Different studies evaluating the final diagnosis in duodenal lesions referred to EUS. Most, but not all, are confirmed histologically after EUS.
\\n\\n
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Barely three months into the new year and we are happy to announce a monumental milestone reached - 150 million downloads.
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The most of recent publications concentrated on the review of the pollutants emissions from industry, especially power sector. In this one emissions from opencast mining and transport are addressed as well. Beside of SOx and NOx emissions, small particles and other pollutants (e.g. VOC, ammonia) have adverse effect on environment and human being. The natural emissions (e.g. from volcanoes) has contribution to the pollutants concentration and atmospheric chemistry governs speciation of pollutants, as in the case of secondary acidification. The methods of ambient air pollution monitoring based on modern instrumentation allow the verification of dispersion models and balancing of mass emissions. The comfort of everyday human's activity is influenced by indoor and public transport vehicles interior air contamination, which is effected even by the professional appliances operation. 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Chmielewski, Ph.D., D.Sc., is a director of the Institute of Nuclear Chemistry and Technology, Warsaw, Poland and a professor at the Department of Chemical and Process Engineering, Warsaw University of Technology. In the years of 1976/77 he was employed by the University of Tennessee, Knoxville, USA and in 2003/05 by IAEA, Vienna, Austria, then lectured at the universities in Sao Paulo, Brazil; Hefei, China and Pavia, Italy. As an UN expert undertook missions to over thirty countries all over the world. He is a member of Academy of Engineering and in the year 1999 was nominated a “Gold Engineer of the Year” by the Polish Federation of Engineering Associations and is laurate of \\"Liftime Award for Science\\" granted by International Irradiator Association at 17 IMRP in Shanghai, China.. 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Lesions of the upper gastrointestinal (GI) tract are usually assessed by esophagogastroduodenoscopy (EGD), but less importance is shown for lesions of the small intestine. Protrusive lesions of the small intestine can arise from mucosa, with endoscopic features that allow their characterization. However, deep organ involvement cannot be assessed by endoscopy. The same is true for lesions from subepithelial layers, known as subepithelial lesions (SELs). These appear as bulging lesions covered by normal mucosa, and are firm as they are “palpated” with closed biopsy forceps. The mucosa covering these lesions is usually normal, and standard biopsies or “bite-to-bite” biopsies have low diagnostic accuracy. Assessing these lesions can be difficult, as computed tomography (CT) and magnetic resonance imaging (MRI) lack the resolution to properly describe them because of their size.
Endoscopic ultrasound (EUS) overcomes these drawbacks. Due to high resolution and ability to differentiate between all layers of the GI tract [1], EUS assesses the layer of origin, size, morphologic features, and involvement of the neighboring organs. Combined with the possibility of targeted biopsies from the deeper layers, EUS is the most effective for evaluating SETs of the duodenum.
SETs of the duodenum can be true intramural lesions of the duodenal wall or extrinsic compressions. Extrinsic compression comes from adjacent structures, like the gallbladder or blood vessels. Around 1 in 5 SETs found in the upper GI tract is an extramural compression [2, 3]. Data regarding external compressions on the duodenum are few, but clinical experience suggests that they are less frequent than in the stomach. Intramural lesions can be true submucosal or pseudo-submucosal lesions. The latter are usually polyps or inflammatory lesions. True submucosal lesions originate from one of the deeper layers of the duodenal wall. Benign SETs of the duodenum include cysts, gastrointestinal stromal tumors (GISTs), leiomyomas (very rare) of the minor papilla (which at EGD can be confused with SETs), lipomas, neuroendocrine tumors (NETs) and ectopic pancreas. Malignant SETs can be malignant mesenchymal tumors, adenocarcinomas or lymphomas (Table 1).
Xu et al. [4] | Markovic et al. [5] | Kawamoto et al. [6] | |
---|---|---|---|
Total number | 169 | 80 | 24 |
Inflammatory protruding or polyps | 36 (21%) | 13 (16%) | 1(4%) |
Cysts | 40 (24%) | — | 8(34%) |
Brunner’s adenoma | 25(15%) | 7 (9%) | 6(25%) |
Lymphangioma | — | — | 1(4%) |
Lipoma | 6 (4%) | 6 (8%) | 1(4%) |
Ectopic pancreas | 19(11%) | — | 1(4%) |
Stromal tumors | 17 (10%) | 33 (41%) | 1(4%) |
NET | — | 3 (4%) | — |
Gangliocytic paraganglionas | — | — | 1(4%) |
Extrinsic compression | 12(7%) | — | — |
Minor papilla | 12(7%) | — | — |
Malignant tumors | 2 (1%) | 18 (22%) | 4(17%) |
Different studies evaluating the final diagnosis in duodenal lesions referred to EUS. Most, but not all, are confirmed histologically after EUS.
A correct and complete diagnosis of an SET, including extension and proximity to other structures, is essential in deciding the following steps, as the complex localization and surroundings of the duodenum make surgical interventions difficult. Its thin walls and proximity to the biliary and pancreatic ducts makes even endoscopic therapeutic interventions more prone to serious complications like perforation. In this context, the diagnosis, prognosis and possible therapeutic options should always be properly weighed and presented to the patient before a decision is made.
SETs should be resected, endoscopically or surgically, if there is a suspicion of malignancy or if they are symptomatic. Tumors with malignant potential, like GISTs or NETs, should be resected, or in certain circumstances followed endoscopically. EUS can help guide the treatment. Generally, lesions limited to the mucosa and submucosa can be removed endoscopically, with a high safety profile, using advanced techniques like endoscopic submucosal resection (ESD). Tumors arising from the muscularis usually need surgical intervention.
SETs identified in the upper GI tract are rare, being found in around 1 in 300 EGDs [7]. Only around 10% of those are located in the duodenum [8]. The true prevalence probably remains unknown, as most SETs are asymptomatic and are found to be completely unrelated to the reason the EGD was performed. In a study involving 346 EUS examinations of upper GI SETs, 87% of the lesions were unrelated to the presenting symptoms of the patient [2]. The rare symptomatic cases usually manifest through occult bleeding or abdominal pain. Evaluation of a duodenal SET starts during the initial EGD. Its location, size, mobility and color should be noted. Modifications of the mucosa and “tenting” sign are also important. A firm lesion with a “pillow” sign is usually a lipoma, while a firm and translucent lesion can be a cyst. A central depression along mucosal irregularities can suggest an ectopic pancreas, while a central ulceration can be a sign of a GIST. Mucosal biopsies are rarely useful, as they only touch the mucosa and are unable to retrieve tissue from the lesion. More invasive methods, like “buttonhole” biopsies or jumbo forceps, are not always successful and carry high risk of adverse events [9]. If the lesion is not a cyst or lipoma, tissue acquisition should be performed for diagnosis, especially because some of the duodenal SELs have malignant potential.
The endosonographic morphology of SETs is based on size, layer of origin, echogenicity, echotexture, vascularity and lymph nodes [2]. The procedure is difficult in cases of large lesions or inaccessible regions like the jejunum, ileum or, sometimes, the fourth part of the duodenum.
Size should be reported in two orthogonal planes. There are five layers visible when examining the digestive tract. The first layer (hyperechoic) is the interface of the superficial mucosa with the contrast medium. The second layer (hypoechoic) is the deep part of the mucosa, containing the muscularis mucosae and lamina propria. The third layer (hyperechoic) is the submucosa and the interface between the submucosa and the muscularis propria. The fourth layer (hypoechoic) is the muscularis propria. The fifth layer is the serosa and the interface with adjacent structures. In addition, an SET described at EGD, as mentioned before, can actually be an extrinsic compression, originating beyond all layers. The relation with adjacent layers and structures has to be described. Are the layers immediately above and below distinguishable? Do they present ulcerations or irregularities? Can the neighboring structures be clearly distinguished or is there invasion? All these questions should be answered in a correctly redacted EUS result. The echogenicity of the tumor has to be noted. It can be anechoic (compare to the water in the lumen), hypoechoic (compare to muscularis propria), hyperechoic (compare to submucosa). The texture can also give useful information, as inhomogeneous lesions can raise suspicions of malignancy, as can irregular margins. For further description one can also mention the adjacent vascularization, presence of regional lymph nodes, hepatic lesions or free liquid in the peritoneum. Of all the characteristics mentioned, the most important are layer of origin and echogenicity (Table 2).
Layer of origin | Echogenicity | Size (mm) | Border | Malignancy potential | |
---|---|---|---|---|---|
3rd/external | Anechoic, without Doppler signal | — | Sharp, sometimes with five layers | No | |
3rd | Anechoic, with Doppler signal | — | Sharp, serpiginous shape | No | |
3rd | Anechoic with internal septa, without Doppler signal | — | Sharp | No | |
2nd, 3rd | Hypoechoic, homogenous, polypoid | 8–18 | Indistinct | No | |
2nd, 3rd | Hypoechoic/ Intermediate echogenicity/ hyperechoic | Sharp | Yes | ||
3rd, 4th | Hypoechoic, heterogeneous echotexture, with cysts or ducts inside, umbilication | < 5–20 | Indistinct | No | |
2nd/4th | Hypoechoic, heterogenous, hypervascular | Any | Sharp when benign | Yes, when >30 mm, with cystic space or echogenic foci | |
2nd, 3rd, 4th | Hypoechoic | Can vary | Irregular | Yes | |
Any | Hypoechoic | Irregular | Yes | ||
3rd | Hyperechoic homogenous | Can vary | Sharp | No | |
2nd or 3rd | Iso/Hyperechoic homogenous (less then lipoma) | Sharp | No |
Main ultrasonographic characteristics of duodenal lesions.
EUS without histological examination has a high diagnostic yield in duodenal SETs. Xu et al. reported an efficiency of up to 93.3% in a group of 75 duodenal SETs that had a later histological diagnosis [4]. However, diagnostic efficiency seems to be size related, as Brugge et al. reported a correct diagnosis in 45% of gastric lesions less than 2 cm in size and proposed, naturally, EUS with fine-needle aspiration (EUS-FNA) as the gold standard [10]. As literature regarding duodenal SETs is scarce, there is no consensus about when to perform EUS-FNA, but as previously mentioned, EUS can perform poorly in diagnosing small lesions, so biopsies should be performed in all lesions that are considered suspicious (possible malignant or with malignity potential). All lesions of the fourth layer (muscularis propria) should be biopsied, as most gastrointestinal mesenchymal tumors (GIMTs) have these characteristics. Techniques to obtain deep biopsies, like “jumbo” or “buttonhole” biopsies, may have better outcomes than EUS-FNA in submucosal lesions, but carry high risk of hemorrhage [9, 11].
Anechoic SETs account for a large number of different possible diagnoses. Doppler-color ultrasonography is the best method to differentiate between vascular and cystic lesions. Vascular lesions in the duodenum are most frequently varices; other vascular malformations are rare. Varices are located in the third layer (submucosa) and are anechoic. Even in the absence of Doppler facilities, varices can be diagnosed by following their course, identifying other collateral vessels and perforating veins. Small varices can be compressed by the tip of the echoendoscope and misdiagnosed, so it is important to be careful. Therapeutic interventions like cyanoacrylate injection or coiling can be EUS guided.
Cystic tumors are liquid-filled cavities, hence anechogenic, that present in many different shapes and sizes. Many different lesions can present themselves as cystic or cystic-like. The most used classifications are simple cystic, polycystic or mixed (with liquid and solid components) [8].
Cysts are rounded, unilocular and clearly delineated, with a completely anechoic content and dorsal enhancement. The most common diagnosis is a duplication cyst, which forms from a maldevelopment of the gut. Duplication cysts are located in the third layer (submucosa) and have a characteristic duplication of all the layers of the gut wall. They have a low risk of malignant transformation, or they can become symptomatic following increasing in size, infection or rupture. EUS-FNA is rarely needed when the diagnosis is unclear.
