Abdominal lighting simulation system based on mini robots
Introduction— This document shows a system that simulates the illumination of the abdominal scene in laparoscopic operations using mini robots. The mini robots would be magnetically tied to the abdominal cavity and manipulated by an external robot arm. Two algorithms are tested in this system: one t...
- Autores:
-
Chaparro Velasco, María Cristina
Sabater-Navarro, Jose Maria
Vivas, Oscar Andrés
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2021
- Institución:
- Corporación Universidad de la Costa
- Repositorio:
- REDICUC - Repositorio CUC
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.cuc.edu.co:11323/10259
- Acceso en línea:
- https://hdl.handle.net/11323/10259
https://repositorio.cuc.edu.co/
- Palabra clave:
- Image analysis
Mini lighting robots
Mini robots
Surgical robotics
Unity3D
- Rights
- openAccess
- License
- Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
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| dc.title.eng.fl_str_mv |
Abdominal lighting simulation system based on mini robots |
| dc.title.translated.none.fl_str_mv |
Sistema de simulación de la iluminación abdominal basado en mini robots |
| title |
Abdominal lighting simulation system based on mini robots |
| spellingShingle |
Abdominal lighting simulation system based on mini robots Image analysis Mini lighting robots Mini robots Surgical robotics Unity3D |
| title_short |
Abdominal lighting simulation system based on mini robots |
| title_full |
Abdominal lighting simulation system based on mini robots |
| title_fullStr |
Abdominal lighting simulation system based on mini robots |
| title_full_unstemmed |
Abdominal lighting simulation system based on mini robots |
| title_sort |
Abdominal lighting simulation system based on mini robots |
| dc.creator.fl_str_mv |
Chaparro Velasco, María Cristina Sabater-Navarro, Jose Maria Vivas, Oscar Andrés |
| dc.contributor.author.none.fl_str_mv |
Chaparro Velasco, María Cristina Sabater-Navarro, Jose Maria Vivas, Oscar Andrés |
| dc.subject.proposal.eng.fl_str_mv |
Image analysis Mini lighting robots Mini robots Surgical robotics Unity3D |
| topic |
Image analysis Mini lighting robots Mini robots Surgical robotics Unity3D |
| description |
Introduction— This document shows a system that simulates the illumination of the abdominal scene in laparoscopic operations using mini robots. The mini robots would be magnetically tied to the abdominal cavity and manipulated by an external robot arm. Two algorithms are tested in this system: one that moves the mini robot according to the movement of the endoscope, and another that moves from an analysis of the image captured by the scene. Objective— To contribute to the illumination of the surgical scene by means of mini robots attached magnetically to the abdominal cavity. Methodology— A software tool was developed using Unity3D, which simulates the interior of the abdomen in laparoscopic operations, adding a new lighting: a mini light-type robot magnetically anchored to the abdominal wall. The mini robot has two different movements to illuminate the scene, one depends on the movement of the endoscope and the other on the image analysis performed. Results— Tests were performed with a representation of the real environment comparing it with the tests in the built tool, obtaining similar results and showing the potential of a mini robot to provide additional lighting to the surgeon if necessary. Conclusions— The designed algorithm allows a mini robot that is magnetically anchored in the abdominal wall to move to low-light areas following two options: a geometric relationship or movement as a result of image analysis. |
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2021 |
| dc.date.issued.none.fl_str_mv |
2021 |
| dc.date.accessioned.none.fl_str_mv |
2023-06-23T22:19:53Z |
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2023-06-23T22:19:53Z |
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Artículo de revista |
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M. Chaparro Velasco, J. Sabater Navarro & O. Vivas Albán, “Abdominal Lighting Simulation System Based on Mini Robots” INGE CUC, vol. 17, no. 2, pp. 1–11, 2021. DOI: http://doi.org/10.17981/ingecuc.17.2.2021.14 |
| dc.identifier.issn.spa.fl_str_mv |
2382-4700 |
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https://hdl.handle.net/11323/10259 |
| dc.identifier.doi.none.fl_str_mv |
10.17981/ingecuc.17.2.2021.14 |
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0122-6517 |
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Corporación Universidad de la Costa |
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REDICUC - Repositorio CUC |
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https://repositorio.cuc.edu.co/ |
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M. Chaparro Velasco, J. Sabater Navarro & O. Vivas Albán, “Abdominal Lighting Simulation System Based on Mini Robots” INGE CUC, vol. 17, no. 2, pp. 1–11, 2021. DOI: http://doi.org/10.17981/ingecuc.17.2.2021.14 2382-4700 10.17981/ingecuc.17.2.2021.14 0122-6517 Corporación Universidad de la Costa REDICUC - Repositorio CUC |
| url |
https://hdl.handle.net/11323/10259 https://repositorio.cuc.edu.co/ |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
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INGE CUC |
