REALMS: Resilient exploration and lunar mapping system.

Space resource utilisation is opening a new space era. The scientific proof of the presence of water ice on the south pole of the Moon, the recent advances in oxygen extraction from lunar regolith, and its use as a material to build shelters are positioning the Moon, again, at the centre of important space programs. These worldwide programs, led by ARTEMIS, expect robotics to be the disrupting technology enabling humankind's next giant leap. However, Moon robots require a high level of autonomy to perform lunar exploration tasks more efficiently without being constantly controlled from Earth. Furthermore, having more than one robotic system will increase the resilience and robustness of the global system, improving its success rate, as well as providing additional redundancy. This paper introduces the Resilient Exploration and Lunar Mapping System, developed with a scalable architecture for semi-autonomous lunar mapping. It leverages Visual Simultaneous Localization and Mapping techniques on multiple rovers to map large lunar environments. Several resilience mechanisms are implemented, such as two-agent redundancy, delay invariant communications, a multi-master architecture different control modes. This study presents the experimental results of REALMS with two robots and its potential to be scaled to a larger number of robots, increasing the map coverage and system redundancy. The system's performance is verified and validated in a lunar analogue facility, and a larger lunar environment during the European Space Agency (ESA)-European Space Resources Innovation Centre Space Resources Challenge. The results of the different experiments show the efficiency of REALMS and the benefits of using semi-autonomous systems.

No es solo dolor lumbar: manifestación atípica del aneurisma de aorta / Not just low back pain: atypical manifestation of aortic aneurysm

La rotura de aneurisma de aorta supone el síntoma principal en hasta un 25 % de los casos de la patología de aneurisma de aorta, que constituye una entidad potencialmente mortal. También puede aparecer con menor prevalencia como lumbalgia, coxalgia e, incluso, gonalgia, no comentándolo como dolor vertebral o neuropático, sino como irritación a nivel de psoas ilíaco como primera sintomatología.Se estima que solo en un 50 % de los casos aparece la triada clásica del aneurisma, por lo que es necesario tener un alto nivel de alerta para sospecharlo, ya que la hipovolemia puede estar contenida por un hematoma peritoneal.(AU)

Aortic aneurysm rupture is the main symptom in up to 25 % of cases of aortic aneurysm pathology, which is a life-threatening disease. It may appear less frequently as low back pain, coxalgia and even gonalgia, not as vertebral or neuropathic pain, but as irritation at the level of the iliac psoas as the first symptomatology.It is estimated that only in 50 % of cases the classic aneurysm triad appears, being necessary to have a high level of alertness to suspect it, since hypovolemia may be contained by a peritoneal hematoma.(AU)

Clinical results after ultrasound-guided intratissue percutaneous electrolysis (EPI®) and eccentric exercise in the treatment of patellar tendinopathy.

PURPOSE: To investigate the outcome of ultrasound (US)-guided intratissue percutaneous electrolysis (EPI(®)) and eccentric exercise in the treatment of patellar tendinopathy during a long-term follow-up. METHODS: Forty patients with patellar tendinopathy were prospectively evaluated over a 10-year follow-up period. Pain and function were evaluated before treatment, at 3 months and at 2, 5 and 10 years using the Victorian Institute of Sport Assessment-Patella (VISA-P) score, the Tegner score and Blazina's classification. According to VISA-P score at baseline, patients were also dichotomized into Group 1 (<50 points) and Group 2 (≥50 points). There were 21 patients in Group 1 and 19 in Group 2. Patient satisfaction was measured according to the Roles and Maudsley score. RESULTS: The VISA-P score improved globally by 41.2 points (p < 0.01) after a mean 4.1 procedures. In Group 1, VISA-P score improved from 33.1 ± 13 to 78.9 ± 14.4 at 3-month and to 88.8 ± 10.1 at 10-year follow-up (p < 0.001). In Group 2, VISA-P score improved from 69.3 ± 10.5 to 84.9 ± 9 at 3-month and to 96.0 ± 4.3 at 10-year follow-up (p < 0.001). After 10 years, 91.2 % of the patients had a VISA-P score >80 points. The same level (80 % of patients) or the Tegner score at no more than one level lower (20 % of patients) was restored, and 97.5 % of the patients were satisfied with the procedure. CONCLUSION: Treatment with the US-guided EPI(®) technique and eccentric exercises in patellar tendinopathy resulted in a great improvement in knee function and a rapid return to the previous level of activity after few sessions. The procedure has proved to be safe with no recurrences on a long-term basis. LEVEL OF EVIDENCE: Therapeutic study, Level IV.