Brunner’s glands are found in the duodenum and have an alkaline secretion, neutralizing stomach acid. Hyperplasia of these glands is usually asymptomatic, but can give a polyposis-like duodenum. The cause is thought to be excessive stimulation from excessive gastric acids, chronic inflammation or the decrease of pancreatic function. They are located mainly, if not exclusively, in the duodenal bulb [5].
Echoendoscopic appearance can vary as isoechoic or hyperechoic, sometimes with cysts inside. They arise from the third layer (submucosa) and much more rarely from the second one (deep mucosa). The diagnosis is based on biopsy result (Figure 1).
Endoscopic (top row) and ultrasonographic (bottom row) appearance of Brunner’s gland hyperplasia.
Lymphangiomas consist of multiple dilated lymphatic vessels situated mostly in the third layer (submucosa), rarely in the second layer (mucosa). They are thought to be benign malformations of the lymphatic system that form a mass in the digestive tract. Lymphangiectasias, in contrast, are dilations of existing mucosal lymphatic vessels and described endoscopically as multiple small, white polyp-like elevations in the duodenum. They are mainly found in the small intestine, have a polyp-like appearance and are soft and easily compressible with a normal overlying mucosa. Most are asymptomatic; rarely, the size can cause obstruction, abdominal pain and hemorrhage [12]. As previously mentioned, they are formed from dilated lymphatic vessels, but also from smooth muscle fibers and connective tissue. Endosonographically they most often appear as polycystic. Their appearance varies vastly depending on the amount of smooth muscle and connective tissue. When they take up a large share of the lymphangioma it appears inhomogeneous, rather than anechoic.
Pancreatic rest, also known as heterotopic pancreatic tissue or ectopic pancreas, is pancreatic tissue located, aberrantly, in the digestive tract wall, most often in the stomach. It is usually asymptomatic and is an incidental finding at EGD or CT scan. Its endoscopic characteristics are irregular overlaying mucosa and a central umbilication. Rests originate from the third and fourth layer (submucosa and muscularis propria) and their sonographic appearance is most often mixed (solid and liquid) but highly variable, depending on the dominant tissue. Type 1 heterotopia consists of both pancreatic acini and ducts. Type 2 consists solely of pancreatic acini, and type 3 of pancreatic ducts. Types 1 and 2 have a hypoechoic, inhomogeneous sonographic appearance, poorly delineated from the surrounding tissue (secondary to the lobulated structure of acinous tissue). Type 3 most often appears as a septated cyst (multiple dilated pancreatic ducts). A characteristic appearance of a pancreatic rest seems to be thickening of the fourth layer behind the mass (muscularis propria) [13]. Asymptomatic lesions should be followed endoscopically for size changes, and the rare cases of symptomatic lesions can be resected endoscopically by snare, band ligation or more advanced resection techniques. If the muscularis propria is involved and the heterotopic tissue must be removed, surgical resection is preferred [14].
Lipomas are the most frequent solid, hyperechoic SETs in the duodenum. They are composed of mature lipocytes and originate from the third layer (the submucosa). They are most common in the colon, but are also in the stomach and small bowel. A characteristic endoscopic appearance, with a yellowish tint and a typical indent when compressing it with a biopsy forceps (“pillow” sign), does not need follow-up with EUS.
Echoendoscopically lipomas are hyperechoic, homogenous, arise from the third layer and are very well differentiated from the other layers with a clear margin. This typical appearance does not need histological evaluation (EUS-FNA).
Lipomas do not need treatment/resection or follow-up when they have a typical appearance and are asymptomatic (Figure 2).
Endoscopic (left) and ultrasonographic (right) appearance of a duodenal lipoma.
GISTs are the most common mesenchymal tumors in the GI tract, most often found in the stomach and much more rarely in the duodenum. They originate from the pacemaker cells of the digestive tract wall, the interstitial cells of Cajal. They are a class of SETs that present the most difficulties in diagnosis and management: hypoechoic SETs that originate from the muscle layers (mainly the muscularis propria, sometimes muscularis mucosae). They are similar in sonographic structure and mesenchymal origin. The molecular particularity of GISTs is a mutation in the gene that codes the c-Kit protein. More than 95% of them are immunohistochemical CD117 positive [15]. All GISTs have malignant potential, with the main factors influencing prognosis being mitotic rate, size and location (small intestinal GISTs seem to have a worse prognosis than gastric ones). The most common first symptom is GI bleeding, but a large number of GISTs are probably asymptomatic, as they are a common finding in postmortem examinations or in gastric resection specimens. GISTs in the small intestine may be more aggressive than those located in the stomach, (40–50% of GISTs in the small intestine are malignant, compared with 20–25% of gastric GISTs) [16].
Endoscopically their appearance is similar to other SETs; a bulge in the wall of the digestive tract with normal overlaying mucosa. Sometimes there is a central ulceration or inflammation of the mucosa. They are hypoechoic, arising from a muscle layer. The large ones most often arise from the fourth layer (the muscularis propria). Leiomyomas and other mesenchymal tumors, like the schwannoma, have a similar appearance, but are benign. Therefore a correct diagnosis is essential before a therapeutic decision. Location can be the best indicator of a hypoechoic SET. In the duodenum they mostly turn out to be neuroendocrine tumors. More rarely they are GISTs or granular cell tumors, and they are almost never leiomyomas.
All GISTs have malignant potential, so even though small GISTs used to be followed endoscopically, the current trend is to remove all GISTs. Differentiating between a GIST and a leiomyoma is difficult, even with EUS-FNA/FNB sometimes, thus contrast enhancement is helpful in such cases.
There is no specific study on contrast enhancement in case of duodenal SETs. A meta-analysis of gastric and esophageal SETs showed that contrast-enhanced endoscopic ultrasound is able to discriminate between GISTs and benign SETs with a pooled sensitivity of 89% and a specificity of 82%. For differentiating the malignant potential of GISTs, the sensitivity was 96% and the specificity was 53% [17]. An uptake of the contrast with the vascular hilum present suggests a leiomyoma, but a heterogenous vascularity suggests GISTs while irregular vessels suggest malignant GISTs.
NETs (also known as carcinoid tumors) are mostly asymptomatic tumors with endocrine cell origin. Mostly, they are discovered incidentally, but they can cause hemorrhage, abdominal pain or syndromes related to functional active substances secreted by them. They are found along the GI tract, more often in the rectum or stomach, but also in the small intestine.
Their endoscopic appearance is not characteristic, usually resembling a small polypoid lesion with normal overlaying mucosa. Endosonographically they are mostly hypoechoic or isoechoic, and arise from the second layer (mucosa), but can extend to the third layer (submucosa).
The variety of histological types, sizes and location origins, combined with the risk of malignant transformation, illustrate the necessity to resect NETs. In principle, if the lesion is smaller than 1 cm and does not invade the muscularis propria, endoscopic resection is possible, otherwise surgical resection is recommended (Figure 3).
(A) Endoscopic appearance during cap-assisted resection of a duodenal NET. (B) Same lesion after resection. (C) Echoendoscopic appearance of the same duodenal NET (hypoechoic, well delineated).
The upstream ducts are well recognized. Following the duodenal wall, especially the muscularis major papilla represents the opening into the duodenum of the common bile duct and pancreatic duct. The tumor of the papilla is very well visualized during EUS and the dilatation of the propria can differentiate small ampullary tumors that are limited to papilla from distal common bile duct tumors, which are situated beyond the muscularis propria layer (Figure 4).
Endoscopic (left) and ultrasonographic (right) appearance of the papilla.
The pancreatic accessory duct arrives in the duodenum at the level of the minor papilla. Sometimes EGD can confound it with an SET [4]. EUS examination can easily differentiate it from a tumor, as it is not part of the duodenal wall and the secondary duct is visible arriving at this level.
Adenomas can appear in the duodenum, as anywhere else in the GI tract, sporadically or part of polyposis syndromes. They are premalignant lesions that usually necessitate removal. Peri-papillary location makes resection techniques more problematic, as simple resection can cause damage to the pancreatic or biliary ducts. Because they are mucosal lesions (second layer), solely EGD can be used for management. However, EUS can be necessary in certain circumstances, such as evaluating the depth of invasion if a malignancy is suspected, guiding the choice of treatment method (lesions extending to the submucosa need more advanced endoscopic resection techniques or surgery) and evaluating intraductal extension in peri-papillary lesions (Figure 5).
Top: Endoscopic view of duodenal adenoma. Bottom: Echoendoscopic appearance of the same adenomas. Enhanced vascularization is visible.
Malignant tumors of the duodenal wall are rare. Possible malignant tumors identified at this level include adenocarcinomas (from adenomas), malignant mesenchymal tumors (malignant GISTs), malignant NETs, lymphomas and metastases from other cancers (very rare).
These tumors share a common endosonographic characteristic by not respecting the layers of the duodenal wall (which are often lost) and often have adjacent lymphadenopathies.
Leiomyomas are truly benign tumors arising from smooth muscle tissue, that is, the fourth layer and more rarely the second (muscularis mucosae). They are mostly found in the esophagus, but they are described all over the GI tract. Their hypoechoic sonographic appearance makes them difficult to distinguish from other GIMTs. As such, EUS-FNA and histological examination are needed for a correct diagnosis. Resection is necessary only in case of symptoms.
Granular cell tumors (also known as schwannomas) are benign lesions that arise from the peripheral nerve sheath. They are hypoechoic, homogenous, well delineated and arise from the second or third layer of the duodenum (submucosa or muscularis propria). Even though the endosonographic appearance makes them hard to differentiate from GISTs or leiomyomas, schwannomas are much more rarely encountered in the GI tract. Tissue acquisition discriminates the diagnosis in such situations.
Fibroid polyps are rare inflammatory tumors, sometimes found in the duodenum. They arise from the second or third layers and are usually hyperechoic and inhomogeneous [18].
Duodenal hematomas have been described, especially after abdominal trauma. However, some are spontaneous or arise from complications of endoscopic biopsies or other invasive maneuvers. They are usually diagnosed by CT scan or EGD. EUS is only needed in cases when the diagnosis is unclear, which is rare. They arise from the deep layers of the mucosa or submucosa (second or third layer). They have a different sonographic appearance depending on when they are evaluated. Initially, they have a heterogenous appearance in the first 24 hrs, which turns hyperechoic as more clots are formed and then slowly turns hypoechoic over the following weeks as it resorbs.
Gangliocytic paragangliomas are GI mesenchymal tumors, most often found in the second part of the duodenum near the ampulla of Vater [19]. They are formed by a varying mixture of spindle cells, epithelioid cells and ganglion cells (cells found also in other GIMTs). They are located in the third layer (submucosa) and are hypoechoic and homogenous. Histology usually offers the final diagnosis, as hypoechoic SETs are hard to distinguish on EUS alone.
In a series of 169 suspected SETs in the duodenum, which were referred to EUS, 12 were extrinsic compressions, with seven from the gallbladder and five from the pancreas [4]. EUS is very efficient in these cases, as it can identify the layers of the duodenum wall and correctly identify the duodenal compression as being extrinsic, as well as determine the cause of the compression and/or invasion (Figures 6 and 7).
(A) Endoscopic view of external compression in the duodenum. (B) The echoendoscopic view shows an anechogenic lesion close to the transducer, a cyst. The pancreatic parenchima shows modifications consistent with chronic pancreatitis. (C) EUS-FNA - Paraduodenal cyst lined by inflammation and granulation tissue with no epitheliallining (HE-5X).
