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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