[Molecular repair mechanisms using the Intratissue Percutaneous Electrolysis technique in patellar tendonitis]. / Mecanismos moleculares de reparación mediante la técnica Electrólisis Percutánea Intratisular en la tendinosis rotuliana.

OBJECTIVE: To investigate the molecular mechanisms of tissue response after treatment with the Intratissue Percutaneous Electrolysis (EPI(®)) technique in collagenase-induced tendinopathy in Sprague-Dawley rats. METHODS: Tendinopathy was induced by injecting 50 µg of type i collagenase into the patellar tendon of 24 Sprague Dawley rats of 7 months of age and weighting 300 g. The sample was divided into 4 groups: the control group, collagenase group, and two EPI(®) technique treatment groups of 3 and 6 mA, respectively. An EPI(®) treatment session was applied, and after 3 days, the tendons were analysed using immunoblotting and electrophoresis techniques. An analysis was also made of cytochrome C protein, Smac/Diablo, vascular endothelial growth factor and its receptor 2, as well as the nuclear transcription factor peroxisome proliferator-activated receptor gamma. RESULTS: A statistically significant increase, compared to the control group, was observed in the expression of cytochrome C, Smac/Diablo, vascular endothelial growth factor, its receptor 2 and peroxisome proliferator-activated receptor gamma in the groups in which the EPI(®) technique was applied. CONCLUSIONS: EPI(®) technique produces an increase in anti-inflammatory and angiogenic molecular mechanisms in collagenase-induced tendon injury in rats.

Estudio de coste-efectividad de la electrólisis percutánea intratisular (EPI ®) en las epicondilalgias / The clinical and cost-effectiveness of percutaneous electrolysis intratissue (EPI®) in lateral epicondylalgia

Introducción: La electrólisis percutánea intratisular (EPI®) es una técnica mínimamente invasiva que consiste en la aplicación de una corriente galvánica de alta intensidad que produce en el tejido blando un proceso inflamatorio local permitiendo la fagocitosis y la reparación del tejido afectado. El objetivo fue analizar el coste-efectividad de la EPI® en las epicondilalgias crónicas. Material y método Estudio de coste-efectividad de un programa de fisioterapia basado en la aplicación semanal de EPI® de forma aislada asociada con carácter domiciliario a ejercicios excéntricos y estiramientos diarios. El coste por proceso se analizó comparándolo con los casos quirúrgicos y el gasto asociado (fisioterapia, cirugía, estancia, baja laboral) y se basó sobre criterios de reducción de la intensidad del dolor. Resultados Se incluyó a 36 sujetos, 52,8% hombres (47,2% mujeres), con una media de 38 años. El 80,5% de los sujetos alcanzaron la curación tras 4 sesiones de EPI®. El coste por proceso del programa inicial y de seguimiento basado en EPI® es 16 veces inferior que el coste estimado a los casos quirúrgicos. Conclusiones El programa combinado de EPI® más ejercicios excéntricos y estiramientos constituye un tratamiento con una relación coste-efectividad muy aceptable (AU)