External invasion from a pancreatic head adenocarcinoma. (A) Endoscopic view: There are mucosal modifications visible (as opposed to 6A). (B) Echoendoscopic view confirms there is a pancreatic tumor. (C) EUS-FNA - foci of pancreatic ductal adenocarcinoma infiltrating submucosa of the duodenal wall (HE-5X).
The sampling of SELs is unnecessary in case of lipoma or duplication cyst. However, some duodenal SETs (GISTs, neuroendocrine tumors) have malignant potential, so the size of the lesion is not a limitation for tissue acquisition. The accuracy of EUS alone compared to the final histology (ESD or surgical specimen) varies between 44% and 66% and tissue acquisition is important for a correct diagnosis [20, 21, 22].
The sampling has to be performed using bite-to-bite biopsy followed by mucosal resection or submucosal resection in case of the lesions belonging to the second or third layers [11]. In case of the lesions originating from the fourth layer, the indication is for EUS-FNA or EUS–fine-needle biopsy (EUS-FNB) [23]. The unroofing method for sampling of fourth-layer lesions of gastric location was compared to EUS-FNB, but no difference for histologic core procurement was noted [24].
EUS sampling is preferred in case of lesions situated in the third or fourth layer, because the risk of bleeding is usually low and seeding into the peritoneum is avoided compared to percutaneous biopsy.
However, the use of EUS-FNA, especially with 22-guage and 25-guage needles, gave a diagnostic rate of 60% in a meta-analysis of 978 patients [25]. The main limitation is difficulty in assessing the architecture of the lesion sampled and the mitotic index. No influence of SET size on the diagnostic rate of FNA was found in a retrospective study of 112 patients [26]. The use of a pro-core needle compared to FNA needles does not improve the diagnostic rate [27, 28, 29, 30]. However, only one study included SETs from the duodenum [29]. The use of FNB gave better accuracy than EUS-FNA (88.03% vs. 77.19% [P = .030]) or EUS-FNA plus rapid on-site evaluation (ROSE) (87.25% vs. 68.00% [P = .024]), but no difference was noted compared to EUS-FNB plus ROSE [31]. In a meta-analysis comprising 10 studies that compared EUS-FNB and EUS-FNA, the diagnostic accuracy was greater in patients undergoing FNB sampling (OR, 4.10; 95% CI, 2.48–6.79; P < .0001) with a fewer number of passes and higher rate of optimal core procurement (OR, 3.27; 95% CI, 2.03–5.27; P < .0001) [32]. Because the distal duodenum can be difficult to reach, the sampling from this location is feasible with thinner 25G needles, with a definitive diagnosis in 88% of patients.
EUS is essential for evaluating duodenal lesions correctly and completely. EUS can identify if the lesion originates from the mucosa or the deeper layers of the duodenal wall, or if it is extrinsic. Other diagnostic methods lack the resolution to distinguish between them correctly. In addition, EUS can obtain tissue for histological analysis in all cases, as EGD-guided biopsies are not deep enough for SETs. Choice of treatment is also decided following EUS, as benign lesions do not need removal, potential malignant lesions (NETs, GISTs) can be followed or resected and malignant lesions can be resected endoscopically if EUS does not identify invasion of the deeper layers. Given all this, along with the complex surroundings of the duodenum, its thin walls and the difficult anatomical position for surgical interventions, EUS is crucial in lesions of the duodenal wall.
The authors declare no conflict of interest.
The production of geometrically and dimensionally defined workpieces is what the user expects from a machine tool. Deviations from these prescribed dimensions and geometry are due to machine inaccuracies. Therefore, it was necessary to develop trials and tests of machine tool properties and parameters that can detect these errors. Every new machine tool, a newly developed machine, or a machine overhauled is subjected to these tests [1].
\nTesting of machine tools is an important part of the product life cycle-machine tool. Tests of machine tools can be divided into three groups. The first group of tests is associated with a contractual obligation between the seller and the buyer of the machine. They are, therefore, a part of the contract. Acceptance tests usually take place in two steps—first, directly at the machine manufacturer and then, after the machine is assembled, at the customer. These tests aim to verify the declared properties of the machine. The prototype tests serve to verify the properties of newly designed and manufactured machines. Prototype tests extend the acceptance tests with a series of measurements to provide important information, especially to machine designers. The proposed and expected properties of the new product are examined and the unknown properties, which cannot be expected when the product is being developed, are revealed. Statistical acceptance (process competence test) is used for exacting customers, where it is necessary to maintain the quality of the workpiece in the long term [2].
\nHow to perform and evaluate these tests is determined and recommended primarily by standards and regulations. When testing the properties of machines, it is not only about knowing and being capable of how to measure machines (what kind of equipment to use, what method and procedure), but also how to analyze and apply the results in future. Is it necessary to do a mechanical intervention into the machine or is it sufficient to compensate the machine software? [1].
\nThe inspector should be able to answer these and other questions related to machine tool diagnostics. Machine diagnostics is not only a knowledge of the measurement method, but also a set of knowledge that the inspector must know. The first is the knowledge of the measuring equipment itself and its management, monitoring its properties, accuracy, and ensuring a regular calibration (if necessary). Next, it is the knowledge of working with these devices (procedures) and what standards and regulations apply to the measured quantity, the machine, and the device itself. However, it is also important to know the measured machine, without which we cannot adequately perform diagnostics and propose suitable measures to improve the accuracy of the machine [1].
\nThe publication [3] describes the effects of an improperly selected method of measuring the volumetric accuracy of a machine tool. Various methods of placing the temperature sensors on the machine were carried out. These are then reflected in the size of individual machine errors, but also in the resulting volumetric accuracy in the range of 8–12%. This is an example of a different approach to measuring of volumetric accuracy, which is, in this case, affected by the human factor.
\nThe machine tool must be seen as a technical system, which must always be considered in a comprehensive way, with all the impacting effects. In operation, the CNC machine tool is influenced by a number of effects. By this, we understand the effect not only of the ambient where it is installed, but also the influence of the operator on the machine itself and its impacts on the ambient. These influences affect the properties that all machine tool users call for, namely run stability, repeated machining accuracy, and trouble-free operation. We must assess machine tools in a comprehensive, hierarchical, and structured way. The deviations in the dimensions of the machined component provide the user with direct information on the accuracy of the parts from which the machine is assembled, on the care devoted to the assembly and, last but not least, on its construction. The workshop environment where the machine is installed affects the machine tool by [4]:
vibrations;
impurities;
heat.
On the other hand, the machine can have the same effects on the environment. The machine can cause vibrations (not common), exhaust gases from the supply of coolant and cutting fluid to the cutting site and can also cause ambient warming. By impurities we do not mean coarse dirt and excessive dust, but the standard ambient of normal workshop operation. Heat flow and radiation from the ambient have an immediate effect on the machine installation site and can adversely affect the machine operation. Coldness or sudden temperature changes are equally unfavorable. In cases where this does not impede the operation of the machine (e.g., thermal protection failure, functionality of motion mechanisms) and the temperature changes (sudden temperature difference) are not too high, the machine can be operated satisfactorily. This state can be compared to a temperature steady state (tempered state). Therefore, manufacturers usually report the temperature range at which their machine operates. Rather, a sudden change in the temperature field is detrimental [4].
\nIn addition to these external effects, several factors, referred to collectively as production accuracy (production uncertainty), affect the operation and, in particular, its machining accuracy. When machining a workpiece over time, its dimensions vary within or outside the given and permitted limits. Workpiece dimensional variations are caused by three main factors affecting the machine tool and the manufacturing process [4]:
temperature influence;
static rigidity of the machine-tool-workpiece system;
dynamic compliance of machine-tool-workpiece system.
Every CNC machine tool is exposed to temperature effects, both even and uneven, during its operation and also in its sleep mode. Due to this temperature effect, temperature deformations arise which lead to a change in the position of the workpiece relative to the tool and thus to inaccuracies. This will be striking if we are focused on the stability of the machined dimension in case of a smaller series of workpieces, respecting the shape and position errors defined on the machined parts. The causes of heating up the individual parts of the machine tool can be found either in the machine itself (passive resistors in the motion axes or the cutting process itself) or outside it. The thermal stability of machine tools today is one of the most important factors for maintaining the specified tolerances on the workpiece [5].
\nAlmost all the mechanical work that is done in the cutting process turns into heat. In addition, losses occur in the machine motion groups. Heat is dissipated from the place of origin (cutting process or in drives, guides) by [5]:
conduction;
convection;
radiation.
Heat dissipates from the cutting process by:
chip;
workpiece;
tool;
ambient.
It follows that almost all the heat is stored in the machine tool and must be dissipated or stabilized. Uneven heating up of machine tool parts can occur, which can lead to thermal expansion and deformation. This results in fluctuations of workpiece dimensions and tolerance variations in shape and position. All temperature effects cause a temperature increase during machine tool operation, which then stabilizes at a certain value—the so-called steady temperature, which is different for each machine. Therefore, some manufacturers insist on this condition and then recommend machining. However, they must ensure that there is no sudden change in temperature. The harm caused to the machining process may not be the temperature itself, but rather harms of temperature changes during machining. For this reason, in addition to efficient cooling, some manufacturers also heat their machines [5].
\nThis state is called a thermally stabilized machine tool. The cold machine tool heats up slowly, because we cannot achieve smooth operation and even workload of the machine tool at the beginning of machining. This is because machining must often be interrupted and this causes cooling. Therefore, at first, the machine is thermally stabilized by heating to the operating temperature and then by controlling and maintaining its temperature. Our aim is that, in spite of the thermally stabilized state of the machine, the changes in temperature and its manifestations of thermal deformation could affect as little as possible the position of the tool relative to the workpiece and thus the machining accuracy by [5]:
selecting a thermo-symmetrical machine design;
increasing the efficiency of all nodes and elements, thus minimizing losses that change into heat;
placing heat sources efficiently so that they do not affect the design of the machine;
dissipating the heat by cooling, chip removal, or by dimensioning the surfaces for efficient heat dissipation;
compensating the machine;
checking the air flow and its temperature, or shielding the external thermal radiation.
Undesirable and harmful side effects of time-varying loading can be vibrations, and thus also the accompanying phenomenon of these vibrations—noise of the machine or its parts. Vibrations deteriorate the working conditions of the working process, deteriorate the quality of machined surface, and reduce the tool edge life. The vibrations that occur in machine tools are called forced and self-excited vibration. The source of forced vibration in machine tools is the periodic force.
\nForced vibrations are dangerous for the machine construction itself if their frequencies or higher harmonic frequencies of this force, e.g., from the cutting process, are equal to the eigen frequencies of the machine-tool-workpiece system.
\nIf the source of the forced vibration is caused by the cutting process, the suppression of subsequent vibrations can be accomplished by selecting the cutting conditions. However, it should be borne in mind that, for example, the eigen frequencies of the workpiece can sometimes vary considerably depending on the depth of the chip being removed.
\nSimilarly, the eigen frequency of the machine or the eigen frequency of tool clamping in the spindle may not be suitable. Another way how to suppress the forced vibration is by fixing the machine on a flexible foundation or by using a vibration absorber. On the other hand, self-excited vibrations limit the machining quality. The self-excited vibration of the machine arises without an external power supply (excitation source), since this is due to the interaction between the workpiece and the tool. If there is an excess of energy obtained, i.e., if this energy is greater than the energy consumed, self-excited vibrations occur. This is manifested as a chatter of the machine; this is caused by a number of mechanisms. Self-excited vibrations occur during roughing and finishing operations. This does not mean that if less chip is removed, self-excited vibrations are avoided. For example, self-excited vibrations may occur when removing a chip of small depth on a vertical lathe (0.3 mm) with a large load of the ram on the tool tip (1500 mm) [5].
