PURPOSE: Metastatic involvement of the liver frequently determines the evolution of the clinical ... more PURPOSE: Metastatic involvement of the liver frequently determines the evolution of the clinical picture in colorectal cancer patients. We examined the efficacy and toxicity of chemoembolization in this setting, identifying prognostic factors to define patients most likely to benefit from the procedure. METHODS: Forty patients underwent chemoembolization of metastatic liver lesions from colorectal carcinoma. Selective angiography of the hepatic artery was performed to identify the feeding vessels of the metastatic lesions. The injected chemoemulsion consisted of 1,000 mg of 5-fluorouracil, 10 mg of mitomycin C, and 10 ml of ethiodized oil in a total volume of 30 ml. Gelfoam embolization then followed, until stagnation of blood flow was achieved. Patients were evaluated for response, overall survival, and toxicities. RESULTS: Overall median survival from date of first chemoembolization was ten months. Factors that predicted a longer median survival included favorable performance status (24 months), serum alkaline phosphatase and lactate dehydrogenase levels less than three times normal (24 and 12 months, respectively), and metastatic disease confined to the liver (14 months). Most patients tolerated the procedure well. The most common side effects were transient fevers, abdominal pain, and fatigue. Three patients died within one month from the procedure. CONCLUSION: This study suggests that chemoembolization of hepatic metastases in colorectal cancer should be further evaluated; it may be beneficial in patients who have failed systemic chemotherapy, have a good performance status, and have metastatic disease confined to the liver.
Preclinical and clinical data suggest that both leucovorin (LV) and interferon (IFN) can augment ... more Preclinical and clinical data suggest that both leucovorin (LV) and interferon (IFN) can augment the cytotoxic effects of 5-fluorouracil (5-FU). Based on the rationale of biochemical double modulation, the current Phase II study was undertaken. Thirty-two previously untreated patients with advanced adenocarcinoma of the pancreas were treated with subcutaneous recombinant alpha-2b-IFN at a dose of 10 million units on 3 consecutive days; LV (200 mg) plus 5-FU (20 mg/kg) were administered as intravenous bolus doses on day 3. Treatment courses were repeated as tolerated in 2-to-3-week intervals, depending on the patient's complete blood count. Of 32 evaluable patients, 4 (12.5%) had a partial response (95% confidence limit, 4-30%) of 4, +6, 7.5, and 9 months' duration, and 13 (40.5%) had stable disease. The median duration of survival for all patients from the start of therapy was 5.5 months. The most common toxicities observed were IFN-related fever during the first course (69%), mild leukopenia (53%), and gastrointestinal symptoms (28%). Although the combination of 5-FU, LV, and recombinant alpha-2b-IFN in patients with advanced pancreatic adenocarcinoma has some activity and generally was well tolerated, the observed response rate and median survival were not superior to 5-FU monotherapy.
This paper deals with the problem of dependable physical interaction through manipulation in part... more This paper deals with the problem of dependable physical interaction through manipulation in partially-known everyday human environments. We present a modular software architecture that allows the definition and compliant execution of manipulation tasks under the task frame formalism. We show the details of several software modules implemented within this architecture, that enable higher levels of adaptability and robustness, as well as the incremental incorporation of more complex skills in a modular fashion. The whole system is validated making a real robot arm with a three-finger hand perform a complex manipulation task: taking a book out of a bookshelf. Results show how the presented framework is suitable for easily defining and performing a great variety of manipulation tasks
We present an integrated vision-guided grasping system for service robots. Our system integrates ... more We present an integrated vision-guided grasping system for service robots. Our system integrates computer vision to capture the shape of the objects, online grasp determination based on that shape, and image-based control for grasp execution. Novel techniques are presented to solve the problems concerned under the imposed resource constraints, namely, for information reduction and segmentation in image processing, strategies for grasp determination as well as vision-guided control for grasp execution. A preshaping heuristic strategy is combined with symmetry and local shape analysis. Also, the surface of contact between fingers and object is considered and a novel technique for sampling the visuomotor Jacobian is introduced. Experimental validation results are provided showing how the robot arm can efficiently and stably grasp unknown everyday objects
Page 1. An Automatic Transformation from Bimodal to Pseudo-Binary Images Jos~ M. laesta, Pedro J.... more Page 1. An Automatic Transformation from Bimodal to Pseudo-Binary Images Jos~ M. laesta, Pedro J. Sanz, and Angel P. del Pobil Departamento de Informfitica, Universitat Jaume I. Campus Penyeta Roja, E-12071 Castell6n, Spain {inesta, sanzp,pobil}@inf.uji.es ...
A key issue in robotics is the development of the ability to grasp unknown objects. This ability ... more A key issue in robotics is the development of the ability to grasp unknown objects. This ability requires a grasp determination mechanism that, based on the analysis of the description of the object, determines how it can be stably grasped. In this paper, a grasp determination method is presented that computes a set of grasps that comply with the force-closure condition. Its input is a set of contours, extracted from the vision data, describing the shape of the object. The internal holes of the object are taken into account, so the algorithm can find grasps on them. The algorithm also finds expansion and squeezing grasps, which are executed by opening and closing the gripper fingers.
