Control motion design and its implantation for a single site minimally invasive surgery camera

En el presente trabajo se describe el diseño e implantación de un sistema de control de movimientos de una cámara intra-abdominal para cirugía mínimamente invasiva de puerto único. La cámara se encuentra integrada en un mini-robot, el cual se introduce en la cavidad abdominal a través de una incisión realizada por los cirujanos. Para llevar a cabo el mencionado control de movimientos será necesario la integración de diversos elementos hardware: microcontroladores de la marca Arduino y la shield EasyVR para el reconocimiento del habla, entre otros, que junto a sus correspondientes software de control y servomotores permitirán obtener el fin deseado. Los programas generados incluyen el control de los motores y dos interfaces distintas, dependiendo de si se quiere utilizar comandos de voz o el teclado de un ordenador. Además, el sistema fruto de este trabajo se debe integrar en la plataforma robótica que dispone de una arquitectura basada en entorno ROS en la que trabaja el grupo de Robótica Médica del departamento de Ingeniería de Sistemas y Automática, para así poder comunicarse con el resto de sistemas con los que ya cuentan. Tanto el hardware necesario como el software desarrollado se describen a lo largo de esta memoria, explicando y justificando cada decisión tomada, para finalmente terminar con una serie de experimentos que validan el funcionamiento del mini-robot

Virtually Transparent Epidermal Imagery for Laparo-Endoscopic Single-Site Surgery

This paper presents a novel design, and prototype implementation, of a virtually transparent epidermal imagery (VTEI) system for laparo-endoscopic single-site (LESS) surgery. The system uses a network of multiple, micro wireless cameras and multiview mosaicing technique to obtain a panoramic view of the surgery area. This view provides visual feedback to surgeons with large viewing angles and areas of interest so that the surgeons can improve the safety of surgical procedures by being better aware of where the surgical instruments are relative to tissue and organs. The prototype VTEI system also projects the generated panoramic view on the abdomen area to create a transparent display effect that mimics equivalent, but higher risk, open-cavity surgeries

Practical Clinical Andrology

This open access book offers a valuable resource for understanding the correct pathways in the context of sexual disorders, couple reproduction, gender identity dysphoria, conditions for which patients commonly ask for consultation and treatment. Based on clinical evidence, international guidelines and experts experience, practical clinical management strategies are presented for each condition. Each clinical care pathway is based on updated algorithm, level of evidence, photos and video-clips that describes the clinical presentations and the best practice management through diagnostic tools and medical or surgical treatment. Leading experts from the most important center of excellence in the field of sexual medicine joined to cover the field of andrology in its entirety, each of them dealing with a single topic from the top of their recognized experience and providing a complete and update textbook that will help urologists and other physicians in their daily clinical practice. This book is thought to be a practical and valuable reference for urologists, gynecologists, endocrinologists, psychiatrics and psychologists, and residents who are not specialty trained in andrology. It is designed for both young fellows training in different specialties and coming into contact with andrological issues for the first time and also more experienced clinicians and surgeons requiring updated guidelines and clear advice on the most controversial issues. This book will represent an invaluable quick consulting tool, updated in its scientific contents and rich in tables, images and video-clips

Practical Clinical Andrology

This open access book offers a valuable resource for understanding the correct pathways in the context of sexual disorders, couple reproduction, gender identity dysphoria, conditions for which patients commonly ask for consultation and treatment. Based on clinical evidence, international guidelines and experts experience, practical clinical management strategies are presented for each condition. Each clinical care pathway is based on updated algorithm, level of evidence, photos and video-clips that describes the clinical presentations and the best practice management through diagnostic tools and medical or surgical treatment. Leading experts from the most important center of excellence in the field of sexual medicine joined to cover the field of andrology in its entirety, each of them dealing with a single topic from the top of their recognized experience and providing a complete and update textbook that will help urologists and other physicians in their daily clinical practice. This book is thought to be a practical and valuable reference for urologists, gynecologists, endocrinologists, psychiatrics and psychologists, and residents who are not specialty trained in andrology. It is designed for both young fellows training in different specialties and coming into contact with andrological issues for the first time and also more experienced clinicians and surgeons requiring updated guidelines and clear advice on the most controversial issues. This book will represent an invaluable quick consulting tool, updated in its scientific contents and rich in tables, images and video-clips

Actas de las XXXIV Jornadas de Automática

Postprint (published version

Virtually Transparent Epidermal Imagery (VTEI): On New Approaches to In Vivo Wireless High-Definition Video and Image Processing

This work first overviews a novel design, and prototype implementation, of a virtually transparent epidermal imagery (VTEI) system for laparo-endoscopic single-site (LESS) surgery. The system uses a network of multiple, micro-cameras and multiview mosaicking to obtain a panoramic view of the surgery area. The prototype VTEI system also projects the generated panoramic view on the abdomen area to create a transparent display effect that mimics equivalent, but higher risk, open-cavity surgeries. The specific research focus of this paper is on two important aspects of a VTEI system: 1) in vivo wireless high-definition (HD) video transmission and 2) multi-image processing-both of which play key roles in next-generation systems. For transmission and reception, this paper proposes a theoretical wireless communication scheme for high-definition video in situations that require extremely small-footprint image sensors and in zero-latency applications. In such situations the typical optimized metrics in communication schemes, such as power and data rate, are far less important than latency and hardware footprint that absolutely preclude their use if not satisfied. This work proposes the use of a novel Frequency-Modulated Voltage-Division Multiplexing (FM-VDM) scheme where sensor data is kept analog and transmitted via “voltage-multiplexed” signals that are also frequency-modulated. Once images are received, a novel Homographic Image Mosaicking and Morphing (HIMM) algorithm is proposed to stitch images from respective cameras, that also compensates for irregular surfaces in real-time, into a single cohesive view of the surgical area. In VTEI, this view is then visible to the surgeon directly on the patient to give an “open cavity” feel to laparoscopic procedures