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Pivekimab Sunirine in Blastic Plasmacytoid Dendritic Cell Neoplasm
No full textInternational audiencePURPOSE Blastic plasmacytoid dendritic cell neoplasm (BPDCN) is a unique myeloid malignancy with CD123 interleukin-3 receptor-α overexpression and poor prognosis. METHODS This phase I/II, open-label, multicenter study evaluated pivekimab sunirine (PVEK), a novel CD123 antibody-drug conjugate, 0.045 mg/kg once every 3 weeks, in adults with frontline (no previous systemic therapy and de novo BPDCN or coexisting hematologic malignancy) or relapsed/refractory BPDCN (ClinicalTrials.gov identifier: NCT03386513 ) The primary end point in the primary analysis population (PAP; frontline de novo) was composite complete response (CCR; CR+ clinical CR) rate. RESULTS Of 84 patients, 33 had frontline BPDCN (22 de novo [20 in PAP]; 11 with previous or concomitant malignancy) and 51 had relapsed/refractory disease. The median (range) age was 72 (63-76) years. In the PAP (n = 20), the CCR rate was 75% (95% CI, 51 to 91; n = 15; median duration: 10.6 [95% CI, 3.8 to not reached] months) and the median overall survival (OS) was 16.6 (95% CI, 7.2 to not reached) months. Eight of these 15 (53%) patients proceeded to stem-cell transplant (SCT). The corresponding rate for relapsed/refractory disease was 14% (95% CI, 6 to 26; n = 7; median duration: 9.2 [95% CI, 2.4 to not reached] months), and the median OS was 5.8 (95% CI, 3.9 to 8.4) months. Adverse events (AEs) included peripheral edema (54%), fatigue (26%), and infusion-related reactions (26%). Grade ≥3 events included neutropenia (16%), thrombocytopenia (14%), and peripheral edema (12%). Serious AEs included pneumonia (6%) and febrile neutropenia (5%). Two on-treatment cases of reversible veno-occlusive disease (VOD) occurred. Of the total 19 patients who proceeded to SCT, VOD was reported in five patients (four with relapsed/refractory BPDCN). CONCLUSION PVEK, with convenient dosing, led to high, durable responses, especially in frontline BPDCN, and a manageable safety profile
P0652 Real-World Effectiveness of Upadacitinib in Patients With Moderate-to-Severe Ulcerative Colitis: Interim Findings on Treatment Patterns From the PROFUNDUS Study
No full textInternational audienceBackground Upadacitinib (UPA), an oral and reversible Janus kinase inhibitor (JAKi), is approved for the treatment of moderate-to-severe ulcerative colitis (UC).1,2 Although pivotal trials support its use, real-world (RW) evidence on UPA in UC remains limited.3 This interim analysis of the open-label Prospective Real-World Study of UPA in UC (PROFUNDUS) evaluates treatment patterns among patients with UC in RW practice. Methods Eligible patients included adults (18-79 years [yrs]) with moderate-to-severe UC initiating UPA across 16 countries; decisions were made by investigators in line with local guidelines. Tapering of steroids was not mandated, as this was at the discretion of the investigator. This interim analysis evaluated the full analysis set (FAS), which comprised 494 of the first 500 eligible patients who provided informed consent and initiated once-daily UPA according to the local label. Baseline (BL) demographics, clinical characteristics, discontinuation reasons, and CS use at the end of induction and maintenance wk 26 were evaluated in FAS patients and by advanced therapy (AT) status (AT-experienced vs AT-naive; cut-off date: 28Feb2025). Results Among FAS at BL (last measurement on or before the initial dose), the mean (SD) patient age was 39.4 (13.3) yrs, with 57.1% males, and 21.5% on CS; mean (SD) disease duration was 7.8±7.0 yrs, with 54.6% of patients being AT-experienced, and 14.2% failed ≥1 JAKi. At wk 26, 82.8% of patients remained on UPA (AT-experienced: 79.6%; AT-naive: 86.6%; Table 1). The most common reasons for discontinuation were adverse events (6.3%), lack of efficacy (2.8%), and patient withdrawal (2.6%; Table 1). Within the overall population, most patients were on UPA30 at the initiation of