Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation
Identifieur interne :
001098 ( PascalFrancis/Corpus );
précédent :
001097;
suivant :
001099
Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation
Auteurs : Jung Kim ;
Boon K. Tay ;
N. Stylopoulos ;
D. W. Rattner ;
M. A. SrinivasanSource :
-
Lecture notes in computer science [ 0302-9743 ] ; 2003.
RBID : Pascal:04-0143249
Descripteurs français
- Pascal (Inist)
- Mesure,
Robotique,
Simulateur,
Boucle réaction,
Rétroaction,
Chirurgie,
Système mesure,
Partie molle,
Tissu,
In vivo,
Indentation,
Propriété mécanique,
Propriété matériau,
Sensibilité tactile,
Complexité,
Modèle linéaire,
Modèle non linéaire.
English descriptors
- KwdEn :
- Complexity,
Feedback,
Feedback regulation,
In vivo,
Indentation,
Linear model,
Measurement,
Measuring system,
Mechanical properties,
Non linear model,
Properties of materials,
Robotics,
Simulator,
Soft tissue,
Surgery,
Tactile sensitivity,
Tissue.
Abstract
The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 0302-9743 |
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| A05 | | | | @2 2878 |
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| A08 | 01 | 1 | ENG | @1 Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation |
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| A09 | 01 | 1 | ENG | @1 MICCAI 2003 : medical image computing and computer-assisted intervention : Montreal PQ, 15-18 November 2003 |
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| A11 | 01 | 1 | | @1 KIM (Jung) |
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| A11 | 02 | 1 | | @1 TAY (Boon K.) |
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| A11 | 03 | 1 | | @1 STYLOPOULOS (N.) |
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| A11 | 04 | 1 | | @1 RATTNER (D. W.) |
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| A11 | 05 | 1 | | @1 SRINIVASAN (M. A.) |
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| A12 | 01 | 1 | | @1 ELLIS (Randy E.) @9 ed. |
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| A12 | 02 | 1 | | @1 PETERS (Terry M.) @9 ed. |
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| A14 | 01 | | | @1 The Touch Lab, ' Department of Mechanical Engineering, Massachusetts Institute of Technology @2 MA @3 USA @Z 1 aut. @Z 2 aut. @Z 5 aut. |
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| A14 | 02 | | | @1 Department of Surgery, Massachusetts General Hospital @2 Boston, MA 02114 @3 USA @Z 3 aut. |
|---|
| A14 | 03 | | | @1 Division of General and Gastrointestinal Surgery, Massachusetts General Hospital @2 Boston, MA 02114 @3 USA @Z 4 aut. |
|---|
| A20 | | | | @2 v1.206-213 |
|---|
| A21 | | | | @1 2003 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 3-540-20462-8 |
|---|
| A43 | 01 | | | @1 INIST @2 16343 @5 354000117817480260 |
|---|
| A44 | | | | @0 0000 @1 © 2004 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 13 ref. |
|---|
| A47 | 01 | 1 | | @0 04-0143249 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Lecture notes in computer science |
|---|
| A66 | 01 | | | @0 DEU |
|---|
| C01 | 01 | | ENG | @0 The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback. |
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| C02 | 01 | X | | @0 001D02C03 |
|---|
| C03 | 01 | X | FRE | @0 Mesure @5 01 |
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| C03 | 01 | X | ENG | @0 Measurement @5 01 |
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| C03 | 01 | X | SPA | @0 Medida @5 01 |
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| C03 | 02 | X | FRE | @0 Robotique @5 02 |
|---|
| C03 | 02 | X | ENG | @0 Robotics @5 02 |
|---|
| C03 | 02 | X | SPA | @0 Robótica @5 02 |
|---|
| C03 | 03 | X | FRE | @0 Simulateur @5 03 |
|---|
| C03 | 03 | X | ENG | @0 Simulator @5 03 |
|---|
| C03 | 03 | X | SPA | @0 Simulador @5 03 |
|---|
| C03 | 04 | X | FRE | @0 Boucle réaction @5 04 |
|---|
| C03 | 04 | X | ENG | @0 Feedback @5 04 |
|---|
| C03 | 04 | X | SPA | @0 Retroalimentación @5 04 |
|---|
| C03 | 05 | X | FRE | @0 Rétroaction @5 05 |
|---|
| C03 | 05 | X | ENG | @0 Feedback regulation @5 05 |
|---|
| C03 | 05 | X | SPA | @0 Retroacción @5 05 |
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| C03 | 06 | X | FRE | @0 Chirurgie @5 11 |
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| C03 | 06 | X | ENG | @0 Surgery @5 11 |
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| C03 | 06 | X | SPA | @0 Cirugía @5 11 |
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| C03 | 07 | X | FRE | @0 Système mesure @5 12 |