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Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)Derechos de autor 2021 INGE CUChttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Chaparro Velasco, María CristinaSabater-Navarro, Jose MariaVivas, Oscar Andrés2023-06-23T22:19:53Z2023-06-23T22:19:53Z2021M. Chaparro Velasco, J. Sabater Navarro & O. Vivas Albán, “Abdominal Lighting Simulation System Based on Mini Robots” INGE CUC, vol. 17, no. 2, pp. 1–11, 2021. DOI: http://doi.org/10.17981/ingecuc.17.2.2021.142382-4700https://hdl.handle.net/11323/1025910.17981/ingecuc.17.2.2021.140122-6517Corporación Universidad de la CostaREDICUC - Repositorio CUChttps://repositorio.cuc.edu.co/Introduction— This document shows a system that simulates the illumination of the abdominal scene in laparoscopic operations using mini robots. The mini robots would be magnetically tied to the abdominal cavity and manipulated by an external robot arm. Two algorithms are tested in this system: one that moves the mini robot according to the movement of the endoscope, and another that moves from an analysis of the image captured by the scene. Objective— To contribute to the illumination of the surgical scene by means of mini robots attached magnetically to the abdominal cavity. Methodology— A software tool was developed using Unity3D, which simulates the interior of the abdomen in laparoscopic operations, adding a new lighting: a mini light-type robot magnetically anchored to the abdominal wall. The mini robot has two different movements to illuminate the scene, one depends on the movement of the endoscope and the other on the image analysis performed. Results— Tests were performed with a representation of the real environment comparing it with the tests in the built tool, obtaining similar results and showing the potential of a mini robot to provide additional lighting to the surgeon if necessary. Conclusions— The designed algorithm allows a mini robot that is magnetically anchored in the abdominal wall to move to low-light areas following two options: a geometric relationship or movement as a result of image analysis.Introducción— Este documento muestra un sistema que simula la iluminación de la escena abdominal en operaciones de laparoscopia utilizando mini robots. Los mini robots estarían atados magnéticamente a la cavidad abdominal y serían manipulados por un brazo robot externo. Dos algoritmos son probados en este sistema: uno que mueve al mini robot de acuerdo al movimiento del endoscopio, y otro que lo mueve a partir de un análisis de la imagen captada por la escena. Objetivo— Contribuir a la iluminación de la escena quirúrgica por medio de mini robots atados magnéticamente a la cavidad abdominal. Metodología— Se desarrolló una herramienta software por medio de Unity3D, la cual simula el interior del abdomen en operaciones de laparoscopia, agregándosele una nueva iluminación: un mini robot tipo luz anclado magnéticamente a la pared abdominal. El mini robot tiene dos movimientos diferentes para iluminar la escena, uno depende del movimiento del endoscopio y otro del análisis de imagen realizado. Resultados— Se realizaron pruebas con una representación del entorno real comparándola con las pruebas en la herramienta construida, obteniéndose resultados similares y mostrando el potencial que tiene un mini robot para proporcionar una iluminación adicional al cirujano en caso de ser necesario. Conclusiones— El algoritmo diseñado permite que un mini robot que estaría anclado magnéticamente a la pared abdominal, se mueva a zonas de baja iluminación siguiendo dos opciones: una relación geométrica o un movimiento como resultado de un análisis de imagen.24 páginasapplication/pdfengCorporación Universidad de la CostaColombiahttps://revistascientificas.cuc.edu.co/ingecuc/article/view/2982Abdominal lighting simulation system based on mini robotsSistema de simulación de la iluminación abdominal basado en mini robotsArtículo de revistahttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/redcol/resource_type/ARTinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85INGE CUC[1] D. Ruiz-Navas, V. Z., Pérez-Ariza, M. J. Betancur-Betancur, y J. Bustamante-Osorno, “Cirugía robótica mínimamente invasiva: análisis de fuerza y torque,” Rev Ing Biom, vol. 4, no. 8, pp. 84–92, 2014. 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Disponible en http://www. cambridgeincolour.com/tutorials/histograms1.htm166143217Image analysisMini lighting robotsMini robotsSurgical roboticsUnity3DPublicationORIGINALSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdfSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdfArtículoapplication/pdf1781764https://repositorio.cuc.edu.co/bitstreams/1e798113-efa2-469f-9e79-fca734cb60cb/download02677cc28c7e175c2f27dd210993baf1MD51LICENSElicense.txtlicense.txttext/plain; charset=utf-814828https://repositorio.cuc.edu.co/bitstreams/b0e29d76-47bd-4b3d-b867-559f8a84cf17/download2f9959eaf5b71fae44bbf9ec84150c7aMD52TEXTSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdf.txtSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdf.txtExtracted texttext/plain65937https://repositorio.cuc.edu.co/bitstreams/e77c87b8-2528-4783-b6af-6828baec6670/downloadf1f890d62da9c66b27c1e113d0e8457aMD53THUMBNAILSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdf.jpgSistema de Simulación de la Iluminación Abdominal Basado en Mini Robots.pdf.jpgGenerated Thumbnailimage/jpeg12492https://repositorio.cuc.edu.co/bitstreams/364126bf-da27-4e45-800b-bda80a2d8132/download1b6db3eba3e79048a0eb9799ca5d2e0bMD5411323/10259oai:repositorio.cuc.edu.co:11323/102592024-09-17 14:15:24.893https://creativecommons.org/licenses/by-nc-nd/4.0/Derechos de autor 2021 INGE CUCopen.accesshttps://repositorio.cuc.edu.coRepositorio de la Universidad de la Costa 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ada en las Obras Colectivas.