maintenance and at wk 26 (88.7%, 80.6%), with fewer on UPA15 (11.3%, 14.1%); a numerically greater proportion of AT-experienced patients remained on UPA30 (84.2% vs 76.4%) or were escalated to UPA45 (6.1% vs 4.2%) by wk 26 compared with AT-naïve patients (Table 2). Of those on CS at BL, approximately half (52.2%) remained on CS at the end of induction among patients on any UPA dose (AT-experience: 58.9% vs AT-naive: 41.7%), which decreased to 33.9% at wk 26, with a comparable distribution across subgroups (Table 2). Safety data from PROFUNDUS are not reported here but have been previously published, with a profile consistent with that of UPA UC clinical trials.3 Conclusion In this interim analysis of the PROFUNDUS study, most patients with moderate-to-severe UC who initiated maintenance therapy with UPA30 were on this dosage at wk 26, reflecting high persistence in RW practice; these data suggest that UPA maintenance therapy may facilitate reductions in CS dependency over time. References: 1. AbbVie Inc. RINVOQ (upadacitinib) [package insert] US Food and Drug Administration. Revised May 2023. 2. AbbVie Inc. RINVOQ (upadacitinib). Summary of Product Characteristics. European Medicines Agency. Revised Feb 2025. 3. Danese S, et al. Lancet. 2022;399:2113–28. 4. Panaccione R, et al. UEG Journal 2025;13. Abstract MP781. Conflict of interest: Parkes, Gareth: Dr. Gareth Parkes reports personal payments, honoraria, speaker fees, travel grants and/or fellowships from AbbVie, Allergan, Bristol Myers Squibb, Celltrion, Ferring, Galapagos, Janssen, Napp, Takeda, and Tillotts, and directorship and shareholding with Ampersand Health. Dr. Parkes reports personal grants from AbbVie personal consulting fees from AbbVie, Arena, Aslan, AstraZeneca, Boehringer Ingelheim, Bristol Myers Squibb, Celgene, Eli Lilly, Ferring, Galapagos, Gilead, GlaxoSmithKline, Heptares, LabGenius, Janssen, Monte Rosa, MSD, Mylan, Novartis, Numab, Pfizer, Roche, Sandoz, Takeda, UCB, and XAP membership of the ECCO Scientific Committee, and membership in the UEG Scientific Committee director of Endoread. Fumery, Mathurin: Dr. Matherin Fumery has received grants from Pfizer personal fees from AbbVie, Janssen, Takeda, MSD, Biogen, Amgen, Sandoz, Fresenius, Gilead, Celgene, Galapagos, Mylan, Tillots, Ferring, Pfizer, Hospira, CTMA, Boehringer, Lilly, and Arena and non-financial support from Abbvie, Janssen, Takeda, MSD, Galapagos, Ferring, and Pfizer. Bettenworth, Dominik: Dr. Dominc Bettenworth is on the advisory board or consultant for AbbVie, Amgen, Arena, Atheneum, BNG Service GmbH, Bristol Myers Squibb, CED-Service GmbH, Celltrion, Doctorflix, DGVS, Diaplan, Else Kröner-Fresenius Foundation, Falk Foundation, Galapagos, Guidepoint, Impulze, Ferring, Janssen Cilag, Lilly, Medical Tribune, MedTriX, MSD, Mylan, Onkowissen, Pharmacosmos, Pfizer, Roche, Sandoz, Takeda, Tetrameros, Thieme, Tillotts Pharma, UCB Biopiharma, Viatris and Vifor Pharma. Armuzzi, Alessandro: Dr. Alessandro Armuzzi has received consulting fees from AbbVie, Abivax, Alfa Sigma, Astra Zeneca, Biogen, Boehringer Ingelheim, Bristol-Myers Squibb, Celltrion, Eli-Lilly, Enthera, Ferring, Galapagos, Gilead, Giuliani, Janssen, Lionhealth, MSD, Nestlé, Pfizer, Protagonist Therapeutics, Roche, Samsung Bioepis, Sanofi, Sandoz, Takeda, Teva Pharmaceuticals, Tillots Pharma Speaker’s fees from AbbVie, Abivax, AG Pharma, Alfa Sigma, Biogen, Bristol-Myers Squibb, Celltrion, Eli-Lilly, Ferring, Galapagos, Gilead, Janssen, Lionhealth, MSD, Novartis, Pfizer, Roche, Samsung Bioepis, Sandoz, Takeda, Teva Pharmaceuticals Research support from Biogen, MSD, Takeda, and Pfizer Non-financial support from Abbvie, Janssen, MSD, Pfizer, Takeda. Morisset, Pierre: Dr. Pierre Morriset is an AbbVie employee and may own stock and/or stock options. Mallick, Madhuja: Dr. Madhuja Mallick is an AbbVie employee and may own stock and/or stock options. Shirley H., Chen: Dr. Shirley Chen is an AbbVie employee and may own stock and/or stock options. Kim, Jae: Dr. Jae Rok Kim is an employee of