An Intelligent Endoscopic Navigation System
An Intelligent Endoscopic Navigation System
复制标题
智能内窥镜导航系统
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
Shen Linyong
中科院分区：
文献类型：
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作者：
Zhang Zhen;Qian Jin;Z. Yanan;Shen Linyong
本文介绍了一种智能内窥镜导航系统的设计。所提出的智能内窥镜系统是一种视觉和触觉引导装置，旨在促进人类结肠内的导航。整个系统的设计分为三个部分，即自动插入系统的设计，视觉和触觉引导系统，计算机控制系统。说明具有力传感器的内窥镜插入系统。该导航系统是基于感官融合，利用从捕获的图像和触觉传感器的定量参数。本文提出了一种自动阈值分割算法，用于从内窥镜图像中提取管腔。还解释了用于控制内窥镜的定向运动的计算机控制系统。建议的内窥镜系统进行了测试与动物结肠和实验观察进行了讨论
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