b.	Distribuir copias o fonogramas de las Obras, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública, incluyéndolas como incorporadas en Obras Colectivas, según corresponda.

c.	Distribuir copias de las Obras Derivadas que se generen, exhibirlas públicamente, ejecutarlas públicamente y/o ponerlas a disposición pública.
Los derechos mencionados anteriormente pueden ser ejercidos en todos los medios y formatos, actualmente conocidos o que se inventen en el futuro. Los derechos antes mencionados incluyen el derecho a realizar dichas modificaciones en la medida que sean técnicamente necesarias para ejercer los derechos en otro medio o formatos, pero de otra manera usted no está autorizado para realizar obras derivadas. Todos los derechos no otorgados expresamente por el Licenciante quedan por este medio reservados, incluyendo pero sin limitarse a aquellos que se mencionan en las secciones 4(d) y 4(e).

4. Restricciones.
La licencia otorgada en la anterior Sección 3 está expresamente sujeta y limitada por las siguientes restricciones:

a.	Usted puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra sólo bajo las condiciones de esta Licencia, y Usted debe incluir una copia de esta licencia o del Identificador Universal de Recursos de la misma con cada copia de la Obra que distribuya, exhiba públicamente, ejecute públicamente o ponga a disposición pública. No es posible ofrecer o imponer ninguna condición sobre la Obra que altere o limite las condiciones de esta Licencia o el ejercicio de los derechos de los destinatarios otorgados en este documento. No es posible sublicenciar la Obra. Usted debe mantener intactos todos los avisos que hagan referencia a esta Licencia y a la cláusula de limitación de garantías. Usted no puede distribuir, exhibir públicamente, ejecutar públicamente, o poner a disposición pública la Obra con alguna medida tecnológica que controle el acceso o la utilización de ella de una forma que sea inconsistente con las condiciones de esta Licencia. Lo anterior se aplica a la Obra incorporada a una Obra Colectiva, pero esto no exige que la Obra Colectiva aparte de la obra misma quede sujeta a las condiciones de esta Licencia. Si Usted crea una Obra Colectiva, previo aviso de cualquier Licenciante debe, en la medida de lo posible, eliminar de la Obra Colectiva cualquier referencia a dicho Licenciante o al Autor Original, según lo solicitado por el Licenciante y conforme lo exige la cláusula 4(c).