AbbVie and may own stock and/or stock options. Panaccione, Remo: Grant: Abbvie, Janssen, Pfizer, Takeda Other: Consultant for: Abbott, AbbVie, Abbivax, Alimentiv (formerly Robarts), Amgen, AnaptysBio, Arena Pharmaceuticals, AstraZeneca, Biogen, Boehringer Ingelheim, Bristol-Myers Squibb, Celgene, Celltrion, Cosmos Pharmaceuticals, Eisai, Elan, Eli Lilly, Ferring, Galapagos, Fresenius Kabi, Genentech, Gilead Sciences, Glaxo-Smith Kline, JAMP Bio, Janssen, Merck, Mylan, Novartis, Oppilan Pharma, Organon, Pandion Pharma, Pendopharm, Pfizer, Progenity, Prometheus Biosciences, Protagonist Therapeutics, Roche, Sandoz, Satisfai Health, Shire, Sublimity Therapeutics, Spyre Therapeutics, Takeda Pharmaceuticals, Theravance Biopharma, Trellus, Union Biopharma, Viatris, Ventyx, UCB Speaker’s Fees for: AbbVie, Amgen, Arena Pharmaceuticals, Bristol-Myers Squibb, Celgene, Eli Lilly, Ferring, Fresenius Kabi, Gilead Sciences, Janssen, Merck, Organon, Pfizer, Roche, Sandoz, Shire, Takeda Pharmaceuticals Advisory Boards for: AbbVie, Alimentiv (formerly Robarts), Amgen, Arena Pharmaceuticals, AstraZeneca, Biogen, Boehringer Ingelheim, Bristol-Myers Squibb, Celgene, Eli Lilly, Ferring, Fresenius Kabi, Genentech, Gilead Sciences, Glaxo-Smith Kline, JAMP Bio, Janssen, Merck, Mylan, Novartis, Oppilan Pharma, Organon, Pandion Pharma, Pfizer, Progenity, Protagonist Therapeutics, Roche, SandozShire, Sublimity Therapeutics, Takeda Pharmaceuticals, Ventyx
P0869 Comparison of effectiveness between subcutaneous infliximab as monotherapy or combined with an immunosuppressant in patients with Crohn’s disease: interim results from the REMONO-CD study.
No full textInternational audienceBackground We aimed to demonstrate the non-inferiority of subcutaneous infliximab monotherapy (SC IFX mono) compared with combination therapy (SC IFX + IS) in patients with Crohn’s disease (CD). Methods In this multicenter (22 centers) retrospective study, we consecutively included all patients ≥18 years-old with symptomatic CD according to PRO-2 (abdominal pain subscore >1 or stool frequency >3) who started SC infliximab 120 mg every 2 weeks, from week 6 or W10 after an IV induction regimen (2 or 3 IV infusions at 5 mg/kg at week 0, W2 ± W6). The primary endpoint was clinical remission (abdominal pain subscore ≤1 and stool frequency ≤3) without steroid (CFREM) and is expressed as % of months (4-week periods) spent in CFREM (month being the statistical unit). The non-inferiority margin was predefined at -10% according to IOIBD recommendations. A priori sample-size calculation (considering hypothesis of 55% of months spent in CFREM in reference group, 90% power, one-sided 95% confidence interval due to non-inferiority design, and imbalance between groups), indicated that 2,160 months were required, i.e 210 patients. We present here the results of an interim analysis while data from half of participating centers have been collected. Secondary endpoints considered the patient as the statistical unit. All comparisons were performed using propensity-score adjustment (IPTW) Results To date, 196 patients (1,954 months) have been included (SC IFX mono = 62 and SC IFX +IS = 134 patients). The two groups were comparable except for higher complicated phenotypes and shorter disease duration in SC IFX+IS group (Table 1), which has been taken into account in propensity score analyses. Analysis on primary endpoint including 1,954 months, showed that 73.6% and 61.5% of months were spent in CFREM in SC IFX and SC IFX + IS groups, respectively, giving an absolute difference of + 12.1% [lower bound = +8.4%, upper bound = +15.6%], confirming the non-inferiority of SC IFX mono. After IPTW (N = 196 patients), no difference of CFREM at W12 (67.1% vs 59.8%;p=0.32), W24 (71.5% vs 64.2%;p=0.28), and W52 (65.4% vs 61.9%;p=0.66) was seen between SC IFX mono and SC IFX + IS, respectively, (Table 2) with no difference in subgroups such as bio-exposed, B2/B3 phenotypes, and prior exposure to IS. SC IFX mono was not associated with a higher risk of SC IFX dose