Abdominal lighting simulation system based on mini robots

Sistema de simulación de la iluminación abdominal basado en mini robots

dc.creatorChaparro Velasco, María Cristina
dc.creatorSabater-Navarro, Jose Maria
dc.creatorVivas, Oscar Andrés
dc.date2023-06-23T22:19:53Z
dc.date2023-06-23T22:19:53Z
dc.date2021
dc.date.accessioned2023-10-03T19:52:44Z
dc.date.available2023-10-03T19:52:44Z
dc.identifierM. 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.identifier2382-4700
dc.identifierhttps://hdl.handle.net/11323/10259
dc.identifier10.17981/ingecuc.17.2.2021.14
dc.identifier0122-6517
dc.identifierCorporación Universidad de la Costa
dc.identifierREDICUC - Repositorio CUC
dc.identifierhttps://repositorio.cuc.edu.co/
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/9172913
dc.descriptionIntroduction— 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.
dc.descriptionIntroducción— 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.
dc.format24 páginas
dc.formatapplication/pdf
dc.formatapplication/pdf
dc.languageeng
dc.publisherCorporación Universidad de la Costa
dc.publisherColombia
dc.relationINGE CUC
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dc.rightsDerechos de autor 2021 INGE CUC
dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0)
dc.rightshttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://purl.org/coar/access_right/c_abf2
dc.sourcehttps://revistascientificas.cuc.edu.co/ingecuc/article/view/2982
dc.subjectImage analysis
dc.subjectMini lighting robots
dc.subjectMini robots
dc.subjectSurgical robotics
dc.subjectUnity3D
dc.titleAbdominal lighting simulation system based on mini robots
dc.titleSistema de simulación de la iluminación abdominal basado en mini robots
dc.typeArtículo de revista
dc.typehttp://purl.org/coar/resource_type/c_6501
dc.typeText
dc.typeinfo:eu-repo/semantics/article
dc.typehttp://purl.org/redcol/resource_type/ART
dc.typeinfo:eu-repo/semantics/publishedVersion
dc.typehttp://purl.org/coar/version/c_970fb48d4fbd8a85


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