b.	Usted no puede ejercer ninguno de los derechos que le han sido otorgados en la Sección 3 precedente de modo que estén principalmente destinados o directamente dirigidos a conseguir un provecho comercial o una compensación monetaria privada. El intercambio de la Obra por otras obras protegidas por derechos de autor, ya sea a través de un sistema para compartir archivos digitales (digital file-sharing) o de cualquier otra manera no será considerado como estar destinado principalmente o dirigido directamente a conseguir un provecho comercial o una compensación monetaria privada, siempre que no se realice un pago mediante una compensación monetaria en relación con el intercambio de obras protegidas por el derecho de autor.

c.	Si usted distribuye, exhibe públicamente, ejecuta públicamente o ejecuta públicamente en forma digital la Obra o cualquier Obra Derivada u Obra Colectiva, Usted debe mantener intacta toda la información de derecho de autor de la Obra y proporcionar, de forma razonable según el medio o manera que Usted esté utilizando: (i) el nombre del Autor Original si está provisto (o seudónimo, si fuere aplicable), y/o (ii) el nombre de la parte o las partes que el Autor Original y/o el Licenciante hubieren designado para la atribución (v.g., un instituto patrocinador, editorial, publicación) en la información de los derechos de autor del Licenciante, términos de servicios o de otras formas razonables; el título de la Obra si está provisto; en la medida de lo razonablemente factible y, si está provisto, el Identificador Uniforme de Recursos (Uniform Resource Identifier) que el Licenciante especifica para ser asociado con la Obra, salvo que tal URI no se refiera a la nota sobre los derechos de autor o a la información sobre el licenciamiento de la Obra; y en el caso de una Obra Derivada, atribuir el crédito identificando el uso de la Obra en la Obra Derivada (v.g., "Traducción Francesa de la Obra del Autor Original," o "Guión Cinematográfico basado en la Obra original del Autor Original"). Tal crédito puede ser implementado de cualquier forma razonable; en el caso, sin embargo, de Obras Derivadas u Obras Colectivas, tal crédito aparecerá, como mínimo, donde aparece el crédito de cualquier otro autor comparable y de una manera, al menos, tan destacada como el crédito de otro autor comparable.

d.	Para evitar toda confusión, el Licenciante aclara que, cuando la obra es una composición musical:

i.	Regalías por interpretación y ejecución bajo licencias generales. El Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública o la ejecución pública digital de la obra y de recolectar, sea individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, SAYCO), las regalías por la ejecución pública o por la ejecución pública digital de la obra (por ejemplo Webcast) licenciada bajo licencias generales, si la interpretación o ejecución de la obra está primordialmente orientada por o dirigida a la obtención de una ventaja comercial o una compensación monetaria privada.

ii.	Regalías por Fonogramas. El Licenciante se reserva el derecho exclusivo de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, los consagrados por la SAYCO), una agencia de derechos musicales o algún agente designado, las regalías por cualquier fonograma que Usted cree a partir de la obra (“versión cover”) y distribuya, en los términos del régimen de derechos de autor, si la creación o distribución de esa versión cover está primordialmente destinada o dirigida a obtener una ventaja comercial o una compensación monetaria privada.

e.	Gestión de Derechos de Autor sobre Interpretaciones y Ejecuciones Digitales (WebCasting). Para evitar toda confusión, el Licenciante aclara que, cuando la obra sea un fonograma, el Licenciante se reserva el derecho exclusivo de autorizar la ejecución pública digital de la obra (por ejemplo, webcast) y de recolectar, individualmente o a través de una sociedad de gestión colectiva de derechos de autor y derechos conexos (por ejemplo, ACINPRO), las regalías por la ejecución pública digital de la obra (por ejemplo, webcast), sujeta a las disposiciones aplicables del régimen de Derecho de Autor, si esta ejecución pública digital está primordialmente dirigida a obtener una ventaja comercial o una compensación monetaria privada.