optimization (HR = 0.81 [0.41–1.60], p = 0.55), IFX discontinuation (HR = 1.87 [0.96-3.65], progression of bowel damage (HR = 0.66[0.15–2.96]), bowel resection (HR = 0.15[0.02–1.15]), or hospitalization (HR = 0.80[0.30–2.10]) (median follow-up=19.4 months). Conclusion In this real-world multicenter study, SC infliximab monotherapy appeared non-inferior to combination therapy in CD at both short and mid-terms. Conflict of interest: Prof. Dr. Buisson, Anthony: Consulting fees from : Abbvie, AlfaSigma, Amgen, Arena, Biogen, Celltrion, CTMA, Ferring, Galapagos, Guty Care, Janssen, Hikma, Lilly, Mylan, Nexbiome, Pfizer, Roche, Takeda, Tillotts Lecture fees from: Abbvie, AlfaSigma, Amgen, Biogen, Celltrion, Ferring, Galapagos, Hikma, Janssen, Lilly, Mayoli-Spindler, MSD, Pfizer, Roche, Sanofi-Aventis, Takeda, Tillotts, Vifor-Pharma Research fundings from: Abbvie, AlfaSigma, Celltrion, Janssen, Lessaffre, Lilly, Pfizer, Takeda Caron, Bénédicte: No conflict of interest Le Berre, Catherine: Abbvie, Amgen, Celltrion, Ferring, Fresenius Kabi, Galapagos, Gielad, Janssen, Lilly, MSD, Nordic Pharma, Pfizer, Sandoz, Takeda. Le Cosquer, Guillaume: consultant/lecture, transport fees from AbbVie, Amgen, Johnson & Johnson, Lilly, Takeda, Fresenius Kabi, Celltrion, and Pfizer. Serrero, Melanie: fees from Pfizer, Abbvie, Takeda, Janssen, MSD, Amgen, Ferring, Tillotts, Celltrion Nachury, Maria: Abbvie, Alfa Sigma, Biosynex, Celltrion, Galapagos, Janssen, Lilly, MSD, Pfizer, Takeda Altwegg, Romain: Advisory boards from Abbvie, Takeda, Johnson and Johnson, Lilly, Alphasigma, Celltrion, Pfizer, Amgen, Biogen, Sandoz, Ferring Boschetti, Gilles: No conflict of interest Vuitton, Lucine: No conflict of interest Uzzan, Mathieu: Grant: ECCO-IOIBD, Fondation pour la Recherche Medicale (FRM), SNFGE Personal Fees: Abbvie, Takeda, Celltrion, Janssen, Amgen, Alfasigma, Pfizer Tretón, Xavier: Personal Fees: Lectures and advisory board : Abbvie, Celltrion, MSD, johnson & Johnson, Takeda, Amgen, Alphasigma, Lilly, Pfizer Other: participations: Thabor Therapeutics Fumery, Mathurin: Grant: Pfizer Personal Fees: Abbvie, Janssen, Takeda, MSD, Biogen, Amgen, Sandoz, Fresenius, Gilead, Celgene, Galapagos, Mylan, Tillots, Ferring, Pfizer, Hospira, CTMA, Boehringer, Lilly, Arena Non-financial Support: Abbvie, Janssen, Takeda, MSD, Galapagos, Ferring, Pfizer Peyrin-Biroulet, Laurent: CONSULTING Abbvie, Abivax, Adacyte, Alimentiv, Alfasigma, Amgen, Apini, Banook, BMS, Celltrion, Enthera, Ferring, Fresenius Kabi, Galapagos, Genentech, Gilead, Iterative Health, Janssen, Lilly, LifeMine, Medac, Morphic, MSD, Nordic Pharma, Novartis, Oncodesign Precision Medicine, ONO Pharma, OSE Immunotherapeuthics, Par’ Immune, Pfizer, Prometheus, Roche, Roivant, Samsung, Sandoz, Sanofi, Sorriso, Spyre, Takeda, Teva, ThirtyfiveBio, Tillots, Vectivbio, Vedanta, Ventyx. LECTURE Abbvie, Alfasigma, Amgen, Biogen, Celltrion, Ferring, Galapagos, Genentech, Gilead, Iterative Health, Janssen, Lilly, Medac, MSD, Nordic Pharma, Pfizer, Sandoz, Takeda, Tillots Gilletta de Saint Joseph, Cyrielle: Speaker/ consultant fees from Abbvie, AlfaSigma, Amgen, Celltrion, Ferring, Fresenius, Janssen, Lilly, Pfizer, Takeda and Tillots Guillo, Lucas: No conflict of interest Nancey, Stéphane: board membership and lecturing fees from Abbvie, Takeda, Celltrion Healthcare, Pfizer, Galapagos, Johnson & Jonshon, Lilly, Fresenius, Amgen, Medac, MSD. Domas, Quentin: No conflict of interest Pereira, Bruno: No conflict of interes
Site-specific inverse associations between FGF23 levels and marrow adiposity content at the proximal femur in post-menopausal women
