By Topic

A New Navigation Method for Intelligent Colonoscope

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Zhang Zhen ; Shanghai Univ., Shanghai ; Qian Jinwu ; Zhang Yanan ; Shen Linyong

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.

Published in:

Complex Medical Engineering, 2007. CME 2007. IEEE/ICME International Conference on

Date of Conference:

23-27 May 2007