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| C03 | 07 | X | ENG | @0 Measuring system @5 12 |
|---|
| C03 | 07 | X | SPA | @0 Sistema medida @5 12 |
|---|
| C03 | 08 | X | FRE | @0 Partie molle @5 13 |
|---|
| C03 | 08 | X | ENG | @0 Soft tissue @5 13 |
|---|
| C03 | 08 | X | SPA | @0 Parte blanda @5 13 |
|---|
| C03 | 09 | X | FRE | @0 Tissu @5 14 |
|---|
| C03 | 09 | X | ENG | @0 Tissue @5 14 |
|---|
| C03 | 09 | X | SPA | @0 Tejido @5 14 |
|---|
| C03 | 10 | X | FRE | @0 In vivo @5 15 |
|---|
| C03 | 10 | X | ENG | @0 In vivo @5 15 |
|---|
| C03 | 10 | X | SPA | @0 In vivo @5 15 |
|---|
| C03 | 11 | X | FRE | @0 Indentation @5 16 |
|---|
| C03 | 11 | X | ENG | @0 Indentation @5 16 |
|---|
| C03 | 11 | X | SPA | @0 Indentación @5 16 |
|---|
| C03 | 12 | X | FRE | @0 Propriété mécanique @5 17 |
|---|
| C03 | 12 | X | ENG | @0 Mechanical properties @5 17 |
|---|
| C03 | 12 | X | SPA | @0 Propiedad mecánica @5 17 |
|---|
| C03 | 13 | X | FRE | @0 Propriété matériau @5 18 |
|---|
| C03 | 13 | X | ENG | @0 Properties of materials @5 18 |
|---|
| C03 | 13 | X | SPA | @0 Propiedad material @5 18 |
|---|
| C03 | 14 | X | FRE | @0 Sensibilité tactile @5 19 |
|---|
| C03 | 14 | X | ENG | @0 Tactile sensitivity @5 19 |
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| C03 | 14 | X | SPA | @0 Sensibilidad tactil @5 19 |
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| C03 | 15 | X | FRE | @0 Complexité @5 21 |
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| C03 | 15 | X | ENG | @0 Complexity @5 21 |
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| C03 | 15 | X | SPA | @0 Complejidad @5 21 |
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| C03 | 16 | X | FRE | @0 Modèle linéaire @5 22 |
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| C03 | 16 | X | ENG | @0 Linear model @5 22 |
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| C03 | 16 | X | SPA | @0 Modelo lineal @5 22 |
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| C03 | 17 | X | FRE | @0 Modèle non linéaire @5 23 |
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| C03 | 17 | X | ENG | @0 Non linear model @5 23 |
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| C03 | 17 | X | SPA | @0 Modelo no lineal @5 23 |
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| N21 | | | | @1 089 |
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| N82 | | | | @1 PSI |
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|
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| pR |
| A30 | 01 | 1 | ENG | @1 International conference on medical image computing and computer-assisted intervention @2 6 @3 Montreal PQ CAN @4 2003-11-15 |
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|
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Format Inist (serveur)
| NO : | PASCAL 04-0143249 INIST |
|---|
| ET : | Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation |
|---|
| AU : | KIM (Jung); TAY (Boon K.); STYLOPOULOS (N.); RATTNER (D. W.); SRINIVASAN (M. A.); ELLIS (Randy E.); PETERS (Terry M.) |
|---|
| AF : | The Touch Lab, ' Department of Mechanical Engineering, Massachusetts Institute of Technology/MA/Etats-Unis (1 aut., 2 aut., 5 aut.); Department of Surgery, Massachusetts General Hospital/Boston, MA 02114/Etats-Unis (3 aut.); Division of General and Gastrointestinal Surgery, Massachusetts General Hospital/Boston, MA 02114/Etats-Unis (4 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Lecture notes in computer science; ISSN 0302-9743; Allemagne; Da. 2003; Vol. 2878; v1.206-213; Bibl. 13 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback. |
|---|
| CC : | 001D02C03 |
|---|
| FD : | Mesure; Robotique; Simulateur; Boucle réaction; Rétroaction; Chirurgie; Système mesure; Partie molle; Tissu; In vivo; Indentation; Propriété mécanique; Propriété matériau; Sensibilité tactile; Complexité; Modèle linéaire; Modèle non linéaire |
|---|
| ED : | Measurement; Robotics; Simulator; Feedback; Feedback regulation; Surgery; Measuring system; Soft tissue; Tissue; In vivo; Indentation; Mechanical properties; Properties of materials; Tactile sensitivity; Complexity; Linear model; Non linear model |
|---|
| SD : | Medida; Robótica; Simulador; Retroalimentación; Retroacción; Cirugía; Sistema medida; Parte blanda; Tejido; In vivo; Indentación; Propiedad mecánica; Propiedad material; Sensibilidad tactil; Complejidad; Modelo lineal; Modelo no lineal |
|---|
| LO : | INIST-16343.354000117817480260 |
|---|
| ID : | 04-0143249 |
|---|