No full textInternational audienceContextExperimental studies have suggested that the autocrine/paracrine effects of bone-derived Fibroblast Growth Factor 23 (FGF23) inhibit adipogenesis and promote osteoblastic differentiation of bone marrow stroma cells.ObjectiveTo examine whether there is relationship between circulating levels of FGF23 and bone marrow adiposity assessed by MRI.DesignThis cross-sectional study included 199 postmenopausal women without apparent disorders in phosphate homeostasis.SettingUniversity Hospital of Lille, France.Main outcome measure(s)C-terminal FGF23 (cFGF23, relative units (RU)/ml) and intact FGF23 (iFGF23, pg/ml). The Proton Density Fat Fraction (PDFF) of the lumbar spine and the proximal femur was assessed using MRI with chemical shift-based water-fat separation (WFI) and DXA of the hip and spine. Our main goal was to explore the relationships between PDFF, cFGF23, and iFGF23 levels in women who are postmenopausal. The relationships between cFG23, iFGF23, and body composition metrics were subsequently analyzed.ResultsA significant positive correlation was observed between cFGF23 and iFGF23 (R = 0.534, p < 0.0001). Significant inverse associations were found between cFGF23, iFGF23, and femoral neck PDFF (reciprocally, coefficient β (95%CI), −1.35 (−2.49 to −0.21), p = 0.020 and − 1.66 (−3.00 to −0.32), p = 0.016) after adjustment for age, recent fragility fracture, BMI, eGFR, and BMD. Conversely, there were no notable associations identified between cFGF23, iFGF23, and lumbar spine PDFF, regardless of whether adjustment models were applied. No significant associations were found between cFGF23, iFGF23, and body composition parameters (total body fat and visceral adipose tissue).ConclusionsAn inverse association was found between cFGF23, iFGF23, and proximal femur PDFF (particularly femoral neck PDFF), but not with lumbar spine PDFF. Moreover, cFGF23 and iFGF23 levels were not associated with other adipose deposits
Les artistes en historiens. Stratégies contre les effacements de la mémoire
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Real-Life ISO 15189 Qualification of Long-Range Drone Transportation of Medical Biological Samples: Results from a Clinical Trial
No full textInternational audienceControlling pre-analytical conditions for medical biology tests, particularly during transport, is crucial for complying with the ISO 15189 standard and ensuring high-quality medical services. The use of drones, also known as unmanned aerial vehicles, to transport clinical samples is growing in scale, but requires prior validation to verify that there is no negative impact on the test results provided to doctors. This study aimed to establish a secure, high-quality solution for transporting biological samples by drone in a coastal region of France. The 80 km routes passed over several densely populated urban areas, with take-off and landing points within hospital grounds. The analytical and clinical impact of this mode of transport was compared according to two protocols: an interventional clinical trial on 30 volunteers compared to the reference transport by car, and an observational study on samples from 126 hospitalized patients compared to no transport. The system enabled samples to be transported without damage by maintaining freezing, refrigerated, and room temperatures throughout the flight, without any significant gain in travel time. Analytical variations were observed for sodium, folate, GGT, and platelet levels, with no clinical impact on the interpretation of the results. There is a risk of time-dependent alterations of blood glucose measurements in heparin tubes, which can be corrected by using fluoride tubes. This demonstrated the feasibility and security of transporting biological samples over long distances in line with the ISO 15189 standard. Controlling transport times remains crucial to assessing the quality of analyses. It is imperative to devise contingency plans for backup solutions to ensure the continuity of transportation in the event of inclement weather
« Je n’aurais pas mené cette étude seule » : une étude des émotions des chercheuses en analyse du discours sur les violences sexistes et sexuelles
