NDLI: A New Navigation Method for Intelligent Colonoscope

Content Provider	IEEE Xplore Digital Library
Author	Zhang Zhen Qian Jinwu Zhang Yanan Shen Linyong
Copyright Year	2007
Description	Author affiliation: Shanghai Univ., Shanghai (Zhang Zhen; Qian Jinwu; Zhang Yanan; Shen Linyong)
Abstract	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 auto-thresholding algorithm. Auto-thresholding algorithm is based on Ostu's 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 colonoscope's 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.
Starting Page	31
Ending Page	34
File Size	4830502
Page Count	4
File Format	PDF
ISBN	9781424410774
DOI	10.1109/ICCME.2007.4381686
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-05-23
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force measurement Navigation tactile sensors Humans colonoscope navigation Force sensors Intelligent robots Intelligent sensors auto-thresholding algorithm Image segmentation Tactile sensors vision guidance Robot sensing systems Colon
Content Type	Text
Resource Type	Article

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