CPRE e Ecoendoscopia: um mesmo viajante em estradas convergentes

BACKGROUND: Endoscopic retrograde cholangiopancreatography (ERCP) and endoscopic ultrasound (EUS) were initially introduced into the world of gastroenterology as purely diagnostic procedures. With progressive evolution of intervention, both these techniques conquered fields in the treatment of many conditions that had once been exclusively surgical domains. Nowadays, more and more clinical situations have an indication to perform both EUS and ERCP, and these two techniques are frequently required at the same time for the same patient. More than competitors, ERCP and EUS are truly complementary, with great ability for mutual aid. They share their main indications, equipment, accessories, and main technical gestures. OBJECTIVES AND METHODS: We review the major indications to perform both techniques, sequentially or complementarily, describe the common things that these two techniques essentially share, and discuss the ERCP-EUS single session. Also, the issues of learning curves and education of upcoming biliopancreatic endoscopists are highlighted. CONCLUSION: In recent years the complementation between ECRP and EUS has been growing both from a diagnostic and a therapeutic point of view, allowing optimization of the use of these techniques and the creation of a more systematized approach of patients with biliopancreatic pathology. Endoscopists with experience in both techniques will be increasingly important, suggesting a parallel formation in the training plans of future endoscopists with interest in the area.info:eu-repo/semantics/publishedVersio

Demystifying endoscopic retrograde cholangiopancreatography (ERCP) during pregnancy

Background: For many years, ERCP was avoided in pregnancy given the concerns regarding the adverse effects that, with special focus on radiation, could occur in the developing fetus. However, the postponement or rejection of ERCP in pregnant women, may lead to a higher risk for mother and fetus, especially when the indication is unequivocal, namely cholangitis, biliary pancreatitis and symptomatic choledocholithiasis. Summary and key messages: This review aims to summarize the scarce literature on the subject in order to plan ERCP in pregnancy with the highest safety. The use of techniques that reduce radiation and increase the protection of pregnant women allow radiation levels far below the safety limits. We also discuss the various alternatives of ERCP without radiation. EUS can eliminate the need for ERCP with doubtful choledocholithiasis and plan the best approach in those with previous evidence. The possibility of performing “ERCP” with a linear echoendoscope uniquely under ultrasound control has been described. Conversely, the two-step strategy (initial sphincterotomy with stent placement without fluoroscopy and after delivery, ERCP with lithiasis extraction) proved to be safe obviating fluoroscopy. In conclusion, ERCP can be performed in pregnancy safely and effectively with minimal radiation or even no-radiation at all.info:eu-repo/semantics/publishedVersio

Portal Cavernoma Cholangiopathy Secondary to Polycythemia Vera: Case Report and Echoendoscopic Findings

info:eu-repo/semantics/publishedVersio

Optimization of fast moving robots and implementation of I2C protocol to control electronic devices

This paper briefly describes the main changes in the robots from Minho Team since the last RoboCup. Work has been carried out on the robots in order to constantly improve their capabilities, based on the experiences from previous participations. The main topics to deal in this paper are related with the I2C new communications protocol recently implemented in the robots, a description of the whole electronics system based on a new diagram which contains all the devices used in the robots, the inclusion of new faster motors, a description of the robot game play strategy, some operating system remarks which are related to some requirements of our actual system, and the main conclusions related to the work carried out so far. The use of the I2C protocol forced the team to change all the electronic boards and these were completely redesigned in-house, tested and implemented on the robots.Fundação para a Ciência e a Tecnologia (FCT) - POSI/ROBO/43892/200

Controlling omni-directional Wheels of a MSL RoboCup autonomous mobile robot

Autonomous Mobile Locomotion is of extreme importance in RoboCup robots. Even though in 2050 the robotic team will very likely use legs rather than wheels, at the moment all teams on middle size league use wheels to overcome other problems first. Most teams are using two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. The Minho team has been using two driving wheels for the last 5 years (with two caster wheels), but for reaction speed optimization purposes a new approach of three wheels is being developed. This paper deals with the description of such platform, it describes the advantages and also the type of control used

Three omni-directional wheels control on a mobile robot

Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advantages and also the type of control used

Mobile robot construction for edutainment application

As time goes on, there are more and more robotics applications. The limit is almost the imagination of each person. A great deal of industrial work can yet be done by robots and new ideas are blossoming. The entertainment industry is arriving and there are already many ideas as well as real robots on the field. It is important to point out that the entertainment applications not just entertain people as it also brings new research which will then be used in industrial work applications. This paper describes a team of robot football players which compete in a worldwide scientific challenge – the RoboCup.Fundação para a Ciência e a Tecnologia (FCT

Vision, kinematics and game strategy in multi-robot systems like MSL RoboCup

In Multi-Robot systems like the RoboCup football challenge, there are a small number of key issues which are of extreme relevance for the successfulness of the final application. In MSL RoboCup these main issues are three: a) The vision system, which has to be as reliable and fast as possible in order to perceive the necessary entities to carry out the game actions; b) Correct kinematics of the robot, that makes the robots move towards the desired goal in the fastest, shortest and optimized away; c) Game strategy, which needs collaboration and communication between all the agents in the field. Other issues are also important but these three consist of the fundamental ones towards the next step in this challenge which is ball pass between the robots in a controlled way. A team of robots will only be able to pass the ball to another robot only when these three issues are sorted out. This paper describes how these three issues were tackled by the MINHO team and shows their next directions