No full textInternational audienceThe present study, situated within Feminist Critical Discourse Analysis, explores the role of researchers’ emotions in a corpus of academic publications on gender-based violence (GBV). Drawing from our experience as early-career researchers, we acknowledge that studying sensitive topics can be challenging and that personal experience influences scientific work. However, being affected as a researcher remains understudied in linguistics. From a feminist perspective, we adopt a researching the researcher approach and analyze the presence or absence of researchers’ emotions in our corpus. While emotions do appear, only a quarter of the occurrences explicitly concern the researchers themselves. This study highlights the challenges of discourse analysis on GBV and provides recommendations to better care for researchers.Cette étude, inscrite dans le champ de la Feminist Critical Discourse Analysis, interroge la place de l’émotion des chercheuses dans un corpus de publications universitaires sur les violences sexistes et sexuelles (VSS). Partant de notre expérience de jeunes chercheuses, nous remarquons que la recherche sur des sujets sensibles peut être éprouvante et que l’expérience personnelle influence le travail scientifique. Pourtant, être affectée en tant que chercheuse reste peu abordé en sciences du langage. Dans une perspective féministe, nous adoptons l’approche du researching the researcher et analysons la présence ou l’effacement de l’émotion des chercheuses dans notre corpus. Si l’émotion y apparaît, seul un quart des occurrences concerne les chercheuses elles-mêmes. Cette enquête met en avant les défis de l’analyse discursive des VSS et propose des recommandations pour mieux prendre soin des chercheuses
Mitral Annulus Calcification: Pathophysiology, Outcome, and Imaging Evaluation
No full textInternational audienceMitral annulus calcification (MAC) is a chronic, degenerative process characterized by calcium deposition in the mitral annulus. It is commonly observed in elderly individuals and those with chronic kidney disease, hypertension, and metabolic disorders. MAC has been increasingly recognized as a marker of cardiovascular disease and is associated with adverse clinical outcomes, including mitral valve dysfunction, arrhythmias, and increased cardiovascular mortality. The pathophysiology of MAC involves endothelial dysfunction, chronic inflammation, and osteogenic differentiation of valvular interstitial cells, driven by risk factors such as aging, chronic kidney disease, diabetes mellitus, and hypertension. Imaging modalities, including echocardiography and computed tomography (CT) play a crucial role in the diagnosis, assessment, and risk stratification of MAC. The presence of MAC complicates mitral valve interventions, making surgical and transcatheter approaches challenging. Despite advancements in imaging and therapeutic strategies, MAC remains a significant challenge in cardiovascular medicine, necessitating further research into its pathophysiology, optimal management strategies, and long-term outcomes
RGB-D Fusion for Wide Field of View User Feedback in Teleoperation Context
No full textInternational audienceEffective teleoperation involves immersive and responsive visual feedback to support depth perception and spatial understanding to achieve precise control. Standard camera views naturally constrain the operator's field-of-view (FoV) of the remote scene, especially in cluttered or dynamic scenarios. We present a real-time RGB-D fusion system that expands the operator's FoV by employing immersive 3D reconstruction. Our system incorporates the Azure Kinect sensor into Unreal Engine using the ROS communication, rendering live sensor information onto a spherical mesh. This allows for smooth, wide-FoV rendering of the scene with greater peripheral context and depth continuity. In contrast to planar or depth-free systems, the proposed method is enhanced by live depth retranscription for more interactive teleoperation, leading to better scene understanding. This architecture lays the basis for flexible, high-fidelity remote interaction for robotics applications. All our developments and implementations are publicly available at: https://github.com/isri-aist/RGB-D_Fusion