5. Representaciones, Garantías y Limitaciones de Responsabilidad.
A MENOS QUE LAS PARTES LO ACORDARAN DE OTRA FORMA POR ESCRITO, EL LICENCIANTE OFRECE LA OBRA (EN EL ESTADO EN EL QUE SE ENCUENTRA) “TAL CUAL”, SIN BRINDAR GARANTÍAS DE CLASE ALGUNA RESPECTO DE LA OBRA, YA SEA EXPRESA, IMPLÍCITA, LEGAL O CUALQUIERA OTRA, INCLUYENDO, SIN LIMITARSE A ELLAS, GARANTÍAS DE TITULARIDAD, COMERCIABILIDAD, ADAPTABILIDAD O ADECUACIÓN A PROPÓSITO DETERMINADO, AUSENCIA DE INFRACCIÓN, DE AUSENCIA DE DEFECTOS LATENTES O DE OTRO TIPO, O LA PRESENCIA O AUSENCIA DE ERRORES, SEAN O NO DESCUBRIBLES (PUEDAN O NO SER ESTOS DESCUBIERTOS). ALGUNAS JURISDICCIONES NO PERMITEN LA EXCLUSIÓN DE GARANTÍAS IMPLÍCITAS, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.

6. Limitación de responsabilidad.
A MENOS QUE LO EXIJA EXPRESAMENTE LA LEY APLICABLE, EL LICENCIANTE NO SERÁ RESPONSABLE ANTE USTED POR DAÑO ALGUNO, SEA POR RESPONSABILIDAD EXTRACONTRACTUAL, PRECONTRACTUAL O CONTRACTUAL, OBJETIVA O SUBJETIVA, SE TRATE DE DAÑOS MORALES O PATRIMONIALES, DIRECTOS O INDIRECTOS, PREVISTOS O IMPREVISTOS PRODUCIDOS POR EL USO DE ESTA LICENCIA O DE LA OBRA, AUN CUANDO EL LICENCIANTE HAYA SIDO ADVERTIDO DE LA POSIBILIDAD DE DICHOS DAÑOS. ALGUNAS LEYES NO PERMITEN LA EXCLUSIÓN DE CIERTA RESPONSABILIDAD, EN CUYO CASO ESTA EXCLUSIÓN PUEDE NO APLICARSE A USTED.

7. Término.

a.	Esta Licencia y los derechos otorgados en virtud de ella terminarán automáticamente si Usted infringe alguna condición establecida en ella. Sin embargo, los individuos o entidades que han recibido Obras Derivadas o Colectivas de Usted de conformidad con esta Licencia, no verán terminadas sus licencias, siempre que estos individuos o entidades sigan cumpliendo íntegramente las condiciones de estas licencias. Las Secciones 1, 2, 5, 6, 7, y 8 subsistirán a cualquier terminación de esta Licencia.

b.	Sujeta a las condiciones y términos anteriores, la licencia otorgada aquí es perpetua (durante el período de vigencia de los derechos de autor de la obra). No obstante lo anterior, el Licenciante se reserva el derecho a publicar y/o estrenar la Obra bajo condiciones de licencia diferentes o a dejar de distribuirla en los términos de esta Licencia en cualquier momento; en el entendido, sin embargo, que esa elección no servirá para revocar esta licencia o que deba ser otorgada , bajo los términos de esta licencia), y esta licencia continuará en pleno vigor y efecto a menos que sea terminada como se expresa atrás. La Licencia revocada continuará siendo plenamente vigente y efectiva si no se le da término en las condiciones indicadas anteriormente.

8. Varios.

a.	Cada vez que Usted distribuya o ponga a disposición pública la Obra o una Obra Colectiva, el Licenciante ofrecerá al destinatario una licencia en los mismos términos y condiciones que la licencia otorgada a Usted bajo esta Licencia.

b.	Si alguna disposición de esta Licencia resulta invalidada o no exigible, según la legislación vigente, esto no afectará ni la validez ni la aplicabilidad del resto de condiciones de esta Licencia y, sin acción adicional por parte de los sujetos de este acuerdo, aquélla se entenderá reformada lo mínimo necesario para hacer que dicha disposición sea válida y exigible.

c.	Ningún término o disposición de esta Licencia se estimará renunciada y ninguna violación de ella será consentida a menos que esa renuncia o consentimiento sea otorgado por escrito y firmado por la parte que renuncie o consienta.

d.	Esta Licencia refleja el acuerdo pleno entre las partes respecto a la Obra aquí licenciada. No hay arreglos, acuerdos o declaraciones respecto a la Obra que no estén especificados en este documento. El Licenciante no se verá limitado por ninguna disposición adicional que pueda surgir en alguna comunicación emanada de Usted. Esta Licencia no puede ser modificada sin el consentimiento mutuo por escrito del Licenciante y Usted.
 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