Title :
An Intelligent Endoscopic Navigation System
Author :
Zhen, Zhang ; Jinwu, Qian ; Yanan, Zhang ; Linyong, Shen
Author_Institution :
Sch. of Mechatronic Eng. & Autom., Shanghai Univ.
Abstract :
In this paper, the design of an intelligent endoscope navigation system is presented. The proposed intelligent endoscope system is a vision and tactile guided device, developed to facilitate navigation inside a human colon. The design of the entire system is divided into three parts viz. design of an automatic insertion system, a vision and tactile guided system, and a computer control system. The endoscope insertion system which has force sensors is explained. The navigation system is based on the sensory fusion utilizing the quantitative parameters from the captured images and the tactile sensors. An autothresholding algorithm is described for extracting the lumen from endoscopic images. A computer control system to control the directional movements of the endoscope is also explained. The proposed endoscope system was tested with animal colons and the experimental observations are discussed
Keywords :
computerised control; endoscopes; force sensors; medical diagnostic computing; navigation; sensor fusion; surgery; tactile sensors; automatic insertion system; autothresholding algorithm; computer control system; force sensors; intelligent endoscopic navigation system; sensory fusion; tactile guided device; tactile sensors; vision guided device; Automatic control; Colon; Computer vision; Control systems; Endoscopes; Force sensors; Humans; Intelligent systems; Machine vision; Navigation; auto-thresholding algorithm; automatic insertion system; endoscope navigation; tactile sensors; vision guidance;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257444