\nSelf-excited vibrations occur suddenly; stable conditions of cutting process can also suddenly change to unstable ones. Stable conditions become unstable when a certain value of chip depth, which is called a limit chip depth, is exceeded. The basics of the self-excited vibration theory were developed in the 1950s at VÚOSO Praha, founded by Tlustý, Poláček, and others. The theory was based on equality of energy in the feedback system. Energy is generated by the cutting process, which is the source of excitation, and consumed by vibrations (inertial mass, springs and absorbers that can replace the system) [5].
\nUnder the term accuracy of machine tools, you can imagine several partial features of the machine. Accuracy will be taken differently from the perspective of the designer and from the perspective of the metrologist. From the metrological point of view, accuracy describes how close the measurement result is to the true value of the quantity. In the field of machine tools, we can talk about several types of accuracy, while the determination of accuracy is only qualitative (small, medium, and high). These are
These basic three types of accuracy of CNC machine tools are complemented by other types of accuracy, namely
Geometric accuracy describes the geometric structure of a machine tool from which the properties of functional parts affecting its working accuracy can be evaluated. It also describes the production quality of the machine and its assembly in an unloaded state. The tests are carried out on machines working under no load or under finishing conditions of machining [6].
\nGeometric accuracy of axes, their measurement and evaluation are given by the standard ČSN ISO 230-1. This section applies only to accuracy tests. It does not deal with the functional tests of the machine (vibrations, jerky movements of parts, etc.) or the determination of characteristic parameters (revolutions, feeds), as these tests are to be performed prior to the accuracy tests. Geometric tests consist of verifying the dimensions, shapes, and positions of components and their relative alignment. They include all operations that affect a part of the machine, such as planeness, alignment, intersection of axes, parallelism, squareness of straight lines or planar surfaces. They relate only to dimensions, shapes, positions, and relative motions that may affect the accuracy of the machine operation [7].
\nAccording to the standard, there are six geometric errors in linear (according to ČSN ISO 230 - 1) and rotary (according to ČSN ISO 230 - 7) axes, namely three translational errors—positioning error, horizontal and vertical straightness error and three angular errors. A typical three-axis CNC machine tool contains 21 geometric errors—3 × 3 translation errors, 3 × 3 angular errors. To these errors, the errors of the relative squareness of the linear axes are added. All of these errors can adversely affect the overall positioning accuracy of the machine and thus also the accuracy of the machined parts. Errors usually occur when the actual position differs from the position displayed on the machine control unit. Errors increase with dynamic effects arising from the interpolation of axes [4].
\nIn the case of three-axis kinematics, we can find 21 error parameters, 18 translational errors and 3 parameters of squareness of individual machine axes. These errors, including spindle errors, are shown for the three-axis vertical milling machine in Figure 1. The kinematic chain of the three-axis machine tool presented below corresponds to W (Workpiece) -X-Y-Z-T (Tool) [8].
\nScheme of deviations of three-axis kinematics at the machine MCV 754 QUICK, KOVOSVIT-MAS [
The error description for one linear X-axis and one rotary C-axis is given in Table 1.
\nLinear axis X | \nRotary axis C | \n
---|---|
EXX – positioning error | \nEXC – radial motion in X direction | \n
EYX – straightness error in Y direction | \nEYC - radial motion in Y direction | \n
EZX - straightness error in Z direction | \nEZC - axial motion of C axis | \n
EAX – angular roll error | \nEAC - tilt error motion around the X of the C axis | \n
EBX - angular pitch error | \nEBC - tilt error motion around the Y of the C axis | \n
ECX - angular yaw error | \nECC - angular positioning error | \n
Error description for one linear axis.
As early as in 1932, German professor Georg Schlesinger published a book “Inspection Test on Machine Tools,” which became the basis for a unified system for assessing the accuracy of machine tools. In this book, he introduced guidelines for the use of devices and equipment for machine tool inspections. Measurement procedures and tolerances for permitted deviations are also given. The name of prof. Schlesinger is used to informally call the geometric accuracy tests of machine tools.
\nThe devices and aids most commonly used to measure geometric errors in machine tools are, for example, granite rulers and cubes, dial gauges, digital inclinometers, autocollimators or laser interferometers, which are increasingly used for measurement. The principle of light interference as a measuring tool dates back to 1880, when Albert Michelson developed interferometry. The Michelson interferometer consists of a light source of one wavelength (monochromatic light), a silver-coated mirror and two other mirrors. Although modern interferometers are more sophisticated and measure with accuracy of the order of 1 ppm and higher, they still use the basic principles of the Michelson interferometer [4].
\nThe straightness measurement shows deflection (bent component) or misalignment in the machine guides. This may be due to wear, an accident that may have damaged them, or poor machine foundations that cause the axis or the entire machine to drop.
\nSquareness is measured by comparing the straightness of two nominally orthogonal axes. Measurements can be carried out using different fixtures and devices with different arrangements. Measuring prisms, mandrels, or granite cubes may be included among fixtures while dial gauges and lasers among devices [4].
\nPlaneness measurement is performed to check the planeness of CMM tables and machine tools, plate fields and surfaces. It determines whether there are any significant peaks or valleys and quantifies them. If these errors are significant, corrective operations are required. A certain number of measuring lines are required to measure the planeness of the surface.
\nThis parameter describes the accuracy and repeatability of positioning in linear and rotary numerically controlled axes. “Determination of accuracy and repeatability of positioning in numerically controlled axes” is described in the standard ISO 230-2/6 (ISO 230-2 Test code for machine tools—Determination of accuracy and repeatability of positioning numerically controlled axes; ISO 230-6 Test code for machine tools—Determination of positioning accuracy on body and face diagonals), but very often the directive VDI/DGQ 3441is also used [6].
\nPositioning accuracy is the most common form of measurement made with a laser interferometer (Figure 2). The laser system measures linear positioning accuracy and repeatability by comparing the position displayed on the machine with the actual position measured by the laser system.
\nSetting of measuring system for measurement of positioning accuracy [Renishaw].
A more advanced device for measurement of positioning accuracy of the machine is the Laser Tracker, which allows for immediate evaluation of the x, y, and z deviations. The geometric accuracy of the machine and the accuracy of positioning can be evaluated simultaneously (Figure 3) for an already assembled and activated machine. For this reason, the aforementioned accuracies are usually considered simultaneously [9].
\nSynergy when evaluating geometric and positioning accuracy using a laser tracker [
Theoretically, if the CNC machines were perfectly accurate, then the circular path of the machine would exactly match the programmed circular path. In practice, however, any of the errors (measuring error, straightness, clearance, reverse error, etc.) will cause the radius of the circle to deviate from the programmed circle. If we are able to accurately measure the actual circular path and compare it with the programmed (nominal) path, we would get a scale of the machine tool accuracy. Measurement and evaluation of circular interpolation accuracy are the subject of, for example, the standard ČSN ISO 230-4. The aim of the tests is to provide a method for estimating the properties of contour forming of numerically controlled machine tools. These errors are affected by the geometric errors and dynamic behavior of the machine at the feed used. Results are visible on machined parts under ideal machining conditions if the diameter and feed are the same for both machining and interpolation testing [1, 7].
\nAdvanced and highly progressive methods include the assessment of volumetric accuracy and its subsequent compensation. The purpose of these advanced compensations is to minimize the tool center point (TCP) deviation at any point in the machine measured workspace. TCP volumetric deviation is defined as the sum of partial deviations in the individual axes [6].
\nVolumetric accuracy of machine tools is represented by a vector map of error deviations in the workspace. In the standard ISO 230-1, the concept of volumetric accuracy for a three-axis center is defined as the maximum range of relative deviations between the actual and ideal position in the X, Y, Z directions and the maximum range of deviations orientation for directions of A, B, C axes for motions in X, Y, Z axes in the specified volume, where the deviations are the relative deviations between the tool and the workpiece on the machine tool for specified alignment of the primary and secondary axes [1, 10].
\nThe LaserTRACER measuring device (Figure 4) is mainly used for measuring of volumetric accuracy and subsequent volumetric compensation. The principle of the LaserTRACER measurement is based on measurement of beam lengths (HeNe laser wavelengths, 632.8 nm) and calculation of the measured point in the workspace by the method of sequential multilateration.
\nPrinciple of measurement with LaserTRACER [etalon].
With this method, it is necessary to measure gradually from multiple locations on the machine (it is recommended to measure from at least four LaserTRACER positions). The method is presented as an analogy to the GPS system [10].
\nThis is a property of a machine tool that expresses the quality and productivity of a potential workpiece production. Working accuracy is expressed by the production of a test workpiece or a series of test workpieces. The working accuracy of the machine is affected by the accuracy of the relative tool path [6].
geometric accuracy of the machine;
tool positioning accuracy relative to the workpiece (positioning accuracy);
resistance of the machine to elastic deformations (caused by cutting forces, workpiece weight, etc.);
resistance of the machine to thermal expansion (“thermal stability”);
selection of cutting conditions, etc.
An overall summary of factors affecting the accuracy of the machine tool is shown in Figure 5. The resulting error in the Cartesian coordinate system is shown by Eq. (1) as a spatial error between the programmed and the actual TCP position [6].
\nOverview of the error budget in a machine tool and the factors affecting it [
Test workpieces to be tested for working accuracy are given, for example, by ISO 10791–7. Here, a test workpiece for three-axis machining is designed. Furthermore, test workpieces are aimed at continuous five-axis machining. An example is the test workpiece defined by the directive VDI NCG 5211-1.
\nProduction accuracy describes the production process accuracy evaluated on the workpiece. Production accuracy is influenced by geometrical accuracy, positioning accuracy, working accuracy, and also by the errors of machine operator (incorrectly adjusted tool, poorly clamped workpiece) and by changes of ambient conditions. Variations in the dimensions of the test workpieces during the production process provide direct information on production accuracy [6].
\nProduction accuracy is usually monitored by SPC (statistical process control). This method has already been overcome in some production processes with 100% product control. Due to the spectrum of workpieces of medium-sized and large CNC machine tools, the SPC method can still be considered valid [6].
\nThe three main influences that affect the machine tool and the production process and cause workpiece dimensional variations can be more closely assigned to [4]:
production technology 15%,
working accuracy of the machine 25%,
measurement 15%,
ambient conditions 20%,
machined part 5%,
machine operator 20%.
The above-mentioned partial accuracies of the machine tool can be divided into individual parts of the life cycle (Figure 6). Production accuracy can, therefore, be monitored at the phase of customer’s machine use and is influenced by both the working accuracy of the machine and long-term stability of geometric accuracy.
\nRelationships between individual accuracies of a CNC machine tool throughout its life cycle.
One of the possibilities of compensating the error of linear and rotary axis is to use the so-called interpolation compensations, which include the compensation of leadscrew errors and measuring system errors [12]. In the SIEMENS control system, errors are referred to as LEC and MSEC (
Only unidirectional compensations can be made by ENC_COMP compensation. In the event that a clearance error is found from the test, it is possible to use the Backlash compensation in combination with ENC_COMP.
\nDuring the transfer of force between the movable part of the machine and its drive—e.g., a ball screw and its mounting—there are clearances (gaps) at different load directions. Conversely, a complete clearance-free mechanical adjustment will dramatically increase machine wear and heat generation. Mechanical clearances cause deviations in the reverse path of axes or spindles with indirect measuring systems. This means that if the direction changes, the axis will travel depending on the gap size. These clearances are compensated by the function listed below as Backlash.
\nBacklash can be entered into the control system in several ways. The first option is to use the machine parameter and enter the value as a constant for the selected axis.
\nThe second option is to use the SAG compensations and the CEC table, which will be described in the next step and eliminate the clearance error by bidirectional compensation. The advantage of the first solution is to specify only one constant. In the case of non-linear behavior, it is preferable to enter the clearance in the form of a CEC table.
