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Colpaert J, Willaert B, Van Molhem Y. Ruptured abdominal aneurysm disguised as an incarcerated inguinal hernia. Acta Chir Belg 2017; 117:398-400. [PMID: 28140767 DOI: 10.1080/00015458.2017.1281007] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Abstract
An incarcerated inguinal hernia is a textbook example of a basic and straightforward diagnosis. In rare cases, an incarcerated hernia may be a symptom of more complex underlying pathology. In this case report a patient with a ruptured abdominal aortic aneurysm presented with an incarcerated left inguinal hernia. Only two other cases have been reported with a stable patient at initial presentation. The diagnosis was suspected when blood seeping next to the internal inguinal ring was detected, and an urgent ultrasound in the operating room confirmed the diagnosis. Whether or not patients with an inguinal hernia are more at risk for an AAA remains unclear.
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Wyatt K, Pallagi P, Willaert B, Yiannias J, Hellmich T. 146 Clinical Photography Using a Mobile Application in the Emergency Department: Our Institutional Experience. Ann Emerg Med 2016. [DOI: 10.1016/j.annemergmed.2016.08.158] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
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Willaert B, Suyesh R, Garg S, Giri VB, Bee MA, Biju SD. A unique mating strategy without physical contact during fertilization in Bombay Night Frogs (Nyctibatrachus humayuni) with the description of a new form of amplexus and female call. PeerJ 2016; 4:e2117. [PMID: 27326376 PMCID: PMC4911947 DOI: 10.7717/peerj.2117] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/17/2016] [Accepted: 05/18/2016] [Indexed: 11/20/2022] Open
Abstract
Anurans show the highest diversity in reproductive modes of all vertebrate taxa, with a variety of associated breeding behaviours. One striking feature of anuran reproduction is amplexus. During this process, in which the male clasps the female, both individuals' cloacae are juxtaposed to ensure successful external fertilization. Several types of amplexus have evolved with the diversification of anurans, and secondary loss of amplexus has been reported in a few distantly related taxa. Within Nyctibatrachus, a genus endemic to the Western Ghats of India, normal axillary amplexus, a complete loss of amplexus, and intermediate forms of amplexus have all been suggested to occur, but many species remain unstudied. Here, we describe the reproductive behaviour of N. humayuni, including a new type of amplexus. The dorsal straddle, here defined as a loose form of contact in which the male sits on the dorsum of the female prior to oviposition but without clasping her, is previously unreported for anurans. When compared to known amplexus types, it most closely resembles the form of amplexus observed in Mantellinae. Furthermore, we prove that, opposed to the situation in most anurans, male semen release happens before egg deposition. We hypothesize that the male ejaculates on the female's dorsum and that sperm subsequently runs from her back and hind legs before fertilizing the eggs. A second feature characterizing anuran breeding is the advertisement call, mostly produced solely by males. Despite recent descriptions of several new Nyctibatrachus species, few studies have explored their vocal repertoire. We describe both the male advertisement call and a female call for N. humayuni. The presence of a female call has not been reported within Nyctibatrachidae, and has been reported in less than 0.5% of anuran species. Altogether, our results highlight a striking diversity and several unique aspects of Nyctibatrachus breeding behaviour.
