and clearly described; the section on rupture of the urethra being particularly good. Various ingenious methods for the removal of foreign bodies from the urethra are also included. Section VIII deals with the rectum and anus; ano-rectal imperforations comprise a larcre'portion of it ; the author emphasizes the view that an artificial anus in the iliac region should be nothing but a last resort...

I n transrectal prostate biopsy, anus imposes kinematic constraints so when robots manipulate the US probe, it might be needed to know the insertion point in the base frame in real time. In this paper, we developped a detection model of instrument insertion point displacement. We focused on the localization of the fulcrum center in real time including the environment insertion elasticity (anus)...