\nTo use the MSEC compensation, the table for the Siemens control system will be as follows:
In the previous paragraph, compensation in one MSEC axis was described [12]. In a large number of cases, MSEC compensation is insufficient and it is advisable to introduce corrections of two dependent axes. The sag compensation is performed when the weight of the individual machine elements leads to the positioning displacement and inclination of the moving parts, as this causes the related machine parts—including guide systems—to bend. The compensation error of angle is used when the motion axes are not properly aligned at the correct angle (e.g., vertical). As the deviation from the zero position increases, the positioning errors also increase. Both types of errors can occur as a result of shifting the weights of individual machine parts, replaceable heads, workpiece diversity, and machine compliance. Measured correction values are calculated based on the relevant standards or own algorithms and are stored in the machine control system in the form of a compensation table during commissioning.
\nDuring machine operation and motion of axes, the corresponding value is interpolated between the values of the “interpolation points” table. For each motion in a continuous path, there is always both the base axis and the compensation axis. If the perpendicular y-axis is not in the continuous path of the x-axis and the y-axis, this inaccuracy is compensated by the x-axis in the continuous path. Figure 7 shows the principle of compensation on an example of a horizontal machine tool. The straightness error of EYZ is largely due to the machine compliance, while, through the ram travel, the sag occurs which is caused by the load of the assembly spindle-ram-slide-accessory.
\nError EYZ of horizontal machine tool.
This compensation provides a wide range of options for elimination of geometric errors. Here, an example will be given to compensate a sag, e.g., caused by changing the load of the replaceable heads, where there may be significant differences in their weights. If the machine is without a replaceable head, the sag is shown in Figure 7. If a milling head with a certain weight is used, the travel will be more loaded; therefore, a greater deformation will occur.
\nTo use the SAG compensation for sagging compensations, the table for the Siemens control system will be as follows:
If we use the SAG compensations for bidirectional axis compensation, the table for the Siemens control system will be as follows. The parameters of both the base axis and the compensated axis will be the same and match the axis designation. The direction parameter will be first set to 1 and then to −1. As an example of a horizontal boring machine, for the Z axis of ram travel, it will be as follows.
Furthermore, SAG compensations are used to compensate squareness error. The squareness compensations of the Siemens control system are entered using CEC tables, where one axis is determined as the base axis and the other as compensated. An example will be given to compensate the squareness of, for example, the Y and Z axes of a horizontal machining center. From the measured values obtained, for example, from measurements with a laser interferometer, ballbar or calibration cubes and dial gauges, we obtain information on the size and orientation of squareness, which may be, for example, 22.4 μm/m. It is necessary to respect the machine coordinate system and orientation of axes when preparing the measurements. Otherwise, for the verification measurement, the resulting error value will be multiplied. For a ram travel (Z axis), this means that for a travel length of 750 mm, the measured error of 22.4 μm/m must first be converted by a ratio of 750/1000 mm. After multiplying by the measured value, we obtain the value for entering the correction into the machine control system. In this case, the value at the 750 mm position will be 16.8 μm.
\nFor the above example, the compensation table for travel of the ram axis Z will be as follows.
The DMU 75 monoBlock® machine (Figure 8) is kinematically adapted to have three linear motions in the tool (X = 750, Y = 650, Z = 560 mm) and two rotary motions in the workpiece (swinging about the X axis and rotation around the Z axis). It is equipped with the Heidenhain TNC 640 control system. This machine has a positioning accuracy of 8 μm per axis.
\nView of DMU 75 monoBlock ® [DMG Mori].
The measurement and compensation of the volumetric accuracy of the linear machine axes are shown in Figure 9. After compensation, the workspace was improved by approx. 60%.
\nResults of volumetric accuracy measurement of linear axes before and after compensation [
Before verification measurement of the volumetric accuracy, the machine was measured by a DBB device to verify the successful activation of volumetric compensation. Figure 10 shows an improvement in the accuracy of circular interpolation on the shape of roundness (especially squareness); therefore, the machine was verified by the LaserTRACER to detect an improvement in overall volumetric accuracy [13].
\nAccuracy of circular interpolation in XY plane before and after volumetric compensation [
After compensating the volumetric accuracy of the linear axes, the rotary axis that is the first in the kinematic chain from the workpiece to the tool, i.e., the C axis, must first be measured. This axis was measured with an example of the results in Figures 11 and 12 [13].
\nError of EAA axis A [
Error of EYA axis A [
The aforementioned accuracies are related to one another and it cannot be assumed, for example, that the desired working accuracy can be achieved by poor geometric accuracy. Figure 13 shows cascading of these accuracies.
\nCascading of accuracies in machine tools [
\nFigure 13 shows a machine tool with linear axes. If there are rotary axes on the machine, it is necessary to check the linear axes first and then check the rotary axes. These are also checked for geometrical, positioning, and volumetric accuracy. If all the accuracies are within the required tolerances, the working accuracy related to the machining of the workpiece can be stepped to. Individual accuracies are described in the following section.
\nThese results were obtained with the financial support of the Faculty of Mechanical Engineering, Brno University of Technology (Grant No. FSI-S-20-6335).
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Radiotherapy and Nuclear Medicine Technology has always been my aspiration and my life. As years passed I accumulated a tremendous amount of skills and knowledge in Radiotherapy and Nuclear Medicine, Conventional Radiology, Radiation Protection, Bioinformatics Technology, PACS, Image processing, clinically and lecturing that will enable me to provide a valuable service to the community as a Researcher and Consultant in this field. My method of translating this into day to day in clinical practice is non-exhaustible and my habit of exchanging knowledge and expertise with others in those fields is the code and secret of success.",institutionString:null,institution:{name:"Majmaah University",country:{name:"Saudi Arabia"}}},{id:"313277",title:"Dr.",name:"Bartłomiej",middleName:null,surname:"Płaczek",slug:"bartlomiej-placzek",fullName:"Bartłomiej Płaczek",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/313277/images/system/313277.jpg",biography:"Bartłomiej Płaczek, MSc (2002), Ph.D. (2005), Habilitation (2016), is a professor at the University of Silesia, Institute of Computer Science, Poland, and an expert from the National Centre for Research and Development. His research interests include sensor networks, smart sensors, intelligent systems, and image processing with applications in healthcare and medicine. He is the author or co-author of more than seventy papers in peer-reviewed journals and conferences as well as the co-author of several books. He serves as a reviewer for many scientific journals, international conferences, and research foundations. Since 2010, Dr. Placzek has been a reviewer of grants and projects (including EU projects) in the field of information technologies.",institutionString:"University of Silesia",institution:{name:"University of Silesia",country:{name:"Poland"}}},{id:"35000",title:"Prof.",name:"Ulrich H.P",middleName:"H.P.",surname:"Fischer",slug:"ulrich-h.p-fischer",fullName:"Ulrich H.P Fischer",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/35000/images/3052_n.jpg",biography:"Academic and Professional Background\nUlrich H. P. has Diploma and PhD degrees in Physics from the Free University Berlin, Germany. He has been working on research positions in the Heinrich-Hertz-Institute in Germany. Several international research projects has been performed with European partners from France, Netherlands, Norway and the UK. He is currently Professor of Communications Systems at the Harz University of Applied Sciences, Germany.\n\nPublications and Publishing\nHe has edited one book, a special interest book about ‘Optoelectronic Packaging’ (VDE, Berlin, Germany), and has published over 100 papers and is owner of several international patents for WDM over POF key elements.\n\nKey Research and Consulting Interests\nUlrich’s research activity has always been related to Spectroscopy and Optical Communications Technology. Specific current interests include the validation of complex instruments, and the application of VR technology to the development and testing of measurement systems. He has been reviewer for several publications of the Optical Society of America\\'s including Photonics Technology Letters and Applied Optics.\n\nPersonal Interests\nThese include motor cycling in a very relaxed manner and performing martial arts.",institutionString:null,institution:{name:"Charité",country:{name:"Germany"}}},{id:"341622",title:"Ph.D.",name:"Eduardo",middleName:null,surname:"Rojas Alvarez",slug:"eduardo-rojas-alvarez",fullName:"Eduardo Rojas Alvarez",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/341622/images/15892_n.jpg",biography:null,institutionString:null,institution:{name:"University of Cuenca",country:{name:"Ecuador"}}},{id:"215610",title:"Prof.",name:"Muhammad",middleName:null,surname:"Sarfraz",slug:"muhammad-sarfraz",fullName:"Muhammad Sarfraz",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/215610/images/system/215610.jpeg",biography:"Muhammad Sarfraz is a professor in the Department of Information Science, Kuwait University, Kuwait. His research interests include optimization, computer graphics, computer vision, image processing, machine learning, pattern recognition, soft computing, data science, and intelligent systems. Prof. Sarfraz has been a keynote/invited speaker at various platforms around the globe. He has advised/supervised more than 110 students for their MSc and Ph.D. theses. He has published more than 400 publications as books, journal articles, and conference papers. He has authored and/or edited around seventy books. Prof. Sarfraz is a member of various professional societies. He is a chair and member of international advisory committees and organizing committees of numerous international conferences. He is also an editor and editor in chief for various international journals.",institutionString:"Kuwait University",institution:{name:"Kuwait University",country:{name:"Kuwait"}}},{id:"32650",title:"Prof.",name:"Lukas",middleName:"Willem",surname:"Snyman",slug:"lukas-snyman",fullName:"Lukas Snyman",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/32650/images/4136_n.jpg",biography:"Lukas Willem Snyman received his basic education at primary and high schools in South Africa, Eastern Cape. He enrolled at today's Nelson Metropolitan University and graduated from this university with a BSc in Physics and Mathematics, B.Sc Honors in Physics, MSc in Semiconductor Physics, and a Ph.D. in Semiconductor Physics in 1987. After his studies, he chose an academic career and devoted his energy to the teaching of physics to first, second, and third-year students. After positions as a lecturer at the University of Port Elizabeth, he accepted a position as Associate Professor at the University of Pretoria, South Africa.