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首页> 外文会议>Proceedings of the 6th IASTED international conference on biomechanics; Proceedings of the Second IASTED international conference on robotics. >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：可以通过定向传感器网络可视化结肠镜形状的仿真模型

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摘要

The Simulation Model which can visualize the shape ofrncommercial colonoscope is proposed. This model usesrnkinematic chain which approximates the shape ofrncolonoscope by serially connected multiple joint-link pairs.rnAs the input to the model, orientation information is used.rnOrientation information is extracted from the SensorrnNetwork. The sensor network consists of connecting arnnumber of sensor units with CAN bus. Each sensor unit alsornhas two kinds of sensor: triad of accelerometer and triad ofrnmagnetometer. Roll and pitch angle are estimated based onrnthe accelerometer signals. Yaw angle is estimated based onrnthe magnetometer signals. By using kinematic chain modelrnand orientation as input, we estimate the key points whichrnare positions of sensor units on the colonoscope. Then, wernimplement spline interpolation to find the intermediaternpoints which constitutes the shape of colonoscope. We madernexperiment in order to check whether model has enoughrnaccuracy. Firstly, we compared estimated curve with sinerncurve which is used as a ground truth. Secondly, werninvestigated the effect of number of sensor on the accuracy.rnFinal result says that it has enough estimation ability.
机译：提出了可以可视化商业结肠镜形状的仿真模型。该模型使用运动链，该运动链通过串联连接的多个关节对来近似结肠镜的形状。rn作为模型的输入，使用方向信息。rn从SensorrnNetwork中提取方向信息。传感器网络包括将大量传感器单元与CAN总线连接。每个传感器单元还具有两种传感器：加速度计三合一和磁力计三合一。根据加速度计信号估算侧倾角和俯仰角。偏航角是根据磁力计信号估算的。通过使用运动链模型和方向作为输入，我们估计关键点是结肠镜上传感器单元的位置。然后，进行样条插值，找到构成结肠镜形状的中间点。我们进行了实验，以检查模型是否具有足够的准确性。首先，我们将估计曲线与正弦曲线进行了比较，正弦曲线被用作基本事实。其次，对传感器数量对精度的影响进行了研究。最终结果表明该传感器具有足够的估计能力。

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