Simulation model which can visualize the shape of the colonoscope using orientation sensor network

Jaewoo Lee*, Genya Ukawa, Shuna Doho, Zuohua Lin, Hiroyuki Ishii, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

抄録

The Simulation Model which can visualize the shape of commercial colonoscope is proposed. This model uses kinematic chain which approximates the shape of colonoscope by serially connected multiple joint-link pairs. As the input to the model, orientation information is used. Orientation information is extracted from the Sensor Network. The sensor network consists of connecting a number of sensor units with CAN bus. Each sensor unit also has two kinds of sensor: triad of accelerometer and triad of magnetometer. Roll and pitch angle are estimated based on the accelerometer signals. Yaw angle is estimated based on the magnetometer signals. By using kinematic chain model and orientation as input, we estimate the key points which are positions of sensor units on the colonoscope. Then, we implement spline interpolation to find the intermediate points which constitutes the shape of colonoscope. We made experiment in order to check whether model has enough accuracy. Firstly, we compared estimated curve with sine curve which is used as a ground truth. Secondly, we investigated the effect of number of sensor on the accuracy. Final result says that it has enough estimation ability.

本文言語English
ホスト出版物のタイトルProceedings of the 6th IASTED International Conference on Biomechanics, BioMech 2011
ページ29-36
ページ数8
DOI
出版ステータスPublished - 2011 12 1
イベント6th IASTED International Conference on Biomechanics, BioMech 2011 - Pittsburgh, PA, United States
継続期間: 2011 11 72011 11 9

出版物シリーズ

名前Proceedings of the 6th IASTED International Conference on Biomechanics, BioMech 2011

Conference

Conference6th IASTED International Conference on Biomechanics, BioMech 2011
国/地域United States
CityPittsburgh, PA
Period11/11/711/11/9

ASJC Scopus subject areas

  • バイオエンジニアリング
  • 材料力学
  • 生体材料

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