\r\n\r\nIn 1992, he motivates the concept of 'television and computer-based education” as means to reach large student numbers with only the best of teaching expertise and publishes an article on the concept in the SA Journal of Higher Education of 1993 (and later in 2003). The University of Pretoria subsequently approved a series of test projects on the concept with outreach to Mamelodi and Eerste Rust in 1993. In 1994, the University established a 'Unit for Telematic Education ' as a support section for multiple faculties at the University of Pretoria. In subsequent years, the concept of 'telematic education” subsequently becomes well established in academic circles in South Africa, grew in popularity, and is adopted by many universities and colleges throughout South Africa as a medium of enhancing education and training, as a method to reaching out to far out communities, and as a means to enhance study from the home environment.\r\n\r\nProfessor Snyman in subsequent years pursued research in semiconductor physics, semiconductor devices, microelectronics, and optoelectronics.\r\n\r\nIn 2000 he joined the TUT as a full professor. Here served for a period as head of the Department of Electronic Engineering. Here he makes contributions to solar energy development, microwave and optoelectronic device development, silicon photonics, as well as contributions to new mobile telecommunication systems and network planning in SA.\r\n\r\nCurrently, he teaches electronics and telecommunications at the TUT to audiences ranging from first-year students to Ph.D. level.\r\n\r\nFor his research in the field of 'Silicon Photonics” since 1990, he has published (as author and co-author) about thirty internationally reviewed articles in scientific journals, contributed to more than forty international conferences, about 25 South African provisional patents (as inventor and co-inventor), 8 PCT international patent applications until now. Of these, two USA patents applications, two European Patents, two Korean patents, and ten SA patents have been granted. A further 4 USA patents, 5 European patents, 3 Korean patents, 3 Chinese patents, and 3 Japanese patents are currently under consideration.\r\n\r\nRecently he has also published an extensive scholarly chapter in an internet open access book on 'Integrating Microphotonic Systems and MOEMS into standard Silicon CMOS Integrated circuitry”.\r\n\r\nFurthermore, Professor Snyman recently steered a new initiative at the TUT by introducing a 'Laboratory for Innovative Electronic Systems ' at the Department of Electrical Engineering. The model of this laboratory or center is to primarily combine outputs as achieved by high-level research with lower-level system development and entrepreneurship in a technical university environment. Students are allocated to projects at different levels with PhDs and Master students allocated to the generation of new knowledge and new technologies, while students at the diploma and Baccalaureus level are allocated to electronic systems development with a direct and a near application for application in industry or the commercial and public sectors in South Africa.\r\n\r\nProfessor Snyman received the WIRSAM Award of 1983 and the WIRSAM Award in 1985 in South Africa for best research papers by a young scientist at two international conferences on electron microscopy in South Africa. He subsequently received the SA Microelectronics Award for the best dissertation emanating from studies executed at a South African university in the field of Physics and Microelectronics in South Africa in 1987. In October of 2011, Professor Snyman received the prestigious Institutional Award for 'Innovator of the Year” for 2010 at the Tshwane University of Technology, South Africa. This award was based on the number of patents recognized and granted by local and international institutions as well as for his contributions concerning innovation at the TUT.",institutionString:null,institution:{name:"University of South Africa",country:{name:"South Africa"}}},{id:"317279",title:"Mr.",name:"Ali",middleName:"Usama",surname:"Syed",slug:"ali-syed",fullName:"Ali Syed",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/317279/images/16024_n.png",biography:"A creative, talented, and innovative young professional who is dedicated, well organized, and capable research fellow with two years of experience in graduate-level research, published in engineering journals and book, with related expertise in Bio-robotics, equally passionate about the aesthetics of the mechanical and electronic system, obtained expertise in the use of MS Office, MATLAB, SolidWorks, LabVIEW, Proteus, Fusion 360, having a grasp on python, C++ and assembly language, possess proven ability in acquiring research grants, previous appointments with social and educational societies with experience in administration, current affiliations with IEEE and Web of Science, a confident presenter at conferences and teacher in classrooms, able to explain complex information to audiences of all levels.",institutionString:null,institution:{name:"Air University",country:{name:"Pakistan"}}},{id:"75526",title:"Ph.D.",name:"Zihni Onur",middleName:null,surname:"Uygun",slug:"zihni-onur-uygun",fullName:"Zihni Onur Uygun",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/75526/images/12_n.jpg",biography:"My undergraduate education and my Master of Science educations at Ege University and at Çanakkale Onsekiz Mart University have given me a firm foundation in Biochemistry, Analytical Chemistry, Biosensors, Bioelectronics, Physical Chemistry and Medicine. After obtaining my degree as a MSc in analytical chemistry, I started working as a research assistant in Ege University Medical Faculty in 2014. In parallel, I enrolled to the MSc program at the Department of Medical Biochemistry at Ege University to gain deeper knowledge on medical and biochemical sciences as well as clinical chemistry in 2014. In my PhD I deeply researched on biosensors and bioelectronics and finished in 2020. Now I have eleven SCI-Expanded Index published papers, 6 international book chapters, referee assignments for different SCIE journals, one international patent pending, several international awards, projects and bursaries. In parallel to my research assistant position at Ege University Medical Faculty, Department of Medical Biochemistry, in April 2016, I also founded a Start-Up Company (Denosens Biotechnology LTD) by the support of The Scientific and Technological Research Council of Turkey. Currently, I am also working as a CEO in Denosens Biotechnology. The main purposes of the company, which carries out R&D as a research center, are to develop new generation biosensors and sensors for both point-of-care diagnostics; such as glucose, lactate, cholesterol and cancer biomarker detections. My specific experimental and instrumental skills are Biochemistry, Biosensor, Analytical Chemistry, Electrochemistry, Mobile phone based point-of-care diagnostic device, POCTs and Patient interface designs, HPLC, Tandem Mass Spectrometry, Spectrophotometry, ELISA.",institutionString:null,institution:{name:"Ege University",country:{name:"Turkey"}}},{id:"246502",title:"Dr.",name:"Jaya T.",middleName:"T",surname:"Varkey",slug:"jaya-t.-varkey",fullName:"Jaya T. Varkey",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/246502/images/11160_n.jpg",biography:"Jaya T. Varkey, PhD, graduated with a degree in Chemistry from Cochin University of Science and Technology, Kerala, India. She obtained a PhD in Chemistry from the School of Chemical Sciences, Mahatma Gandhi University, Kerala, India, and completed a post-doctoral fellowship at the University of Minnesota, USA. She is a research guide at Mahatma Gandhi University and Associate Professor in Chemistry, St. Teresa’s College, Kochi, Kerala, India.\nDr. Varkey received a National Young Scientist award from the Indian Science Congress (1995), a UGC Research award (2016–2018), an Indian National Science Academy (INSA) Visiting Scientist award (2018–2019), and a Best Innovative Faculty award from the All India Association for Christian Higher Education (AIACHE) (2019). She Hashas received the Sr. Mary Cecil prize for best research paper three times. She was also awarded a start-up to develop a tea bag water filter. \nDr. Varkey has published two international books and twenty-seven international journal publications. She is an editorial board member for five international journals.",institutionString:"St. Teresa’s College",institution:null},{id:"250668",title:"Dr.",name:"Ali",middleName:null,surname:"Nabipour Chakoli",slug:"ali-nabipour-chakoli",fullName:"Ali Nabipour Chakoli",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/250668/images/system/250668.jpg",biography:"Academic Qualification:\r\n•\tPhD in Materials Physics and Chemistry, From: Sep. 2006, to: Sep. 2010, School of Materials Science and Engineering, Harbin Institute of Technology, Thesis: Structure and Shape Memory Effect of Functionalized MWCNTs/poly (L-lactide-co-ε-caprolactone) Nanocomposites. Supervisor: Prof. Wei Cai,\r\n•\tM.Sc in Applied Physics, From: 1996, to: 1998, Faculty of Physics & Nuclear Science, Amirkabir Uni. of Technology, Tehran, Iran, Thesis: Determination of Boron in Micro alloy Steels with solid state nuclear track detectors by neutron induced auto radiography, Supervisors: Dr. M. Hosseini Ashrafi and Dr. A. Hosseini.\r\n•\tB.Sc. in Applied Physics, From: 1991, to: 1996, Faculty of Physics & Nuclear Science, Amirkabir Uni. of Technology, Tehran, Iran, Thesis: Design of shielding for Am-Be neutron sources for In Vivo neutron activation analysis, Supervisor: Dr. M. Hosseini Ashrafi.\r\n\r\nResearch Experiences:\r\n1.\tNanomaterials, Carbon Nanotubes, Graphene: Synthesis, Functionalization and Characterization,\r\n2.\tMWCNTs/Polymer Composites: Fabrication and Characterization, \r\n3.\tShape Memory Polymers, Biodegradable Polymers, ORC, Collagen,\r\n4.\tMaterials Analysis and Characterizations: TEM, SEM, XPS, FT-IR, Raman, DSC, DMA, TGA, XRD, GPC, Fluoroscopy, \r\n5.\tInteraction of Radiation with Mater, Nuclear Safety and Security, NDT(RT),\r\n6.\tRadiation Detectors, Calibration (SSDL),\r\n7.\tCompleted IAEA e-learning Courses:\r\nNuclear Security (15 Modules),\r\nNuclear Safety:\r\nTSA 2: Regulatory Protection in Occupational Exposure,\r\nTips & Tricks: Radiation Protection in Radiography,\r\nSafety and Quality in Radiotherapy,\r\nCourse on Sealed Radioactive Sources,\r\nCourse on Fundamentals of Environmental Remediation,\r\nCourse on Planning for Environmental Remediation,\r\nKnowledge Management Orientation Course,\r\nFood Irradiation - Technology, Applications and Good Practices,\r\nEmployment:\r\nFrom 2010 to now: Academic staff, Nuclear Science and Technology Research Institute, Kargar Shomali, Tehran, Iran, P.O. Box: 14395-836.