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Affiliation(s)
| | - Robin Suyesh
- Systematics Lab, Department of Environmental Studies, University of Delhi , Delhi , India
| | - Sonali Garg
- Systematics Lab, Department of Environmental Studies, University of Delhi , Delhi , India
| | - Varad B Giri
- Research Collections, National Centre for Biological Sciences , Bangalore, Karnataka , India
| | - Mark A Bee
- Department of Ecology, Evolution, and Behavior, University of Minnesota-Twin Cities Campus , St. Paul, Minnesota , USA
| | - S D Biju
- Systematics Lab, Department of Environmental Studies, University of Delhi , Delhi , India
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Van Bocxlaer I, Treer D, Maex M, Vandebergh W, Janssenswillen S, Stegen G, Kok P, Willaert B, Matthijs S, Martens E, Mortier A, de Greve H, Proost P, Bossuyt F. Side-by-side secretion of Late Palaeozoic diverged courtship pheromones in an aquatic salamander. Proc Biol Sci 2015; 282:20142960. [PMID: 25694622 PMCID: PMC4345460 DOI: 10.1098/rspb.2014.2960] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Males of the advanced salamanders (Salamandroidea) attain internal fertilization without a copulatory organ by depositing a spermatophore on the substrate in the environment, which females subsequently take up with their cloaca. The aquatically reproducing modern Eurasian newts (Salamandridae) have taken this to extremes, because most species do not display close physical contact during courtship, but instead largely rely on females following the male track at spermatophore deposition. Although pheromones have been widely assumed to represent an important aspect of male courtship, molecules able to induce the female following behaviour that is the prelude for successful insemination have not yet been identified. Here, we show that uncleaved sodefrin precursor-like factor (SPF) protein pheromones are sufficient to elicit such behaviour in female palmate newts (Lissotriton helveticus). Combined transcriptomic and proteomic evidence shows that males simultaneously tail-fan multiple ca 20 kDa glycosylated SPF proteins during courtship. Notably, molecular dating estimates show that the diversification of these proteins already started in the late Palaeozoic, about 300 million years ago. Our study thus not only extends the use of uncleaved SPF proteins outside terrestrially reproducing plethodontid salamanders, but also reveals one of the oldest vertebrate pheromone systems.
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Affiliation(s)
- Ines Van Bocxlaer
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Dag Treer
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Margo Maex
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Wim Vandebergh
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Sunita Janssenswillen
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Gwij Stegen
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Philippe Kok
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Bert Willaert
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Severine Matthijs
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
| | - Erik Martens
- Laboratory of Immunobiology, Department of Microbiology and Immunology, Rega Institute, Katholieke Universiteit Leuven (K.U. Leuven), Minderbroedersstraat 10-Box 1030, 3000 Leuven, Belgium
| | - Anneleen Mortier
- Laboratory of Molecular Immunology, Department of Microbiology and Immunology, Rega Institute, Katholieke Universiteit Leuven (K.U. Leuven), Minderbroedersstraat 10-Box 1030, 3000 Leuven, Belgium
| | - Henri de Greve
- Structural and Molecular Microbiology, Structural Biology Research Centre, VIB, Pleinlaan 2, 1050 Brussels, Belgium Structural Biology Brussels, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Paul Proost
- Laboratory of Molecular Immunology, Department of Microbiology and Immunology, Rega Institute, Katholieke Universiteit Leuven (K.U. Leuven), Minderbroedersstraat 10-Box 1030, 3000 Leuven, Belgium
| | - Franky Bossuyt
- Amphibian Evolution Laboratory, Biology Department, Vrije Universiteit Brussel (VUB), Pleinlaan 2, 1050 Brussels, Belgium
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Janssenswillen S, Willaert B, Treer D, Vandebergh W, Bossuyt F, Van Bocxlaer I. High pheromone diversity in the male cheek gland of the red-spotted newt Notophthalmus viridescens (Salamandridae). BMC Evol Biol 2015; 15:54. [PMID: 25888438 PMCID: PMC4379952 DOI: 10.1186/s12862-015-0333-1] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/21/2014] [Accepted: 03/09/2015] [Indexed: 01/18/2023] Open
Abstract
BACKGROUND Male salamanders (Urodela) often make use of pheromones that are produced in sexually dimorphic glands to persuade the female into courtship and mating. The mental gland of lungless salamanders (Plethodontidae) and dorsal cloacal glands (or abdominal glands) of newts (Salamandridae) have been particularly well studied in that respect. In both families, sodefrin precursor-like factor (SPF) proteins have been identified as major components of the courtship pheromone system. However, similar to plethodontids, some newts also make use of subtle head glands during courtship, but few pheromones have been characterized from such structures. Males of red-spotted newts (Notophthalmus viridescens, Salamandridae) have both cloacal and cheek (genial) glands, and are known to apply secretions to the female's nose by both tail-fanning and cheek-rubbing. Here we combined transcriptomic and phylogenetic analyses to investigate the presence, diversity and evolution of SPF proteins in the cloacal and cheek glands of this species. RESULTS Our analyses indicate that the cheek glands of male N. viridescens produce a similar amount and diversity of SPF isoforms as the cloacal glands in this species. Expression in other tissues was much lower, suggesting that both male-specific courtship glands secrete SPF pheromones during courtship. Our phylogenetic analyses show that N. viridescens expresses a combination of isoforms that stem from four highly diverged evolutionary lineages of SPF variants, that together form a basis for the broad diversity of SPF precursors in the breeding glands. CONCLUSIONS The similar SPF expression of cheek and cloacal glands suggests that this protein family is used for pheromone signalling through cheek rubbing in the red-spotted newt. Since several male salamandrids in other genera have comparable head glands, SPF application via other glands than the cloacal glands may be more widespread than currently appreciated in salamandrids.