Links to Exploration step
Pascal:04-0143249
Le document en format XML
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<term>Feedback</term>
<term>Feedback regulation</term>
<term>In vivo</term>
<term>Indentation</term>
<term>Linear model</term>
<term>Measurement</term>
<term>Measuring system</term>
<term>Mechanical properties</term>
<term>Non linear model</term>
<term>Properties of materials</term>
<term>Robotics</term>
<term>Simulator</term>
<term>Soft tissue</term>
<term>Surgery</term>
<term>Tactile sensitivity</term>
<term>Tissue</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Mesure</term>
<term>Robotique</term>
<term>Simulateur</term>
<term>Boucle réaction</term>
<term>Rétroaction</term>
<term>Chirurgie</term>
<term>Système mesure</term>
<term>Partie molle</term>
<term>Tissu</term>
<term>In vivo</term>
<term>Indentation</term>
<term>Propriété mécanique</term>
<term>Propriété matériau</term>
<term>Sensibilité tactile</term>
<term>Complexité</term>
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</keywords><front><div type="abstract" xml:lang="en">The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback.</div>
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</fA05><fA08 i1="01" i2="1" l="ENG"><s1>Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation</s1>
</fA08><fA09 i1="01" i2="1" l="ENG"><s1>MICCAI 2003 : medical image computing and computer-assisted intervention : Montreal PQ, 15-18 November 2003</s1>
</fA09><fA11 i1="01" i2="1"><s1>KIM (Jung)</s1>
</fA11><fA11 i1="02" i2="1"><s1>TAY (Boon K.)</s1>
</fA11><fA11 i1="03" i2="1"><s1>STYLOPOULOS (N.)</s1>
</fA11><fA11 i1="04" i2="1"><s1>RATTNER (D. W.)</s1>
</fA11><fA11 i1="05" i2="1"><s1>SRINIVASAN (M. A.)</s1>
</fA11><fA12 i1="01" i2="1"><s1>ELLIS (Randy E.)</s1>
<s9>ed.</s9>
</fA12><fA12 i1="02" i2="1"><s1>PETERS (Terry M.)</s1>
<s9>ed.</s9>
</fA12><fA14 i1="01"><s1>The Touch Lab, ' Department of Mechanical Engineering, Massachusetts Institute of Technology</s1>
<s2>MA</s2>
<s3>USA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>5 aut.</sZ>
</fA14><fA14 i1="02"><s1>Department of Surgery, Massachusetts General Hospital</s1>
<s2>Boston, MA 02114</s2>
<s3>USA</s3>
<sZ>3 aut.</sZ>
</fA14><fA14 i1="03"><s1>Division of General and Gastrointestinal Surgery, Massachusetts General Hospital</s1>
<s2>Boston, MA 02114</s2>
<s3>USA</s3>
<sZ>4 aut.</sZ>
</fA14><fA20><s2>v1.206-213</s2>
</fA20><fA21><s1>2003</s1>
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</fA66><fC01 i1="01" l="ENG"><s0>The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D02C03</s0>
</fC02><fC03 i1="01" i2="X" l="FRE"><s0>Mesure</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="ENG"><s0>Measurement</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Medida</s0>
<s5>01</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Robotique</s0>
<s5>02</s5>
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<s5>02</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Robótica</s0>
<s5>02</s5>
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<s5>03</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>Simulator</s0>
<s5>03</s5>
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<s5>03</s5>
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<s5>04</s5>
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<s5>04</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Retroalimentación</s0>
<s5>04</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>05</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>05</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>05</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>11</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Surgery</s0>
<s5>11</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>11</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Système mesure</s0>
<s5>12</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Measuring system</s0>
<s5>12</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Sistema medida</s0>
<s5>12</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Partie molle</s0>
<s5>13</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Soft tissue</s0>
<s5>13</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Parte blanda</s0>
<s5>13</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Tissu</s0>
<s5>14</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Tissue</s0>
<s5>14</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Tejido</s0>
<s5>14</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>In vivo</s0>
