Shape prediction algorithm for flexible endoscope

Flexible endoscope has been used for the diagnosis of the large intestine. This paper aims at the development of navigation software that provides the surgeon with the 2D/3D shape of flexible endoscope inside the colon real time. It helps surgeon insert the endoscope in a safe manner and locate the position of the lesion. With the information of the insertion length and the position/orientation information of the distal end, we propose a shape prediction algorithm with consideration of constrained geometry and gravity load of the flexible endoscope. To corroborate the effectiveness of the shape prediction algorithm, we perform simulation using 2D/3D flexible endoscope models and verify the result through experiments.