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Affiliation(s)
- Sunita Janssenswillen
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Bert Willaert
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Dag Treer
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Wim Vandebergh
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Franky Bossuyt
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Ines Van Bocxlaer
- Biology Department, Amphibian Evolution Lab, Vrije Universiteit Brussel (VUB), Pleinlaan 2, B-1050, Brussels, Belgium.
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Janssenswillen S, Vandebergh W, Treer D, Willaert B, Maex M, Van Bocxlaer I, Bossuyt F. Origin and diversification of a salamander sex pheromone system. Mol Biol Evol 2014; 32:472-80. [PMID: 25415963 DOI: 10.1093/molbev/msu316] [Citation(s) in RCA: 32] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022] Open
Abstract
Sex pheromones form an important facet of reproductive strategies in many organisms throughout the Animal Kingdom. One of the oldest known sex pheromones in vertebrates are proteins of the Sodefrin Precursor-like Factor (SPF) system, which already had a courtship function in early salamanders. The subsequent evolution of salamanders is characterized by a diversification in courtship and reproduction, but little is known on how the SPF pheromone system diversified in relation to changing courtship strategies. Here, we combined transcriptomic, genomic, and phylogenetic analyses to investigate the evolution of the SPF pheromone system in nine salamandrid species with distinct courtship displays. First, we show that SPF originated from vertebrate three-finger proteins and diversified through multiple gene duplications in salamanders, while remaining a single copy in frogs. Next, we demonstrate that tail-fanning newts have retained a high phylogenetic diversity of SPFs, whereas loss of tail-fanning has been associated with a reduced importance or loss of SPF expression in the cloacal region. Finally, we show that the attractant decapeptide sodefrin is cleaved from larger SPF precursors that originated by a 62 bp insertion and consequent frameshift in an ancestral Cynops lineage. This led to the birth of a new decapeptide that rapidly evolved a pheromone function independently from uncleaved proteins.
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Affiliation(s)
- Sunita Janssenswillen
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Wim Vandebergh
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Dag Treer
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Bert Willaert
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Margo Maex
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Ines Van Bocxlaer
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Franky Bossuyt
- Amphibian Evolution Lab, Biology Department, Vrije Universiteit Brussel (VUB), Brussels, Belgium
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Willaert B, Bossuyt F, Janssenswillen S, Adriaens D, Baggerman G, Matthijs S, Pauwels E, Proost P, Raepsaet A, Schoofs L, Stegen G, Treer D, Van Hoorebeke L, Vandebergh W, Van Bocxlaer I. Frog nuptial pads secrete mating season-specific proteins related to salamander pheromones. ACTA ACUST UNITED AC 2013; 216:4139-43. [PMID: 23948475 DOI: 10.1242/jeb.086363] [Citation(s) in RCA: 22] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
Males of many frog species develop spiny nuptial pads with underlying glands on their thumbs during the mating period. We used 3D visualization on the European common frog Rana temporaria to show that the morphology of these glands allows the channelling of secreted molecules to the pad's surface during amplexus. Combined transcriptome and proteome analyses show that proteins of the Ly-6/uPAR family, here termed amplexins, are highly expressed in the nuptial glands during the mating season, but are totally absent outside that period. The function of amplexins remains unknown, but it is interesting to note that they share structural similarities with plethodontid modulating factors, proteins that influence courtship duration in salamanders.
