Surgical resection for persistent seroma, following modified radical mastectomy

<p>Abstract</p> <p>Background</p> <p>Seroma formation following modified radical mastectomy with axillary lymph node dissection for breast cancer is a most common wound complication. In our experience seroma occurs in approximately 50% of patients undergoing mastectomy. Postmastectomy seromas usually vanishes within a few weeks after operation.</p> <p>Case presentation</p> <p>In this report we present the case of a 73 year old woman who had undergone mastectomy with axillary lymph node dissection for breast cancer, complicated by lymphorrhea and formation fibrous encapsulated seroma resistant to conservative treatment which required surgical resection.</p> <p>Conclusion</p> <p>We stand in opinion that in some cases of prolonged seromatous effusion with confirmed formation of thick walled reservoir the operation with resection and closure of supplying regional lymph vessels may be the best treatment, if possible preceded by arm lymphoscyntygraphy.</p

Haptic Telemanipulation with Dissimilar Kinematics

This work addresses some practical issues regarding development of a telerobotic system for 6 degrees of freedom (DoF) tasks. The system consists of a hyper redundant haptic input device ViSHaRD10, a redundant 7DoF manipulator and a stereo vision system. The redundancy of the devices is exploited to assure large convex workspace and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the ”userfriendliness” of the overall system. As a practical benchmark an assembly experiment in 6DoF for a case of a negligible time delay was successfully performed. Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed

Transparent Exploration of Remote Environments by Internet Telepresence

This paper presents control methods for haptic telepresence and teleaction systems with Internet communication. Human rescuing systems are considered as one of the important application areas of telepresence technology. The stability and performance of telepresence systems with kinesthetic (force) feedback operated via a communication network with time-varying delay and underlying packet nature as for example the Internet is discussed. A stability condition in discrete time is derived from the continuous time case for time varying delays

The Interactive Urban Robot: User-centered development and final field trial of a direction requesting robot

In this article, we present the user-centered development of the service robot IURO. IURO’s goal is to find the way to a designated place in town without any previous map knowledge, just by retrieving information from asking pedestrians for directions. We present the 3-years development process,which involved a series of studies on its appearance, communication model, feedback modalities, and social navigation mechanisms. Our main contribution lies within the final field trial.With the autonomous IURO platform, we performed a series of six way-finding runs (over 24 hours of run-time in total) in the city center of Munich, Germany. The robot interacted with approximately 100 pedestrians of which 36 interactions included a full route dialogue. A variety of empirical methods was used to explore reactions of primary users (pedestrians who actually interacted with the robot) and secondary users (bystanders who observed others interacting). The gathered data provides insights into usability, user experience, and acceptance of IURO and allowed us deriving recommendations for the development of other socially interactive robots

The Interactive Urban Robot : User-centered development and final field trial of a direction requesting robot

In this article, we present the user-centered development of the service robot IURO. IUROs goal is to find the way to a designated place in town without any previous map knowledge, just by retrieving information from asking pedestrians for directions. We present the 3-years development process,which involved a series of studies on its appearance, communication model, feedback modalities, and social navigation mechanisms. Our main contribution lies within the final field trial.With the autonomous IURO platform, we performed a series of six way-finding runs (over 24 hours of run-time in total) in the city center of Munich, Germany. The robot interacted with approximately 100 pedestrians of which 36 interactions included a full route dialogue. A variety of empirical methods was used to explore reactions of primary users (pedestrians who actually interacted with the robot) and secondary users (bystanders who observed others interacting). The gathered data provides insights into usability, user experience, and acceptance of IURO and allowed us deriving recommendations for the development of other socially interactive robots

Hydrophilic Polyhedral Oligomeric Silsesquioxane, POSS(OH)32, as a Complexing Nanocarrier for Doxorubicin and Daunorubicin

A novel strategy, recently developed by us, to use polyhedral oligomeric silsesquioxanes (POSS) as an anti-cancer drug carrier is presented. Anthracycline:POSS complexes were prepared by simple co-addition of doxorubicin (DOX) or daunorubicin (DAU) with hydrophilic POSS(OH)32. Co-delivery of POSS and anthracyclines led to higher anti-cancer activity towards HeLa (cervical cancer endothelial) and MCF-7 (human breast adenocarcinoma) cell lines. The obtained supramolecular hybrid complexes were characterised by nuclear magnetic resonance (NMR) spectroscopy (nuclear Overhauser effect spectroscopy [NOESY] and homonuclear correlation spectroscopy [COSY]), Fourier transform infrared spectroscopy (FTIR), and dynamic light scattering (DLS). The two-dimensional (2D) NOESY spectra of the complexes showed the cross-correlation peaks for hydroxyl groups of POSS (~4.3&ndash;4.8 ppm) with OH groups of DOX and DAU. FTIR showed that hydroxyl group of POSS can interact with amine and hydroxyl groups of DOX and DAU. The viability of HeLa and MCF-7 was analysed with the MTT assay to evaluate the cytotoxicity of free DOX and DAU and the relevant complexes with POSS at different molar ratios. At a low DOX concentration (2.5 &micro;M), for molar ratios 1:1, 1:4, and 1:8 (POSS:DOX), the complexes showed two and three times higher cytotoxicity towards HeLa and MCF-7 cells, respectively, than DOX itself after both 24- and 48-h incubation. The 1 &micro;M concentration for a 1:4 POSS:DOX molecular ratio and the 2.5 &micro;M concentration for all complexes were more toxic towards MCF-7 cells than free DOX after 48-h incubation. In the case of POSS:DAU complexes, there was higher toxicity than that of free drug after 48-h incubation. It can be concluded that the formation of non-covalent complexes increases toxicity of anthracycline drugs towards Hela and MCF-7 cells. The novel complexes are inexpensive to prepare and more effective than free drugs at low systemic toxicity