Introduction: Percutaneous electrolysis intratissue (EPI® ) is a minimally invasive technique that involves the application of a high intensity galvanic current that produces a local inflammatory process in the soft tissue, allowing phagocytosis and the reparation of the affected tissue. This study aimed to evaluate the cost-effectiveness of EPI®in chronic lateral epicondylalgia. Material and method: This was a cost-effectiveness study of a physiotherapy program based on the weekly application of EPI®technique alone associated with daily at home eccentric exercises and stretching. Cost per patient was analyzed in comparison to surgical cases and associated cost (physiotherapy, surgery, sick leave) and was based on pain intensity reduction criteria. Results: A total of 36 subjects were included in the study, 52.8% men (47.2% women) with meanage of 38 years. Of these, 80.5% of subjects reached complete response after four sessions ofEPI®. The cost per process in the initial program and follow-up based on EPI®is 16 times less than the estimated cost in the group surgery. Conclusions: The combined program of EPI® plus eccentric exercises and stretching is a very acceptable cost-effectiveness treatment (AU)

Benchmarking in the process of donation after brain death: a methodology to identify best performer hospitals.

A benchmarking approach was developed in Spain to identify and spread critical success factors in the process of donation after brain death. This paper describes the methodology to identify the best performer hospitals in the period 2003-2007 with 106 hospitals throughout the country participating in the project. The process of donation after brain death was structured into three phases: referral of possible donors after brain death (DBD) to critical care units (CCUs) from outside units, management of possible DBDs within the CCUs and obtaining consent for organ donation. Indicators to assess performance in each phase were constructed and the factors influencing these indicators were studied to ensure that comparable groups of hospitals could be established. Availability of neurosurgery and CCU resources had a positive impact on the referral of possible DBDs to CCUs and those hospitals with fewer annual potential DBDs more frequently achieved 100% consent rates. Hospitals were grouped into each subprocess according to influencing factors. Hospitals with the best results were identified for each phase and hospital group. The subsequent study of their practices will lead to the identification of critical factors for success, which implemented in an adapted way should fortunately lead to increasing organ availability.

Efectividad de la electrólisis percutánea intratisular (EPI®) en las tendinopatías crónicas del tendón rotuliano / Effectiveness of electrolysis percutaneous intratisular (EPI®) in chronic insertional patellar tendinopathy

Objetivo: El objetivo del estudio es evaluar la efectividad de la electrólisis percutánea intratisular (EPI®) en la tendinopatía rotuliana crónica. Material y método: Estudio observacional en 32 pacientes (59,4% hombres), con una media de edad de 35 años (DE: 8) diagnosticados de tendinopatía rotuliana con más de 6 meses de evolución desde el inicio de los síntomas. Se evaluó la estructura del tendón a través de ecografía y la función con la escala VISA-P. Los sujetos fueron incluidos en el grupo 1 (VISA<50 puntos) y en el grupo 2 (VISA>50 puntos). Se aplicó la EPI® de forma aislada en cada sesión asociada con carácter domiciliario a trabajo excéntrico y estiramientos. En la evaluación inicial, todos presentaban cambios compatibles con un proceso degenerativo, el 50% presentaban hipervascularización (100% con VISA<50). Trece pacientes obtuvieron una puntuación VISA<50 y 19 VISA>50. Resultados: En el Grupo 1, el 80% de los pacientes alcanzaron el alta en fisioterapia a las 6 semanas desde el inicio de tratamiento con EPI®, con una media de 6 sesiones de EPI®. En el Grupo 2 (VISA>50) todos lograron el alta tras 4 sesiones de EPI®. Conclusiones: La EPI® constituye un tratamiento efectivo para la tendinopatía rotuliana crónica (AU)