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Affiliation(s)
- Bert Willaert
- Vrije Universiteit Brussel, Biology Department, Amphibian Evolution Lab, Pleinlaan 2, B-1050 Brussels, Belgium
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Kok PJ, Willaert B, Means DB. A New Diagnosis and Description ofAnomaloglossus roraima(La Marca, 1998) (Anura: Aromobatidae: Anomaloglossinae), with Description of Its Tadpole and Call. South American Journal of Herpetology 2013. [DOI: 10.2994/sajh-d-12-00021.1] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/04/2022]
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9
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Treer D, Van Bocxlaer I, Matthijs S, Du Four D, Janssenswillen S, Willaert B, Bossuyt F. Love is blind: indiscriminate female mating responses to male courtship pheromones in newts (Salamandridae). PLoS One 2013; 8:e56538. [PMID: 23457580 PMCID: PMC3574087 DOI: 10.1371/journal.pone.0056538] [Citation(s) in RCA: 31] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/12/2012] [Accepted: 01/10/2013] [Indexed: 11/18/2022] Open
Abstract
Internal fertilization without copulation or prolonged physical contact is a rare reproductive mode among vertebrates. In many newts (Salamandridae), the male deposits a spermatophore on the substrate in the water, which the female subsequently takes up with her cloaca. Because such an insemination requires intense coordination of both sexes, male newts have evolved a courtship display, essentially consisting of sending pheromones under water by tail-fanning towards their potential partner. Behavioral experiments until now mostly focused on an attractant function, i.e. showing that olfactory cues are able to bring both sexes together. However, since males start their display only after an initial contact phase, courtship pheromones are expected to have an alternative function. Here we developed a series of intraspecific and interspecific two-female experiments with alpine newt (Ichthyosaura alpestris) and palmate newt (Lissotriton helveticus) females, comparing behavior in male courtship water and control water. We show that male olfactory cues emitted during tail-fanning are pheromones that can induce all typical features of natural female mating behavior. Interestingly, females exposed to male pheromones of their own species show indiscriminate mating responses to conspecific and heterospecific females, indicating that visual cues are subordinate to olfactory cues during courtship.
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Affiliation(s)
- Dag Treer
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
| | - Ines Van Bocxlaer
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
| | - Severine Matthijs
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
| | - Dimitri Du Four
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
| | | | - Bert Willaert
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
| | - Franky Bossuyt
- Amphibian Evolution Lab, Vrije Universiteit Brussel, Brussels, Belgium
- * E-mail:
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10
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Van Bocxlaer I, Biju SD, Willaert B, Giri VB, Shouche YS, Bossuyt F. Mountain-associated clade endemism in an ancient frog family (Nyctibatrachidae) on the Indian subcontinent. Mol Phylogenet Evol 2011; 62:839-47. [PMID: 22178364 DOI: 10.1016/j.ympev.2011.11.027] [Citation(s) in RCA: 28] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/06/2011] [Revised: 11/17/2011] [Accepted: 11/24/2011] [Indexed: 10/14/2022]
Abstract
Night frogs (Nyctibatrachidae) form a family endemic to the Western Ghats, a hill chain along the west coast of southern India. Extant members of this family are descendants of a lineage that originated on the subcontinent during its longtime isolation in the Late Cretaceous. Because the evolutionary history of Nyctibatrachidae has always been tightly connected to the subcontinent, these tropically-adapted frogs are an ideal group for studying how patterns of endemism originated and evolved during the Cenozoic in the Western Ghats. We used a combined set of mitochondrial and nuclear DNA fragments to investigate the phylogenetic relationships of 120 ingroup specimens of all known species of Nyctibatrachidae. Our analyses indicate that, although this family had an early origin on the Indian subcontinent, the early diversification of extant nyctibatrachids happened only in the Eocene. Biogeographic analyses show that dispersal across the Palghat gap and Shencottah gap was limited, which led to clade endemism within mountain ranges of the Western Ghats. It is likely that multiple biota have been affected simultaneously by these prominent geographical barriers. Our study therefore further highlights the importance of considering the Western Ghats-Sri Lanka biodiversity hotspot as an assemblage of distinct mountain regions, each containing endemism and deserving attention in future conservation planning.
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Affiliation(s)
- Ines Van Bocxlaer
- Biology Department, Amphibian Evolution Lab, Unit of Ecology & Systematics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium.
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11
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Mertes PM, Bazin A, Alla F, Bienvenu J, Caldani C, Lamy B, Laroche D, Leconte des Floris MF, Py JY, Rebibo D, Willaert B, Demoly P. Hypersensitivity reactions to blood components: document issued by the allergy committee of the French medicines and healthcare products regulatory agency. J Investig Allergol Clin Immunol 2011; 21:171-178. [PMID: 21548444] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/30/2023] Open
Abstract
These guidelines represent a consensus among experts on hypersensitivity reactions occurring after transfusion of blood components. They cover recognition, investigation, treatment, and prevention of such reactions. Implemented in France under the auspices of the French Medicines and Healthcare Products Regulatory Agency (AFSSAPS) and based on current knowledge, research, and experience, they aim to provide effective and easily teachable means of further improving the quality of hemovigilance databases, promote interest in this field, and help identify possible mechanisms and at-risk patient groups.
