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首页> 外文会议>IASTED International conference on biomechanics >SIMULATION MODEL WHICH CAN VISUALIZE THE SHAPE OF THE COLONOSCOPE USING ORIENTATION SENSOR NETWORK
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SIMULATION MODEL WHICH CAN VISUALIZE THE SHAPE OF THE COLONOSCOPE USING ORIENTATION SENSOR NETWORK

机译：仿真模型可以使用方向传感器网络可视化色调形状

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摘要

The Simulation Model which can visualize the shape of commercial colonoscope is proposed. This model uses kinematic chain which approximates the shape of colonoscope by serially connected multiple joint-link pairs. As the input to the model, orientation information is used. Orientation information is extracted from the Sensor Network. The sensor network consists of connecting a number of sensor units with CAN bus. Each sensor unit also has two kinds of sensor: triad of accelerometer and triad of magnetometer. Roll and pitch angle are estimated based on the accelerometer signals. Yaw angle is estimated based on the magnetometer signals. By using kinematic chain model and orientation as input, we estimate the key points which are positions of sensor units on the colonoscope. Then, we implement spline interpolation to find the intermediate points which constitutes the shape of colonoscope. We made experiment in order to check whether model has enough accuracy. Firstly, we compared estimated curve with sine curve which is used as a ground truth. Secondly, we investigated the effect of number of sensor on the accuracy. Final result says that it has enough estimation ability.
机译：提出了可视化商业结肠镜形状的仿真模型。该模型使用运动链，其通过串联连接的多个关节连杆对近似于校准的形状。作为模型的输入，使用方向信息。取向信息从传感器网络中提取。传感器网络包括连接多个带CAN总线的传感器单元。每个传感器单元还有两种传感器：Triad的加速度计和TriAd磁力计。基于加速度计信号估计辊和俯仰角。基于磁力计信号估计横摆角。通过使用运动链模型和方向作为输入，我们估计了作为冠镜上的传感器单元的位置的关键点。然后，我们实施样条插值以找到构成结肠镜形状的中间点。我们做了实验，以检查模型是否有足够的准确性。首先，我们将估计的曲线与正弦曲线进行了比较，这些曲线被用作地面真理。其次，我们调查了传感器数量对准确度的影响。最终结果表明它有足够的估计能力。

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