会议专题

A New Navigation Method for Intelligent Colonoscope

In this paper, a new navigation method for intelligent colonoscope robot is presented. The proposed navigation method is developed to facilitate colonoscope into a human colon. The navigation method is based on the sensory fusion utilizing the quantitative parameters from the captured images and the tactile sensors. In vision navigation method, dark region which is described as the direction of human colon can be segmented from colonoscope image after autothresholding algorithm. Auto-thresholding algorithm is based on Ostus method and the method is optimized by analyzing the endoscope image. The tactile sensors used here is a bridge circuit of force sensitive resistors built on silicon base by MEMS technology. Four sensors are mounted symmetrically around the colonoscopes head, so they can measure the pressure force in almost all directions. The proposed navigation method was tested with animal colons and the experimental observations are discussed.

colonoscope navigation autothresholding algorithm tactile sensors vision guidance.

Zhang Zhen Qian Jinwu Zhang Yanan Shen Linyong

School of Mechatronic Engineering and Automation Shanghai University Shanghai 200072, China

国际会议

2007 IEEE/ICME International Conference on Complex Medical Engineering-CME2007(CME2007 第二届国际复合医学工程学术大会)

北京

英文

31-34

2007-05-23(万方平台首次上网日期,不代表论文的发表时间)