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Affiliation(s)
- P M Mertes
- Service d'Anesthésie-Réanimation, INSERM U961, Hôpital Central, CHU, Nancy, France.
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Ozier Y, Müller JY, Mertes PM, Renaudier P, Aguilon P, Canivet N, Fabrigli P, Rebibo D, Tazerout M, Trophilme C, Willaert B, Caldani C. Trali : analyse des cas notifiés au réseau français d’hémovigilance en 2007–2008. Transfus Clin Biol 2010. [DOI: 10.1016/j.tracli.2010.09.021] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
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Willaert B, Corteville B, Reynaerts D, Van Brussel H, Vander Poorten E. A mechatronic analysis of the classical position-force controller based on bounded environment passivity. Int J Rob Res 2010. [DOI: 10.1177/0278364910378334] [Citation(s) in RCA: 21] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Bounded Environment Passivity, presented in this paper, allows one to design teleoperation systems that behave passively provided that the environment with which interaction takes place belongs to an a priori defined range of environments. The use of such a priori knowledge on the environment reduces conservativeness with respect to classical design approaches. An additional advantage lies in its capability to get a clearer insight on which type of environments are problematic for the specific controller under investigation. On the basis of a case study, i.e. the well-known Position-Force controller, this paper describes and compares different passivity-based methods. First, the traditional methods of two-port passivity and absolute stability are applied. The restrictions of these methods to come up with useful design rules are explicitly demonstrated. Second, the Bounded Environment Passivity conditions of the Position-Force controller are derived. These conditions describe the relation between the specific controller implementation, the teleoperator dynamics and the environment characteristics. In addition, the effects of structural resonance frequencies and low-pass filters, often present in realistic teleoperator setups, are described. This analysis reveals fundamental mechatronic rules of thumb for the design of a teleoperator system with a Position-Force control architecture. The theoretical results are verified experimentally on a one-degree-of-freedom teleoperation system.
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Affiliation(s)
- B. Willaert
- Department Mechanical Engineering, K.U. Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium,
| | - B. Corteville
- Department Mechanical Engineering, K.U. Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium
| | - D. Reynaerts
- Department Mechanical Engineering, K.U. Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium
| | - H. Van Brussel
- Department Mechanical Engineering, K.U. Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium
| | - E.B. Vander Poorten
- Department Mechanical Engineering, K.U. Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium
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Famaey N, Verbeken E, Vinckier S, Willaert B, Herijgers P, Sloten JV. In vivo soft tissue damage assessment for applications in surgery. Med Eng Phys 2010; 32:437-43. [DOI: 10.1016/j.medengphy.2010.04.002] [Citation(s) in RCA: 26] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/30/2009] [Revised: 03/11/2010] [Accepted: 04/02/2010] [Indexed: 11/29/2022]
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Renaudier P, Rebibo D, Waller C, Schlanger S, Vo Mai MP, Ounnoughene N, Breton P, Cheze S, Girard A, Hauser L, Legras JF, Saillol A, Willaert B, Caldani C. Complications pulmonaires de la transfusion (TACO–TRALI). Transfus Clin Biol 2009; 16:218-32. [DOI: 10.1016/j.tracli.2009.04.008] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2009] [Accepted: 04/09/2009] [Indexed: 01/13/2023]
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16
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Walraevens J, Willaert B, De Win G, Ranftl A, De Schutter J, Sloten JV. Correlation between compression, tensile and tearing tests on healthy and calcified aortic tissues. Med Eng Phys 2008; 30:1098-104. [DOI: 10.1016/j.medengphy.2008.01.006] [Citation(s) in RCA: 34] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/20/2006] [Revised: 09/12/2007] [Accepted: 01/30/2008] [Indexed: 11/27/2022]
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Willaert B, Walraevens J, De Win G, De Schutter J, Vander Sloten J. A new principle to assess the degree of calcification during automated surgery. J Biomech 2007. [DOI: 10.1016/s0021-9290(07)70303-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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