\r\nFrom 1997 to 2006: Expert of Materials Analysis and Characterization. Research Center of Agriculture and Medicine. Rajaeeshahr, Karaj, Iran, P. O. Box: 31585-498.",institutionString:"Atomic Energy Organization of Iran",institution:{name:"Atomic Energy Organization of Iran",country:{name:"Iran"}}},{id:"248279",title:"Dr.",name:"Monika",middleName:"Elzbieta",surname:"Machoy",slug:"monika-machoy",fullName:"Monika Machoy",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/248279/images/system/248279.jpeg",biography:"Monika Elżbieta Machoy, MD, graduated with distinction from the Faculty of Medicine and Dentistry at the Pomeranian Medical University in 2009, defended her PhD thesis with summa cum laude in 2016 and is currently employed as a researcher at the Department of Orthodontics of the Pomeranian Medical University. She expanded her professional knowledge during a one-year scholarship program at the Ernst Moritz Arndt University in Greifswald, Germany and during a three-year internship at the Technical University in Dresden, Germany. She has been a speaker at numerous orthodontic conferences, among others, American Association of Orthodontics, European Orthodontic Symposium and numerous conferences of the Polish Orthodontic Society. She conducts research focusing on the effect of orthodontic treatment on dental and periodontal tissues and the causes of pain in orthodontic patients.",institutionString:"Pomeranian Medical University",institution:{name:"Pomeranian Medical University",country:{name:"Poland"}}},{id:"252743",title:"Prof.",name:"Aswini",middleName:"Kumar",surname:"Kar",slug:"aswini-kar",fullName:"Aswini Kar",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/252743/images/10381_n.jpg",biography:"uploaded in cv",institutionString:null,institution:{name:"KIIT University",country:{name:"India"}}},{id:"204256",title:"Dr.",name:"Anil",middleName:"Kumar",surname:"Kumar Sahu",slug:"anil-kumar-sahu",fullName:"Anil Kumar Sahu",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/204256/images/14201_n.jpg",biography:"I have nearly 11 years of research and teaching experience. I have done my master degree from University Institute of Pharmacy, Pt. Ravi Shankar Shukla University, Raipur, Chhattisgarh India. I have published 16 review and research articles in international and national journals and published 4 chapters in IntechOpen, the world’s leading publisher of Open access books. I have presented many papers at national and international conferences. I have received research award from Indian Drug Manufacturers Association in year 2015. My research interest extends from novel lymphatic drug delivery systems, oral delivery system for herbal bioactive to formulation optimization.",institutionString:null,institution:{name:"Chhattisgarh Swami Vivekanand Technical University",country:{name:"India"}}},{id:"253468",title:"Dr.",name:"Mariusz",middleName:null,surname:"Marzec",slug:"mariusz-marzec",fullName:"Mariusz Marzec",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/253468/images/system/253468.png",biography:"An assistant professor at Department of Biomedical Computer Systems, at Institute of Computer Science, Silesian University in Katowice. Scientific interests: computer analysis and processing of images, biomedical images, databases and programming languages. He is an author and co-author of scientific publications covering analysis and processing of biomedical images and development of database systems.",institutionString:"University of Silesia",institution:null},{id:"212432",title:"Prof.",name:"Hadi",middleName:null,surname:"Mohammadi",slug:"hadi-mohammadi",fullName:"Hadi Mohammadi",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/212432/images/system/212432.jpeg",biography:"Dr. Hadi Mohammadi is a biomedical engineer with hands-on experience in the design and development of many engineering structures and medical devices through various projects that he has been involved in over the past twenty years. Dr. Mohammadi received his BSc. and MSc. degrees in Mechanical Engineering from Sharif University of Technology, Tehran, Iran, and his PhD. degree in Biomedical Engineering (biomaterials) from the University of Western Ontario. He was a postdoctoral trainee for almost four years at University of Calgary and Harvard Medical School. He is an industry innovator having created the technology to produce lifelike synthetic platforms that can be used for the simulation of almost all cardiovascular reconstructive surgeries. He’s been heavily involved in the design and development of cardiovascular devices and technology for the past 10 years. He is currently an Assistant Professor with the University of British Colombia, Canada.",institutionString:"University of British Columbia",institution:{name:"University of British Columbia",country:{name:"Canada"}}},{id:"254463",title:"Prof.",name:"Haisheng",middleName:null,surname:"Yang",slug:"haisheng-yang",fullName:"Haisheng Yang",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/254463/images/system/254463.jpeg",biography:"Haisheng Yang, Ph.D., Professor and Director of the Department of Biomedical Engineering, College of Life Science and Bioengineering, Beijing University of Technology. He received his Ph.D. degree in Mechanics/Biomechanics from Harbin Institute of Technology (jointly with University of California, Berkeley). Afterwards, he worked as a Postdoctoral Research Associate in the Purdue Musculoskeletal Biology and Mechanics Lab at the Department of Basic Medical Sciences, Purdue University, USA. He also conducted research in the Research Centre of Shriners Hospitals for Children-Canada at McGill University, Canada. Dr. Yang has over 10 years research experience in orthopaedic biomechanics and mechanobiology of bone adaptation and regeneration. He earned an award from Beijing Overseas Talents Aggregation program in 2017 and serves as Beijing Distinguished Professor.",institutionString:"Beijing University of Technology",institution:null},{id:"255757",title:"Dr.",name:"Igor",middleName:"Victorovich",surname:"Lakhno",slug:"igor-lakhno",fullName:"Igor Lakhno",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/255757/images/system/255757.jpg",biography:"Lakhno Igor Victorovich was born in 1971 in Kharkiv (Ukraine). \nMD – 1994, Kharkiv National Medical Univesity.\nOb&Gyn; – 1997, master courses in Kharkiv Medical Academy of Postgraduate Education.\nPhD – 1999, Kharkiv National Medical Univesity.\nDSc – 2019, PL Shupik National Academy of Postgraduate Education \nLakhno Igor has been graduated from an international training courses on reproductive medicine and family planning held in Debrecen University (Hungary) in 1997. Since 1998 Lakhno Igor has worked as an associate professor of the department of obstetrics and gynecology of VN Karazin National University and an associate professor of the perinatology, obstetrics and gynecology department of Kharkiv Medical Academy of Postgraduate Education. Since June 2019 he’s a professor of the department of obstetrics and gynecology of VN Karazin National University and a professor of the perinatology, obstetrics and gynecology department of Kharkiv Medical Academy of Postgraduate Education . He’s an author of about 200 printed works and there are 17 of them in Scopus or Web of Science databases. Lakhno Igor is a rewiever of Journal of Obstetrics and Gynaecology (Taylor and Francis), Informatics in Medicine Unlocked (Elsevier), The Journal of Obstetrics and Gynecology Research (Wiley), Endocrine, Metabolic & Immune Disorders-Drug Targets (Bentham Open), The Open Biomedical Engineering Journal (Bentham Open), etc. He’s defended a dissertation for DSc degree \\'Pre-eclampsia: prediction, prevention and treatment”. Lakhno Igor has participated as a speaker in several international conferences and congresses (International Conference on Biological Oscillations April 10th-14th 2016, Lancaster, UK, The 9th conference of the European Study Group on Cardiovascular Oscillations). His main scientific interests: obstetrics, women’s health, fetal medicine, cardiovascular medicine.",institutionString:"V.N. Karazin Kharkiv National University",institution:{name:"Kharkiv Medical Academy of Postgraduate Education",country:{name:"Ukraine"}}},{id:"89721",title:"Dr.",name:"Mehmet",middleName:"Cuneyt",surname:"Ozmen",slug:"mehmet-ozmen",fullName:"Mehmet Ozmen",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/89721/images/7289_n.jpg",biography:null,institutionString:null,institution:{name:"Gazi University",country:{name:"Turkey"}}},{id:"243698",title:"M.D.",name:"Xiaogang",middleName:null,surname:"Wang",slug:"xiaogang-wang",fullName:"Xiaogang Wang",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/243698/images/system/243698.png",biography:"Dr. Xiaogang Wang, a faculty member of Shanxi Eye Hospital specializing in the treatment of cataract and retinal disease and a tutor for postgraduate students of Shanxi Medical University, worked in the COOL Lab as an international visiting scholar under the supervision of Dr. David Huang and Yali Jia from October 2012 through November 2013. Dr. Wang earned an MD from Shanxi Medical University and a Ph.D. from Shanghai Jiao Tong University. Dr. Wang was awarded two research project grants focused on multimodal optical coherence tomography imaging and deep learning in cataract and retinal disease, from the National Natural Science Foundation of China. He has published around 30 peer-reviewed journal papers and four book chapters and co-edited one book.",institutionString:"Shanxi Eye Hospital",institution:{name:"Shanxi Eye Hospital",country:{name:"China"}}},{id:"242893",title:"Ph.D. Student",name:"Joaquim",middleName:null,surname:"De Moura",slug:"joaquim-de-moura",fullName:"Joaquim De Moura",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/242893/images/7133_n.jpg",biography:"Joaquim de Moura received his degree in Computer Engineering in 2014 from the University of A Coruña (Spain). In 2016, he received his M.Sc degree in Computer Engineering from the same university. He is currently pursuing his Ph.D degree in Computer Science in a collaborative project between ophthalmology centers in Galicia and the University of A Coruña. His research interests include computer vision, machine learning algorithms and analysis and medical imaging processing of various kinds.",institutionString:null,institution:{name:"University of A Coruña",country:{name:"Spain"}}},{id:"267434",title:"Dr.",name:"Rohit",middleName:null,surname:"Raja",slug:"rohit-raja",fullName:"Rohit Raja",position:null,profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRZkkQAG/Profile_Picture_2022-05-09T12:55:18.jpg",biography:null,institutionString:null,institution:null},{id:"294334",title:"B.Sc.",name:"Marc",middleName:null,surname:"Bruggeman",slug:"marc-bruggeman",fullName:"Marc Bruggeman",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/294334/images/8242_n.jpg",biography:"Chemical engineer graduate, with a passion for material science and specific interest in polymers - their near infinite applications intrigue me. \n\nI plan to continue my scientific career in the field of polymeric biomaterials as I am fascinated by intelligent, bioactive and biomimetic materials for use in both consumer and medical applications.",institutionString:null,institution:null},{id:"244950",title:"Dr.",name:"Salvatore",middleName:null,surname:"Di Lauro",slug:"salvatore-di-lauro",fullName:"Salvatore Di Lauro",position:null,profilePictureURL:"https://intech-files.s3.amazonaws.com/0030O00002bSF1HQAW/ProfilePicture%202021-12-20%2014%3A54%3A14.482",biography:"Name:\n\tSALVATORE DI LAURO\nAddress:\n\tHospital Clínico Universitario Valladolid\nAvda Ramón y Cajal 3\n47005, Valladolid\nSpain\nPhone number: \nFax\nE-mail:\n\t+34 983420000 ext 292\n+34 983420084\nsadilauro@live.it\nDate and place of Birth:\nID Number\nMedical Licence \nLanguages\t09-05-1985. Villaricca (Italy)\n\nY1281863H\n474707061\nItalian (native language)\nSpanish (read, written, spoken)\nEnglish (read, written, spoken)\nPortuguese (read, spoken)\nFrench (read)\n\t\t\nCurrent position (title and company)\tDate (Year)\nVitreo-Retinal consultant in ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl. National Health System.\nVitreo-Retinal consultant in ophthalmology. Instituto Oftalmologico Recoletas. Red Hospitalaria Recoletas. Private practise.\t2017-today\n\n2019-today\n\t\n\t\nEducation (High school, university and postgraduate training > 3 months)\tDate (Year)\nDegree in Medicine and Surgery. University of Neaples 'Federico II”\nResident in Opthalmology. Hospital Clinico Universitario Valladolid\nMaster in Vitreo-Retina. IOBA. University of Valladolid\nFellow of the European Board of Ophthalmology. Paris\nMaster in Research in Ophthalmology. University of Valladolid\t2003-2009\n2012-2016\n2016-2017\n2016\n2012-2013\n\t\nEmployments (company and positions)\tDate (Year)\nResident in Ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl.\nFellow in Vitreo-Retina. IOBA. University of Valladolid\nVitreo-Retinal consultant in ophthalmology. Hospital Clinico Universitario Valladolid. Sacyl. National Health System.\nVitreo-Retinal consultant in ophthalmology. Instituto Oftalmologico Recoletas. Red Hospitalaria Recoletas. \n\t2012-2016\n2016-2017\n2017-today\n\n2019-Today\n\n\n\t\nClinical Research Experience (tasks and role)\tDate (Year)\nAssociated investigator\n\n' FIS PI20/00740: DESARROLLO DE UNA CALCULADORA DE RIESGO DE\nAPARICION DE RETINOPATIA DIABETICA BASADA EN TECNICAS DE IMAGEN MULTIMODAL EN PACIENTES DIABETICOS TIPO 1. Grant by: Ministerio de Ciencia e Innovacion \n\n' (BIO/VA23/14) Estudio clínico multicéntrico y prospectivo para validar dos\nbiomarcadores ubicados en los genes p53 y MDM2 en la predicción de los resultados funcionales de la cirugía del desprendimiento de retina regmatógeno. Grant by: Gerencia Regional de Salud de la Junta de Castilla y León.