Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

Jaewoo Lee, Genya Ukawa, Shuna Doho, Zhuohua Lin, Hiroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    In this paper, the shape of the medical robot which can move in the colon is suggested for its gate control. In this system, the current shape information plays a sensing role in order to control the gate of robot in the colon. In order to find current shape of robot, we construct sensor network system which composed of several electronic compass units. This unit makes use of chip which includes pair of 3 axis accelerometer and 3 axis magnetometer. From this signals, orientation is evaluated after filtering noise. Then, based on the kinematic chain model, the shape of the flexible robot is calculated using orientation information. The resulting trajectory shows that this method cans percept shape of flexible robot well.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    Pages577-582
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket
    Duration: 2011 Dec 72011 Dec 11

    Other

    Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    CityPhuket
    Period11/12/711/12/11

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    Keywords

    • Kinematic Chain
    • Non visual sensor network
    • Orientation
    • Shape Perception

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition

    Cite this

    Lee, J., Ukawa, G., Doho, S., Lin, Z., Ishii, H., Zecca, M., & Takanishi, A. (2011). Non visual sensor based shape perception method for gait control of flexible colonoscopy robot. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 577-582). [6181348] https://doi.org/10.1109/ROBIO.2011.6181348