PURPOSE: Metastatic involvement of the liver frequently determines the evolution of the clinical ... more PURPOSE: Metastatic involvement of the liver frequently determines the evolution of the clinical picture in colorectal cancer patients. We examined the efficacy and toxicity of chemoembolization in this setting, identifying prognostic factors to define patients most likely to benefit from the procedure. METHODS: Forty patients underwent chemoembolization of metastatic liver lesions from colorectal carcinoma. Selective angiography of the hepatic artery was performed to identify the feeding vessels of the metastatic lesions. The injected chemoemulsion consisted of 1,000 mg of 5-fluorouracil, 10 mg of mitomycin C, and 10 ml of ethiodized oil in a total volume of 30 ml. Gelfoam embolization then followed, until stagnation of blood flow was achieved. Patients were evaluated for response, overall survival, and toxicities. RESULTS: Overall median survival from date of first chemoembolization was ten months. Factors that predicted a longer median survival included favorable performance status (24 months), serum alkaline phosphatase and lactate dehydrogenase levels less than three times normal (24 and 12 months, respectively), and metastatic disease confined to the liver (14 months). Most patients tolerated the procedure well. The most common side effects were transient fevers, abdominal pain, and fatigue. Three patients died within one month from the procedure. CONCLUSION: This study suggests that chemoembolization of hepatic metastases in colorectal cancer should be further evaluated; it may be beneficial in patients who have failed systemic chemotherapy, have a good performance status, and have metastatic disease confined to the liver.
Preclinical and clinical data suggest that both leucovorin (LV) and interferon (IFN) can augment ... more Preclinical and clinical data suggest that both leucovorin (LV) and interferon (IFN) can augment the cytotoxic effects of 5-fluorouracil (5-FU). Based on the rationale of biochemical double modulation, the current Phase II study was undertaken. Thirty-two previously untreated patients with advanced adenocarcinoma of the pancreas were treated with subcutaneous recombinant alpha-2b-IFN at a dose of 10 million units on 3 consecutive days; LV (200 mg) plus 5-FU (20 mg/kg) were administered as intravenous bolus doses on day 3. Treatment courses were repeated as tolerated in 2-to-3-week intervals, depending on the patient's complete blood count. Of 32 evaluable patients, 4 (12.5%) had a partial response (95% confidence limit, 4-30%) of 4, +6, 7.5, and 9 months' duration, and 13 (40.5%) had stable disease. The median duration of survival for all patients from the start of therapy was 5.5 months. The most common toxicities observed were IFN-related fever during the first course (69%), mild leukopenia (53%), and gastrointestinal symptoms (28%). Although the combination of 5-FU, LV, and recombinant alpha-2b-IFN in patients with advanced pancreatic adenocarcinoma has some activity and generally was well tolerated, the observed response rate and median survival were not superior to 5-FU monotherapy.
This paper deals with the problem of dependable physical interaction through manipulation in part... more This paper deals with the problem of dependable physical interaction through manipulation in partially-known everyday human environments. We present a modular software architecture that allows the definition and compliant execution of manipulation tasks under the task frame formalism. We show the details of several software modules implemented within this architecture, that enable higher levels of adaptability and robustness, as well as the incremental incorporation of more complex skills in a modular fashion. The whole system is validated making a real robot arm with a three-finger hand perform a complex manipulation task: taking a book out of a bookshelf. Results show how the presented framework is suitable for easily defining and performing a great variety of manipulation tasks
We present an integrated vision-guided grasping system for service robots. Our system integrates ... more We present an integrated vision-guided grasping system for service robots. Our system integrates computer vision to capture the shape of the objects, online grasp determination based on that shape, and image-based control for grasp execution. Novel techniques are presented to solve the problems concerned under the imposed resource constraints, namely, for information reduction and segmentation in image processing, strategies for grasp determination as well as vision-guided control for grasp execution. A preshaping heuristic strategy is combined with symmetry and local shape analysis. Also, the surface of contact between fingers and object is considered and a novel technique for sampling the visuomotor Jacobian is introduced. Experimental validation results are provided showing how the robot arm can efficiently and stably grasp unknown everyday objects
Page 1. An Automatic Transformation from Bimodal to Pseudo-Binary Images Jos~ M. laesta, Pedro J.... more Page 1. An Automatic Transformation from Bimodal to Pseudo-Binary Images Jos~ M. laesta, Pedro J. Sanz, and Angel P. del Pobil Departamento de Informfitica, Universitat Jaume I. Campus Penyeta Roja, E-12071 Castell6n, Spain {inesta, sanzp,pobil}@inf.uji.es ...
A key issue in robotics is the development of the ability to grasp unknown objects. This ability ... more A key issue in robotics is the development of the ability to grasp unknown objects. This ability requires a grasp determination mechanism that, based on the analysis of the description of the object, determines how it can be stably grasped. In this paper, a grasp determination method is presented that computes a set of grasps that comply with the force-closure condition. Its input is a set of contours, extracted from the vision data, describing the shape of the object. The internal holes of the object are taken into account, so the algorithm can find grasps on them. The algorithm also finds expansion and squeezing grasps, which are executed by opening and closing the gripper fingers.
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