\n' Estudio multicéntrico, aleatorizado, con enmascaramiento doble, en 2 grupos\nparalelos y de 52 semanas de duración para comparar la eficacia, seguridad e inmunogenicidad de SOK583A1 respecto a Eylea® en pacientes con degeneración macular neovascular asociada a la edad' (CSOK583A12301; N.EUDRA: 2019-004838-41; FASE III). Grant by Hexal AG\n\n' Estudio de fase III, aleatorizado, doble ciego, con grupos paralelos, multicéntrico para comparar la eficacia y la seguridad de QL1205 frente a Lucentis® en pacientes con degeneración macular neovascular asociada a la edad. (EUDRACT: 2018-004486-13). Grant by Qilu Pharmaceutical Co\n\n' Estudio NEUTON: Ensayo clinico en fase IV para evaluar la eficacia de aflibercept en pacientes Naive con Edema MacUlar secundario a Oclusion de Vena CenTral de la Retina (OVCR) en regimen de tratamientO iNdividualizado Treat and Extend (TAE)”, (2014-000975-21). Grant by Fundacion Retinaplus\n\n' Evaluación de la seguridad y bioactividad de anillos de tensión capsular en conejo. Proyecto Procusens. Grant by AJL, S.A.\n\n'Estudio epidemiológico, prospectivo, multicéntrico y abierto\\npara valorar la frecuencia de la conjuntivitis adenovírica diagnosticada mediante el test AdenoPlus®\\nTest en pacientes enfermos de conjuntivitis aguda”\\n. National, multicenter study. Grant by: NICOX.\n\nEuropean multicentric trial: 'Evaluation of clinical outcomes following the use of Systane Hydration in patients with dry eye”. Study Phase 4. Grant by: Alcon Labs'\n\nVLPs Injection and Activation in a Rabbit Model of Uveal Melanoma. Grant by Aura Bioscience\n\nUpdating and characterization of a rabbit model of uveal melanoma. Grant by Aura Bioscience\n\nEnsayo clínico en fase IV para evaluar las variantes genéticas de la vía del VEGF como biomarcadores de eficacia del tratamiento con aflibercept en pacientes con degeneración macular asociada a la edad (DMAE) neovascular. Estudio BIOIMAGE. IMO-AFLI-2013-01\n\nEstudio In-Eye:Ensayo clínico en fase IV, abierto, aleatorizado, de 2 brazos,\nmulticçentrico y de 12 meses de duración, para evaluar la eficacia y seguridad de un régimen de PRN flexible individualizado de 'esperar y extender' versus un régimen PRN según criterios de estabilización mediante evaluaciones mensuales de inyecciones intravítreas de ranibizumab 0,5 mg en pacientes naive con neovascularización coriodea secunaria a la degeneración macular relacionada con la edad. CP: CRFB002AES03T\n\nTREND: Estudio Fase IIIb multicéntrico, randomizado, de 12 meses de\nseguimiento con evaluador de la agudeza visual enmascarado, para evaluar la eficacia y la seguridad de ranibizumab 0.5mg en un régimen de tratar y extender comparado con un régimen mensual, en pacientes con degeneración macular neovascular asociada a la edad. CP: CRFB002A2411 Código Eudra CT:\n2013-002626-23\n\n\n\nPublications\t\n\n2021\n\n\n\n\n2015\n\n\n\n\n2021\n\n\n\n\n\n2021\n\n\n\n\n2015\n\n\n\n\n2015\n\n\n2014\n\n\n\n\n2015-16\n\n\n\n2015\n\n\n2014\n\n\n2014\n\n\n\n\n2014\n\n\n\n\n\n\n\n2014\n\nJose Carlos Pastor; Jimena Rojas; Salvador Pastor-Idoate; Salvatore Di Lauro; Lucia Gonzalez-Buendia; Santiago Delgado-Tirado. Proliferative vitreoretinopathy: A new concept of disease pathogenesis and practical\nconsequences. Progress in Retinal and Eye Research. 51, pp. 125 - 155. 03/2016. DOI: 10.1016/j.preteyeres.2015.07.005\n\n\nLabrador-Velandia S; Alonso-Alonso ML; Di Lauro S; García-Gutierrez MT; Srivastava GK; Pastor JC; Fernandez-Bueno I. Mesenchymal stem cells provide paracrine neuroprotective resources that delay degeneration of co-cultured organotypic neuroretinal cultures.Experimental Eye Research. 185, 17/05/2019. DOI: 10.1016/j.exer.2019.05.011\n\nSalvatore Di Lauro; Maria Teresa Garcia Gutierrez; Ivan Fernandez Bueno. Quantification of pigment epithelium-derived factor (PEDF) in an ex vivo coculture of retinal pigment epithelium cells and neuroretina.\nJournal of Allbiosolution. 2019. ISSN 2605-3535\n\nSonia Labrador Velandia; Salvatore Di Lauro; Alonso-Alonso ML; Tabera Bartolomé S; Srivastava GK; Pastor JC; Fernandez-Bueno I. Biocompatibility of intravitreal injection of human mesenchymal stem cells in immunocompetent rabbits. Graefe's archive for clinical and experimental ophthalmology. 256 - 1, pp. 125 - 134. 01/2018. DOI: 10.1007/s00417-017-3842-3\n\n\nSalvatore Di Lauro, David Rodriguez-Crespo, Manuel J Gayoso, Maria T Garcia-Gutierrez, J Carlos Pastor, Girish K Srivastava, Ivan Fernandez-Bueno. A novel coculture model of porcine central neuroretina explants and retinal pigment epithelium cells. Molecular Vision. 2016 - 22, pp. 243 - 253. 01/2016.\n\nSalvatore Di Lauro. Classifications for Proliferative Vitreoretinopathy ({PVR}): An Analysis of Their Use in Publications over the Last 15 Years. Journal of Ophthalmology. 2016, pp. 1 - 6. 01/2016. DOI: 10.1155/2016/7807596\n\nSalvatore Di Lauro; Rosa Maria Coco; Rosa Maria Sanabria; Enrique Rodriguez de la Rua; Jose Carlos Pastor. Loss of Visual Acuity after Successful Surgery for Macula-On Rhegmatogenous Retinal Detachment in a Prospective Multicentre Study. Journal of Ophthalmology. 2015:821864, 2015. DOI: 10.1155/2015/821864\n\nIvan Fernandez-Bueno; Salvatore Di Lauro; Ivan Alvarez; Jose Carlos Lopez; Maria Teresa Garcia-Gutierrez; Itziar Fernandez; Eva Larra; Jose Carlos Pastor. Safety and Biocompatibility of a New High-Density Polyethylene-Based\nSpherical Integrated Porous Orbital Implant: An Experimental Study in Rabbits. Journal of Ophthalmology. 2015:904096, 2015. DOI: 10.1155/2015/904096\n\nPastor JC; Pastor-Idoate S; Rodríguez-Hernandez I; Rojas J; Fernandez I; Gonzalez-Buendia L; Di Lauro S; Gonzalez-Sarmiento R. Genetics of PVR and RD. Ophthalmologica. 232 - Suppl 1, pp. 28 - 29. 2014\n\nRodriguez-Crespo D; Di Lauro S; Singh AK; Garcia-Gutierrez MT; Garrosa M; Pastor JC; Fernandez-Bueno I; Srivastava GK. Triple-layered mixed co-culture model of RPE cells with neuroretina for evaluating the neuroprotective effects of adipose-MSCs. Cell Tissue Res. 358 - 3, pp. 705 - 716. 2014.\nDOI: 10.1007/s00441-014-1987-5\n\nCarlo De Werra; Salvatore Condurro; Salvatore Tramontano; Mario Perone; Ivana Donzelli; Salvatore Di Lauro; Massimo Di Giuseppe; Rosa Di Micco; Annalisa Pascariello; Antonio Pastore; Giorgio Diamantis; Giuseppe Galloro. Hydatid disease of the liver: thirty years of surgical experience.Chirurgia italiana. 59 - 5, pp. 611 - 636.\n(Italia): 2007. ISSN 0009-4773\n\nChapters in books\n\t\n' Salvador Pastor Idoate; Salvatore Di Lauro; Jose Carlos Pastor Jimeno. PVR: Pathogenesis, Histopathology and Classification. Proliferative Vitreoretinopathy with Small Gauge Vitrectomy. Springer, 2018. ISBN 978-3-319-78445-8\nDOI: 10.1007/978-3-319-78446-5_2. \n\n' Salvatore Di Lauro; Maria Isabel Lopez Galvez. Quistes vítreos en una mujer joven. Problemas diagnósticos en patología retinocoroidea. Sociedad Española de Retina-Vitreo. 2018.\n\n' Salvatore Di Lauro; Salvador Pastor Idoate; Jose Carlos Pastor Jimeno. iOCT in PVR management. OCT Applications in Opthalmology. pp. 1 - 8. INTECH, 2018. DOI: 10.5772/intechopen.78774.\n\n' Rosa Coco Martin; Salvatore Di Lauro; Salvador Pastor Idoate; Jose Carlos Pastor. amponadores, manipuladores y tinciones en la cirugía del traumatismo ocular.Trauma Ocular. Ponencia de la SEO 2018..\n\n' LOPEZ GALVEZ; DI LAURO; CRESPO. OCT angiografia y complicaciones retinianas de la diabetes. PONENCIA SEO 2021, CAPITULO 20. (España): 2021.\n\n' Múltiples desprendimientos neurosensoriales bilaterales en paciente joven. Enfermedades Degenerativas De Retina Y Coroides. SERV 04/2016. \n' González-Buendía L; Di Lauro S; Pastor-Idoate S; Pastor Jimeno JC. Vitreorretinopatía proliferante (VRP) e inflamación: LA INFLAMACIÓN in «INMUNOMODULADORES Y ANTIINFLAMATORIOS: MÁS ALLÁ DE LOS CORTICOIDES. RELACION DE PONENCIAS DE LA SOCIEDAD ESPAÑOLA DE OFTALMOLOGIA. 10/2014.",institutionString:null,institution:null},{id:"265335",title:"Mr.",name:"Stefan",middleName:"Radnev",surname:"Stefanov",slug:"stefan-stefanov",fullName:"Stefan Stefanov",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/265335/images/7562_n.jpg",biography:null,institutionString:null,institution:null},{id:"318905",title:"Prof.",name:"Elvis",middleName:"Kwason",surname:"Tiburu",slug:"elvis-tiburu",fullName:"Elvis Tiburu",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"University of Ghana",country:{name:"Ghana"}}},{id:"336193",title:"Dr.",name:"Abdullah",middleName:null,surname:"Alamoudi",slug:"abdullah-alamoudi",fullName:"Abdullah Alamoudi",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Majmaah University",country:{name:"Saudi Arabia"}}},{id:"318657",title:"MSc.",name:"Isabell",middleName:null,surname:"Steuding",slug:"isabell-steuding",fullName:"Isabell Steuding",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Harz University of Applied Sciences",country:{name:"Germany"}}},{id:"318656",title:"BSc.",name:"Peter",middleName:null,surname:"Kußmann",slug:"peter-kussmann",fullName:"Peter Kußmann",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Harz University of Applied Sciences",country:{name:"Germany"}}},{id:"338222",title:"Mrs.",name:"María José",middleName:null,surname:"Lucía Mudas",slug:"maria-jose-lucia-mudas",fullName:"María José Lucía Mudas",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Carlos III University of Madrid",country:{name:"Spain"}}},{id:"147824",title:"Mr.",name:"Pablo",middleName:null,surname:"Revuelta Sanz",slug:"pablo-revuelta-sanz",fullName:"Pablo Revuelta Sanz",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Carlos III University of Madrid",country:{name:"Spain"}}}]}},subseries:{item:{id:"39",type:"subseries",title:"Environmental Resilience and Management",keywords:"Anthropic effects, Overexploitation, Biodiversity loss, Degradation, Inadequate Management, SDGs adequate practices",scope:"\r\n\tThe environment is subject to severe anthropic effects. Among them are those associated with pollution, resource extraction and overexploitation, loss of biodiversity, soil degradation, disorderly land occupation and planning, and many others. These anthropic effects could potentially be caused by any inadequate management of the environment. However, ecosystems have a resilience that makes them react to disturbances which mitigate the negative effects. It is critical to understand how ecosystems, natural and anthropized, including urban environments, respond to actions that have a negative influence and how they are managed. It is also important to establish when the limits marked by the resilience and the breaking point are achieved and when no return is possible. The main focus for the chapters is to cover the subjects such as understanding how the environment resilience works, the mechanisms involved, and how to manage them in order to improve our interactions with the environment and promote the use of adequate management practices such as those outlined in the United Nations’ Sustainable Development Goals.
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His work is reflected in more than 230 communications presented in national and international conferences and congresses, 29 invited lectures from universities, associations and government agencies. Prof. Navarro-Pedreño is also a director of the Ph.D. Program Environment and Sustainability (2012-present) and a member of several societies among which are the Spanish Society of Soil Science, International Union of Soil Sciences, European Society for Soil Conservation, DessertNet and the Spanish Royal Society of Chemistry.",institutionString:"Miguel Hernández University of Elche, Spain",institution:null},editorTwo:null,editorThree:null,series:{id:"25",title:"Environmental Sciences",doi:"10.5772/intechopen.100362",issn:"2754-6713"},editorialBoard:[{id:"177015",title:"Prof.",name:"Elke Jurandy",middleName:null,surname:"Bran Nogueira Cardoso",slug:"elke-jurandy-bran-nogueira-cardoso",fullName:"Elke Jurandy Bran Nogueira Cardoso",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRGxzQAG/Profile_Picture_2022-03-25T08:32:33.jpg",institutionString:"Universidade de São Paulo, 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