Objective: This study aimed to evaluate the effectiveness of the electrolysis percutaneous intratisular (EPI®) in chronic patellar tendinopathy. Material and method: Observational study in 32 subjects, 59.4% men, with a mean age of 35 years (SD: 8) with diagnosis of patellar tendinopathy with more than six months of evolution from the onset of symptoms. We evaluated the structure of the tendon through musculoskeletal ultrasound and function through the VISAP scale. The subjects were classified into: Group 1 (VISA <50 points) and Group 2 (VISA> 50 points). EPI® was applied in isolation in each session associated with eccentric character home to work and stretching. On the first assessment, all the patients had changes consistent with a degenerative process, 50% showed hypervascularity (100% VISA <50). Thirty patients achieved a VISA score <50 and 19 VISA> 50. Results: In Group 1 (VISA <50), 80% of subjects achieved a cure at 6 weeks after beginning treatment with EPI®, with an average of 6 sessions of EPI®. In Group 2 (VISA> 50) all the subjects achieved a cure after four sessions of EPI®. Conclusions: The EPI ® is an effective treatment for chronic patellar tendinopathy (AU)

Organ donation in an aging population: the experience of the last 8 years in Galicia.

BACKGROUND: Mean organ donor age has increased in recent years, conditioned by causes of death and population profile. We analyzed organ donation in Galicia during the last 8 years. MATERIALS AND METHODS: We analyzed donors in Galicia between 2000 and 2007, studying age, cause of death, donation effectiveness, and organs transplanted per donor. RESULTS: Donation rates fluctuated between 29 and 35 donors per million population (pmp) during the study period. Mean donor age increased from 51.6 years (Spain, 47.1 years) in 2000 to 63.3 years (Spain, 53.4 years) in 2007. Donors of 75 years or older increased from 7.5% to 27.2%. Cerebrovascular accident (CVA) as cause of death rose from 57% in 2000 to 75.3% in 2007. The variations in the proportions of organs transplanted between 2000 and 2007 were: kidney, 68.8% to 53.7%; liver, 86% to 88.9%; heart, 33.5% to 9.9%; and lung, 10.8% to 9.9%. Valid transplanted organs per donor decreased from 2.8 to 2.2, and effective donors from 93.5% (Spain, 90.3%) to 92.6% (Spain, 87.8%) with a mean of 94%. CONCLUSIONS: The population in Galicia has aged considerably and is widely dispersed. Despite the increased mean donor age, the percentage of effective donors has not diminished and donor rates have remained stable. This reflects the extremely conscientious attitude of transplant coordinators and the high degree of activity of transplant teams in Galicia.

Functional assessment of cryopreserved human femoral arteries for pharmaceutical research.

An established method for cryopreservation that might preserve the vascular and endothelial responses of human femoral arteries (HFAs) to be transplanted as allografts was studied. HFAs were harvested from multiorgan donors and stored at 4 degrees C in saline solution before cryostorage. Thirty HFA rings were isolated and randomly assigned to one control group of unfrozen HFAs (eight rings) and one group of cryopreserved HFAs (22 rings). Cryopreservation was performed in RPMI solution containing dimethylsulfoxide (DMSO) and the rate of cooling was -1 degrees C/min until -40 degrees C and faster rates until -150 degrees C was reached. The contractile and relaxant responses of unfrozen and frozen/thawed arteries were assessed in organ bath by measurement of isometric force generated by the HFAs. After thawing, the maximal contractile responses to the contracting agonist tested (noradrenaline) were in the range of 43% of the responses in unfrozen HFAs. The endothelium-independent responses to sodium nitroprusside were not altered whereas the endothelium-dependent relaxant responses to acetylcholine were weakly altered. The cryopreservation method used provided a limited preservation of contractility of HFAs, a good preservation of the endothelium-independent relaxant responses, and a good preservation of endothelium-dependent relaxation. It is possible that further refinements of the cryopreservation protocol, such as a slower rate of cooling and a more controlled stepwise addition of DMSO, might allow better post-thaw functional recovery.

Functional assessment of cryopreserved pig aortas for pharmaceutical research.

