carcinoma with unusual localization of metastases. One patient showed a scalp metastasis and the other one had a ulcerated inguinal lymph node metastasis. X-ray therapy caused a sufficient remission of the metastatic tumors.

The present work was done to examine the type and frequency of benign and malignant gynecological tumors in patients treated during the 5 years period from 1982 to 1986 in the Gondar College of Medical Sciences. The different pathohistological findings were compared with the history and chief complaints of the patients. A total number of 208 patients with benign and of 93 patients with malignant tumors could be analyzed. In the group of benign tumors we observed most frequently breast tumors (25.5%), endometrial and cervical polyps (24.5%), and myoma uteri (23.1%). Patients with benign ovarian tumors were treated in 40 (19.2%) cases. In the group of malignant tumors we have seen breast carcinomas (31.2%) and cervical carcinomas (34.4%) most frequently followed by the endometrial (13.0%) and ovarian (11.8%) neoplasms. Comparison with the data of the literature has shown that the mean age of our patients is lower and the number of women with advanced carcinomas is higher than in other reports.

The concentration of neuraminic acid and proteins was determined in amniotic fluid of 207 pregnancies during the amniocentesis, performed in the 16.-21. week of gestation, 17 prematurities and 101 deliveries in time. The neuraminic acid/protein quotient increases significantly at term. Than, its reference range is 51.3-154.8 mumol/g (2.5-97.5 percentile). The neuraminic acid/protein quotient can be an useful prenatal indicator of the fetal maturity because of its high diagnostic specificity (97%) and sensitivity (88%).

Ascension and penetration tests were applied to 60 sterile patients for assessment of spermatozoan migration. Ascension tests were positive in 16 cases and penetration tests in 22. Ten sterile women produced positive responses to either test. Pregnancy rates were high in the cases with positive ascension tests, but highest when both tests were positive. Negative test results were attributable primarily to andrological factors, pathological conditions in the cervix or to impaired tubal patency on account of adhesions.

In this study 67 children of 59 females with epilepsy and on anticonvulsants were investigated. Children of epileptic women on medication with Primidon are of lower weight and have smaller heads than children from epileptic mothers without medication and children from parents without epilepsy.

The concentrations of N-acetylneuraminic acid (NANA) were determined in the fluid of cystic ovarian tumors and in the blood serum from a total of 95 patients. The estimation of NANA was based on the method of Svennerholm. It was found that the mean content of NANA in the cystic fluid is more than 3.0 mmol/l in serous and more than 5.5 mmol/l in mucinous malignant ovarian tumors. The mean value of NANA in the serum of patients is mostly more than 3.5 mmol/l if there is an ovarian cancer. The estimation of NANA is useful for the preoperative diagnosis of cystic ovarian tumors.

A review is given about the actual knowledge of sperm antigens and antibodies. For the detection of sperm antibodies a great number of tests exists with different value for the clinical work. The penetration tests are suitable for screening investigations. It has been established that in the last time the direct mixed antiglobulin reaction (MAR test), the immunobead binding technique, and the panning procedure were involved in the searching of antibodies bounded on the sperm cells. For the evaluation of circulating sperm antibodies in serum, cervical mucus, and seminal plasma the agglutination tests, the immobilization test, and the indirect MAR test are recommendable. The determination of immunoglobulin class of sperm antibodies is important because the IgA globulins are more effective than IgG in these cases.

Biopsy specimens of human testes from 190 men of infertile couples were treated with fluorescein-labelled antibodies to demonstrate tissue-bound IgG, IgA, IgM, IgD, C3, and C4. In 24 cases (12.6%) autoantibodies and/or complement could be detected. Most often IgG bound to walls of seminiferous tubules was found. Three men had antibodies or complement in germinal cells. In one case each IgA immunofluorescence was found in spermatids or Leydig cells. The results suggest that autoantibodies to testicular antigens may be implicated in the pathogenesis of some cases of infertility in man.