<s5>15</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>In vivo</s0>
<s5>15</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>In vivo</s0>
<s5>15</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Indentation</s0>
<s5>16</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Indentation</s0>
<s5>16</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Indentación</s0>
<s5>16</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Propriété mécanique</s0>
<s5>17</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Mechanical properties</s0>
<s5>17</s5>
</fC03><fC03 i1="12" i2="X" l="SPA"><s0>Propiedad mecánica</s0>
<s5>17</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Propriété matériau</s0>
<s5>18</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Properties of materials</s0>
<s5>18</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Propiedad material</s0>
<s5>18</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>19</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>19</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>19</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Complexité</s0>
<s5>21</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Complexity</s0>
<s5>21</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Complejidad</s0>
<s5>21</s5>
</fC03><fC03 i1="16" i2="X" l="FRE"><s0>Modèle linéaire</s0>
<s5>22</s5>
</fC03><fC03 i1="16" i2="X" l="ENG"><s0>Linear model</s0>
<s5>22</s5>
</fC03><fC03 i1="16" i2="X" l="SPA"><s0>Modelo lineal</s0>
<s5>22</s5>
</fC03><fC03 i1="17" i2="X" l="FRE"><s0>Modèle non linéaire</s0>
<s5>23</s5>
</fC03><fC03 i1="17" i2="X" l="ENG"><s0>Non linear model</s0>
<s5>23</s5>
</fC03><fC03 i1="17" i2="X" l="SPA"><s0>Modelo no lineal</s0>
<s5>23</s5>
</fC03><fN21><s1>089</s1>
</fN21><fN82><s1>PSI</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>International conference on medical image computing and computer-assisted intervention</s1>
<s2>6</s2>
<s3>Montreal PQ CAN</s3>
<s4>2003-11-15</s4>
</fA30><server><NO>PASCAL 04-0143249 INIST</NO>
<ET>Characterization of intra-abdominal tissues from in vivo animal experiments for surgical simulation</ET>
<AU>KIM (Jung); TAY (Boon K.); STYLOPOULOS (N.); RATTNER (D. W.); SRINIVASAN (M. A.); ELLIS (Randy E.); PETERS (Terry M.)</AU>
<AF>The Touch Lab, ' Department of Mechanical Engineering, Massachusetts Institute of Technology/MA/Etats-Unis (1 aut., 2 aut., 5 aut.); Department of Surgery, Massachusetts General Hospital/Boston, MA 02114/Etats-Unis (3 aut.); Division of General and Gastrointestinal Surgery, Massachusetts General Hospital/Boston, MA 02114/Etats-Unis (4 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Lecture notes in computer science; ISSN 0302-9743; Allemagne; Da. 2003; Vol. 2878; v1.206-213; Bibl. 13 ref.</SO>
<LA>Anglais</LA>
<EA>The lack of data on in vivo material properties of soft tissues is one of the impediments in the development of realistic surgical simulators. The measurement of these properties is not a trivial task, due to the difficulty of the testing itself and the complexity of tissue mechanical behavior. We have developed a system for measuring the mechanical properties of soft tissues in vivo using a robotic device fitted with a force transducer. We measured the response of soft tissues in intra-abdominal organs including the liver and lower esophagus of pigs by using both static and dynamic indentations. We characterize these properties using nonlinear models as well as a linear model. These material models can be effectively integrated into a simulator to provide the user with realistic visual and haptic feedback.</EA>
<CC>001D02C03</CC>
<FD>Mesure; Robotique; Simulateur; Boucle réaction; Rétroaction; Chirurgie; Système mesure; Partie molle; Tissu; In vivo; Indentation; Propriété mécanique; Propriété matériau; Sensibilité tactile; Complexité; Modèle linéaire; Modèle non linéaire</FD>
<ED>Measurement; Robotics; Simulator; Feedback; Feedback regulation; Surgery; Measuring system; Soft tissue; Tissue; In vivo; Indentation; Mechanical properties; Properties of materials; Tactile sensitivity; Complexity; Linear model; Non linear model</ED>
<SD>Medida; Robótica; Simulador; Retroalimentación; Retroacción; Cirugía; Sistema medida; Parte blanda; Tejido; In vivo; Indentación; Propiedad mecánica; Propiedad material; Sensibilidad tactil; Complejidad; Modelo lineal; Modelo no lineal</SD>
<LO>INIST-16343.354000117817480260</LO>
<ID>04-0143249</ID>
</server>
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