Several in vitro studies have demonstrated diminished post-thaw functional activity. Therefore, the aim of this study was to investigate the consequences of thawing and storage method used on the post-thaw functional activity of cryopreserved pig aortas with the aim of adjusting the freezing and thawing protocol so that the vascular segments are preserved in the best possible state, maintaining structure and functionality so that they can later be transplanted with success. In vitro responses of frozen, thawed pig aortas were used to investigate the functional activity after thawing at 15 degrees C and 100 degrees C/min and after storage in gas or liquid phase of liquid nitrogen. Cryopreservation was performed in RPMI 1640 medium + 10% dimethylsulfoxide and the rate of cooling was -1 degrees C/min, until -150 degrees C was reached. After thawing the maximal contractile responses to all the contracting agonists tested (KCl, noradrenaline) were in the ranges of 13-27% compared with the responses in unfrozen pig aortas. Contractile responses were slightly better when thawing was performed at 15 degrees C/min compared with 100 degrees C/min. The endothelium independent relaxant responses to sodium nitroprusside were reduced ( P < 0.05). Cryostorage of pig arteries also resulted in a loss of the endothelium-dependent relaxant response to acetylcholine. The cryopreservation method used provided a limited preservation of pig aorta contractibility, a reduction of the endothelium independent relaxant responses, and no apparent preservation of the endothelium-dependent relaxation. It is possible that further refinements of the cryopreservation protocol might allow better post-thaw functional recovery of pig aortas.

Functional assessment of cryopreserved human aortas for pharmaceutical research.

We evaluated the impact of standard cryopreservation on functional properties of human aortic homografts. From seven human donors, the thoracic descending aorta was obtained. Effects of cryopreservation on contractibility and endothelium function were tested. After cryopreservation no endothelium-dependent or endothelium-independent relaxation was found and the contractibility was strongly affected. Arteries showed no function and loss of endothelial integrity after cryopreservation and thawing.

Functional assessment of human femoral arteries after cryopreservation.

An established method for the cryopreservation of human femoral arteries for subsequent transplantation as allografts has been studied with particular attention to preservation of smooth muscle and endothelium. Human femoral arteries (HFAs) were harvested from multi-organ donors. Two groups were established; a control group of unfrozen HFAs and a group of cryopreserved HFAs. Cryopreservation was performed using RPMI solution containing dimethyl sulfoxide and the rate of cooling was 1 degrees C/min to -40 degrees C and faster thereafter until -150 degrees C was reached. The contraction and relaxation responses of unfrozen and frozen/thawed arteries were assessed by measurement of the isometric force generated by the HFAs in an organ bath. After thawing (warming was at 15 degrees C/min) the maximal contractile response to noradrenaline was 43% of the response of unfrozen HFAs. The endothelium-independent response to sodium nitroprusside was not altered, whereas the endothelium-dependent relaxation response to acetylcholine was slightly altered. The cryopreservation method used provided limited preservation of the contractility of human femoral arteries, and good preservation of both endothelium-independent and endothelium-dependent relaxation responses.

Influence of the management of asystolic donors on kidney transplantation outcome.

Two methods of donor management were analysed, namely, with and without in situ cooling perfusion of the kidney in an attempt to determine the optimal management and preservation methods for asystolic kidney donors. The group of recipients of in situ cooling perfusion kidneys showed more days of oliguria (P <.05), needed more dialysis sessions (P <.05), and showed no transplant function during the first week after surgery. This group also had a greater probability of acute rejection (P =.071) and a higher rate of nonfunctioning grafts (P =.09). We conclude that in situ cooling perfusion of asystolic kidney donors impairs graft function.

