Stochastic approach to error estimation for image-guided robotic systems.

Image-guided surgical systems and surgical robots are primarily developed to provide patient safety through increased precision and minimal invasiveness. Even more, robotic devices should allow for refined treatments that are not possible by other means. It is crucial to determine the accuracy of a system, to define the expected overall task execution error.

Histological evaluation of preoperative biopsies from ampulla vateri.

Frequency of the lesions of the papilla Vateri is increasing in Hungary because of epidemiological reasons. Over two years nearly 300 ampullary endoscopic biopsies were taken in our hospital. In 36 percent of the patients the papillary specimens demonstrated acute or chronic inflammation, in 44 percent adenoma, including 5 percent with severe dysplasia, in 5 percent adenomatous hyperplasia and in 7 percent adenomyosis or other benign tumors (2%) were found.