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|Title:||Controlled clinical trial with pirfenidone in the treatment of breast capsular contracture: Association of TGF-? polymorphisms|
|Abstract:||The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. However, the general flexible case is still an open problem. The present paper reports an adaptive and damping injection controller and a proportional plus damping injection (P +d) controller which are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and time-delays. More precisely, the adaptive scheme is able to cope with uncertainty in the parameters and constant timedelays, while the P + d scheme is shown to treat variable time-delays. In both cases, the teleoperator is composed of a rigid local manipulator and a flexible joint remote manipulator. The extension to the case where the local and remote manipulators exhibit joint flexibility is also reported using the P +d scheme. Under the common assumption that the human operator and the environment are passive it is proven, for the P +d schemes, that the joint and actuator velocities as well as the local and remote position errors are bounded. Moreover, if the human operator and remote environment forces are zero then, for both controllers, position tracking is established and local and remote velocities asymptotically converge to zero. Simulations and experiments are presented to depict the performance of the proposed schemes. " 2014 Elsevier B.V. All rights reserved.",,,,,,"10.1016/j.robot.2014.08.003",,,"http://hdl.handle.net/20.500.12104/40354","http://www.scopus.com/inward/record.url?eid=2-s2.0-84908457175&partnerID=40&md5=ef56b038642358b9d0a45f481bbf28bb",,,,,,"12",,"Robotics and Autonomous Systems",,"1691|
WOS",,,,,,"Bilateral teleoperation; Joint flexibility; Time-delays; Uncertain parameters",,,,,,"Control of teleoperators with joint flexibility, uncertain parameters and time-delays",,"Article" "42138","123456789/35008",,"Veras-Castillo, E.R., Instituto Jalisciense de Cirugía Reconstructiva Dr. José Guerrerosantos, Guadalajara, Jalisco, Mexico; Cardenas-Camarena, L., Instituto Jalisciense de Cirugía Reconstructiva Dr. José Guerrerosantos, Guadalajara, Jalisco, Mexico; Lyra-Gonzalez, I., Instituto de Biología Molecular en Medicina y Terapia Gúnica, CUCS, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico; Muñoz-Valle, J.F., IIRSME, CUCS, Universidad de Guadalajara, Guadalajara Jalisco, Mexico; Lucano-Landeros, S., Instituto de Biología Molecular en Medicina y Terapia Gúnica, CUCS, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico; Guerrerosantos, J., Instituto Jalisciense de Cirugía Reconstructiva Dr. José Guerrerosantos, Guadalajara, Jalisco, Mexico; Gonzalez-Ulloa, B., Diagnóstico Especializado Por Imagen DEI, Zapopan, Jalisco, Mexico; Mercado-Barajas, J.L., Departamento de Ciencias Sociales, CUCS, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico; Sanchez-Parada, M.G., Instituto de Biología Molecular en Medicina y Terapia Gúnica, CUCS, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico; Azabache-Wennceslao, R., Instituto Jalisciense de Cirugía Reconstructiva Dr. José Guerrerosantos, Guadalajara, Jalisco, Mexico; Armendariz-Borunda, J., Instituto de Biología Molecular en Medicina y Terapia Gúnica, CUCS, Universidad de Guadalajara, Guadalajara, Jalisco, Mexico, OPD Hospital Civil de Guadalajara, Guadalajara, Jalisco, Mexico",,"Veras-Castillo, E.R.
Armendariz-Borunda, J.",,"2013",,"BACKGROUND: Breast capsular contracture (BCC) is a commonly adverse event postmammoplastly characterized by an immune response mediated by cytokines and transforming growth factor (TGF)-?1 resulting in excessive synthesis and deposit of extracellular matrix around the breast implant. Presence of TGF-?1 polymorphisms has been associated as a risk factor to develop fibroproliferative diseases. METHODS: This open, controlled, prospective, and pilot clinical trial with 6 months duration was carried out to evaluate the efficacy of 1800 mg a day, of oral Pirfenidone (PFD) in the treatment of BCC (Baker Score III/IV) postmammoplasty. Twenty BCC cases received PFD and 14 BCC control cases underwent capsulectomy after 6 months of enrollment. Both groups were followed up for 6 more months up to 12 months to determine the relapse in the absence of PFD. Determination of TGF-?1 polymorphisms was performed to establish a correlation with capsular contracture. RESULTS: PFD group experienced BCC-reduction in all breasts 6 months after enrollment. Only 1 of 20 cases relapsed after follow-up. In capsulectomy group, 2 of 14 cases presented progression to grade IV during presurgical period. All capsulectomy cases relapsed at end of follow-up. Nearly hundred percent of all patients studied in this protocol had a profibrogenic homozygous TGF-?1 polymorphism (codon 25; genotype Arg25Arg). CONCLUSIONS: PFD is useful to improve BCC (Baker Score III/IV) postmammoplasty with no relapse after drug administration. There is also an association between capsular contracture and the presence of homozygous G/G TGF-?1 genotype. Copyright " 2012 by Lippincott Williams & Wilkins.
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