Efecto del almacenamiento en fase gaseosa sobre la viabilidad celular, la apoptosis y la actividad funcional en aortas de cerdo criopreservadas. Estudio preliminar / The effect of gas phase storage on cell viability, apoptosis and functional activity in cryopreserved aortas from pigs a preliminary study

Objetivos. Analizar las consecuencias del protocolo de congelación y del método de almacenamiento utilizado sobre la actividad funcional, la estructura anatomopatológica y el grado de apoptosis de las aortas abdominales de cerdo criopreservadas durante seis meses, tras la descongelación. Materiales y métodos. Se obtuvieron injertos arteriales de cerdos y cada aorta se dividió en dos fragmentos. Grupo 1: segmentos en fresco o bien fijados en formaldehído tras la toma de la muestra (grupo control). Grupo 2: segmentos fijados tras incubación antibiótica y criopreservación durante seis meses para un estudio anatomopatológico y de apoptosis, o bien utilizados directamente tras su descongelación para un estudio funcional. La incubación antibiótica se realizó en medio de un cultivo RPMI suplementado con antibióticos. Después de la incubación antibiótica, la criopreservación se llevó a cabo en medio RPMI con 10 por ciento de dimetilsulfóxido (DMSO). La tasa de enfriamiento fue de 1 °C/min, y el posterior almacenamiento se realizó en fase gaseosa. Resultados. No hay diferencia en cuanto al grado de apoptosis en los dos grupos, ni diferencias significativas en el grado de fragmentación de las elásticas (algo mayor en el grupo 2). Se observa un aumento tanto del grado de despegamiento como del desprendimiento endotelial en el grupo congelado con respecto al grupo control. Después de la descongelación, las máximas respuestas a los vasoconstrictores probados (KCl y noradrenalina) fueron del 13 y el 24 por ciento de las respuestas de las aortas que se obtuvieron en fresco. Las respuestas relajantes independientes del endotelio al nitroprusiato sódico estaban reducidas y se produjo una importante reducción de las respuestas de relajación dependientes del endotelio a la acetilcolina. Conclusiones. El método de criopreservación que se empleó disminuyó las respuestas de contracción y relajación a los seis meses y produjo cambios morfológicos importantes en cuanto a la conservación del endotelio y de las elásticas, pero no alteró el grado de apoptosis (AU)

Normothermic recirculation reduces primary graft dysfunction of kidneys obtained from non-heart-beating donors.

Our aim was to analyze the short- and long-term function of kidneys procured from non- heartbeating donors (NHBD) by means of three techniques: in situ perfusion (ISP), total body cooling (TBC) and normothermic recirculation (NR). Fifty-seven potential NHBD were included. Mean warm ischemia time was 68.9 +/- 35.6 min. Forty-four kidneys were obtained from donors perfused with ISP, 8 with TBC, and 8 with NR. Eighteen kidneys (32%) started functioning immediately, 29 (52%) showed delayed graft function (DGF) and 9 (16%) showed primary non function (PNF). The actuarial graft survival rate was 76.4% at 1 year and 56% at 5 years. The patient survival rate was 89.3% at 5 years. Incidence of DGF and PNF was significantly lower in kidneys perfused with NR than those with ISP or TBC (P < 0.01). Duration of DGF was shorter in kidneys obtained through TBC than in kidneys obtained with ISP (P < 0.05). In conclusion, NR reduces the incidence of DGF and may be considered the method of choice for kidney procurement from NHBD.

[Agenesis of the gallbladder. Statistic review of the Spanish literature and presentation of a new case]. / Agenesia de la vesícula biliar. Revisión estadística de la literatura española y aportación de una nueva observación.

Agenesis of the gallbladder and of the cystic duct is a rare anomaly of the biliary tree that courses symptomatically in one of three cases. This symptomatology can be explained in some of them only by a dyskinetic alteration of the Oddi sphincter, which would lead to long term choledochal distension with the corresponding biliary stasis and facilitate infection of the pooled bile juice, aside from possible alterations in bile composition and the choledochal mucosa. If this were the case, it could explain the mechanism of production of postcholecystectomy syndrome and residual choledochal lithiasis many years after cholecystectomy with normal peroperative cholangiography. A statistical study is made of the Spanish literature.