Vision-based haptic feedback for capsule endoscopy navigation: a proof of concept
作者： Marco Mura , Yasmeen Abu-Kheil , Gastone Ciuti , Marco Visentini-Scarzanella , Arianna Menciassi
DOI: 10.1007/S12213-016-0090-2
关键词:
摘要: In this paper, a vision-based haptic feedback system has been proposed with the aim to assist movement of an endoscopic device during capsule endoscopy (CE) procedures. We present general architecture consisting three modules responsible for vision, guidance and control movements. The vision module generates 3D local maps as well navigation trajectory endoluminal navigation. consists that allows user along generated path. haptics also helps operator by transforming relative paths into guiding virtual force. Measuring current distance between input boundaries, will check if is moving away or toward colonic walls generate force procedure. sense attractive path help in Finally, interface chosen manipulator. final goal develop complete active CE robotic platform order enhance safety, reduce cost (using same training simulator real platform) combining all full reconstructed colon.
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