Enhancing perception in minimally invasive robotic surgery through self-calibration of surgical instruments.

In minimally invasive surgery (MIS) the 3D perception and hand-eye coordination is reduced. A high degree of sensory-motor skills is required by the surgeon to mediate action and perception. The incorporation of robotic assistants is capable of integrating the required egocentric information to aid the surgeon providing a sense of presence. In this work we propose a robotic vision system as a tool to locate surgical instruments with respect to the surgeon. It estimates the absolute position of the port of entry, in which surgical instruments are inserted to access the patient body. The proposed algorithm shows that it is possible to estimate the orientation of the instruments with respect to the laparoscopic camera applying determined movements through the robotic assistant.

Condiciones operativas limitantes en un reactor biológico de película fija

Los efluentes líquidos de alta carga orgánica, industriales o municipales, requieren de un tratamiento previo para su vuelco en cuerpos receptores. Una opción es el lecho percolador, que mediante una película de bacterias degradadoras logra bajar notablemente la carga final. En este trabajo se realizan ensayos con una columna rellena construída en laboratorio a escala piloto, se ajusta el modelo cinético que representa su operación y se encuentran condiciones de trabajo (caudal de ingreso, DQO inicial, caudal de reciclo) donde es posible lograr rendimientos normales en la operación