Metachronic malignant transformation of small bowel and rectal endometriosis in the same patient

[ES] Background: Malignant transformation of intestinal endometriosis is a rare event with an unknown rate of incidence. Metachronous progression of endometriosis to adenocarcinoma from two distant intestinal foci happening in the same patient has not been previously reported. Case presentation: We describe a case of metachronic transformation of ileal and rectal endometriosis into an adenocarcinoma occurring in a 45-year-old female without macroscopic pelvic involvement of her endometriosis. First, a right colectomy was performed due to intestinal obstruction by an ileal mass. Pathological examination revealed an ileal endometrioid adenocarcinoma and contiguous microscopic endometriotic foci. Twenty months later, a rectal mass was discovered. An endoscopic biopsy revealed an adenocarcinoma. En bloc anterior rectum resection, hysterectomy and bilateral salpingectomy were performed. A second endometrioid adenocarcinoma arising from a focus of endometriosis within the wall of the rectum was diagnosed. Conclusion: Intestinal endometriosis should be considered a premalignant condition in premenopausal women.

Contributions to underwater glider path planning

[ES] La Planificación de Rutas o Caminos es un disciplina de Robótica que trata la búsqueda de caminos factibles u óptimos. Para la mayoría de vehículos y entornos, no es un problema trivial y por tanto nos encontramos con un gran diversidad de algoritmos para resolverlo, no sólo en Robótica e Inteligencia Artificial, sino también como parte de la literatura de Optimización, con Métodos Numéricos y Algoritmos Bio-inspirados, como Algoritmos Genéticos y el Algoritmo de la Colonia de Hormigas. El caso particular de escenarios de costes variables es considerablemente difícil de abordar porque el entorno en el que se mueve el vehículo cambia con el tiempo. El presente trabajo de tesis estudia este problema y propone varias soluciones prácticas para aplicaciones de Robótica Submarina.