Simultaneous localization and mapping (SLAM) methods provide real-time estimation of 3-D models from the sole input of a handheld camera, routinely in mobile robotics scenarios. Medical endoscopic sequences mimic a robotic scenario in which a handheld camera (monocular endoscope) moves along an unknown trajectory while observing an unknown cavity. However, the feasibility and accuracy of SLAM methods have not been extensively validated with human in vivo image sequences. In this work, we propose a monocular visual SLAM algorithm tailored to deal with medical image sequences in order to provide an up-to-scale 3-D map of the observed cavity and the endoscope trajectory at frame rate. The algorithm is validated over synthetic data and human in vivo sequences corresponding to 15 laparoscopic hernioplasties where accurate ground-truth distances are available. It can be concluded that the proposed procedure is: 1) noninvasive, because only a standard monocular endoscope and a surgical tool are used; 2) convenient, because only a hand-controlled exploratory motion is needed; 3) fast, because the algorithm provides the 3-D map and the trajectory in real time; 4) accurate, because it has been validated with respect to ground-truth; and 5) robust to inter-patient variability, because it has performed successfully over the validation sequences.

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Mastitis granulomatosa;Corticoides; Corynebacterium kroppenstedtii Resumen Objetivo: La mastitis granulomatosa idiopática (MGI) es una enfermedad mamaria benigna, infrecuente, de tipo inflamatorio y de causa desconocida. La MGI afecta con mayor frecuencia a mujeres jóvenes. Clínicamente se presenta como una masa periférica, unilateral e inflamatoria. El tratamiento óptimo es la terapia corticoidea, en ocasiones siendo necesaria la resección de tejido afecto. Caso clínico: Presentamos un caso de MGI con buena respuesta a los corticoesteroides. Resultados y discusión: El diagnóstico diferencial se hará con el carcinoma mamario además de otras enfermedades granulomatosas como la tuberculosis, siendo el diagnóstico etiológico anatomopatológico. Destacar el manejo multidisciplinar de la enfermedad para alcanzar el diagnóstico definitivo.

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The needle method is relatively inaccurate and invasive. The tape method is accurate, but is not easy to perform and is relatively time consuming. The VSM method is noninvasive and fast and is as accurate as the tape method.

The laparoscopic adrenalectomy is considered as the procedure of choice for the treatment of adrenal hyperplasia and tumor lesions. However, some special situations may limit the use of this method due to the difficulty to locate the gland and perform the lesion excision.We analyze 2 patients of a left adrenal tumor, explaining how they have overcome the difficulties in both situations. The first case was a patient with a history of intra-abdominal surgery and the other patient suffered from severe obesity.We performed with the use of the gamma probe, and the 2 cases, was of great help to access and glandular localization. The help of gamma probe test was achieved in the surgical bed, that removal was complete.The use of the portable gamma probe facilitated the access to the left adrenal gland as well as conducting the glandular excision without delay, despite the difficulties due to the intra abdominal surgery caused by the previous surgery, and in the case of severe obesity.

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