Deformation sensing and incremental shape reconstruction for intelligent colonoscope

QIAN Jin-wu; ZHENG Qing-hua; ZHANG Lun-wei; SHEN Lin-yong; Zhang Ya-nan

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Deformation sensing and incremental shape reconstruction for intelligent colonoscope

更新时间：2020-08-12

- Deformation sensing and incremental shape reconstruction for intelligent colonoscope
- Optics and Precision Engineering Vol. 12, Issue 5, Pages: 518-524(2004)
- 作者机构：
  
  上海大学, 机电工程与自动化学院上海,200072
- 作者简介：
- 基金信息：
- DOI：
  CLC： TN253
- Received：20 May 2004，
  
  Revised：09 August 2004，
  
  Published Online：15 October 2004，
  
  Published：15 October 2004
- 稿件说明：
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钱晋武, 郑庆华, 张伦伟, 沈林勇, 章亚男. 渐进式内窥镜形状的感知和重建[J]. 光学精密工程, 2004,(5): 518-524

QIAN Jin-wu, ZHENG Qing-hua, ZHANG Lun-wei, SHEN Lin-yong, Zhang Ya-nan. Deformation sensing and incremental shape reconstruction for intelligent colonoscope[J]. Editorial Office of Optics and Precision Engineering, 2004,(5): 518-524
钱晋武, 郑庆华, 张伦伟, 沈林勇, 章亚男. 渐进式内窥镜形状的感知和重建[J]. 光学精密工程, 2004,(5): 518-524 DOI：

QIAN Jin-wu, ZHENG Qing-hua, ZHANG Lun-wei, SHEN Lin-yong, Zhang Ya-nan. Deformation sensing and incremental shape reconstruction for intelligent colonoscope[J]. Editorial Office of Optics and Precision Engineering, 2004,(5): 518-524 DOI：

摘要

给出并分析了一种内窥镜镜体形状感知系统

特别是给出了曲率传感头的检测原理

及介入装置和控制子系统的设计.将中心波长为1539.234nm和1538.882nm的两根布拉格光纤光栅(Fiber Bragg Grating)封装在细径基材上

构成直径为3mm应变测量传感器.在介入装置作用下

传感器沿内窥镜活检钳道按平均速度30mm/s间歇式推进

并在介入过程中

每隔50mm等间隔距离采样传感器上的Bragg波长变化值

推算出各点的应变和空间曲率信息.最终运用基于离散点曲率信息的空间曲线拟合方法重建内窥镜镜体的空间形状.实验结果表明:系统原理的可行性

对圆形实验模型的测试表明

传感器插入1000mm后其末端在x、y和z方向上的误差分别为0.5mm、0.8mm和-3.4mm.同时也表明:介入人体的肠道内窥镜形状显示可极大地提高内窥检查安全性.

Abstract

This paper analyzes a shape detecting system for colonoscope

especially gives the detecting principle of a curvature sensor

the design of an inserting device and its control system. Two Fiber Bragg Gratings(FBGs)with central wavelength of 1539.234 nm and 1538.882 nm are mounted on a cylindrical slim string

which compose a detecting sensor with a diameter of 3 mm. The string sensor moves step by step along the biopsy channel by the inserting device

the average velocity of which is 30 mm/sec. In the insertion process

the data of the Bragg wavelength change on the sensor is picked up every 50 mm of insertion and memorized at equidistance points

on which the space curvature information is calculated. At last

the shape of the colonoscope is reconstructed by the use of the space curve fitting method

which is based on curvature information of discrete points. The experiment results verify the proposed shape reconstruction method is effective and efficient. Experiment with a circular model shows that the far end positioning error is 0.5 mm

0.8 mm and -3.4 mm for x

and z directions

respectively

while inserting 1000 mm sensing string. The display of the colonoscope shape inside human body will greatly increase the inspection safety during colonoscopy operation.

关键词

Keywords

references

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吴家麒,杨东英,沈林勇.内窥镜镜体形状得三维重建方法研究[J] .应用科学学报,2003,(4):46-49.WU J Q,YANG D Y,SHEN L Y. Research on 3D reconstruction of the endoscope body shape[J] .Journal of Applied Sciences,2003,(4):46-49.(in Chinese)

吴家麒,杨东英,沈林勇.空间曲率检测中的标定误差分析和标定方法[J] .光学精密工程.2003,11(2):166-170.WU J Q,YANG D Y,SHEN L Y.Analysis of calibration error and research of calibration method in spatial curvature measurement[J] . Optics and Precision Engineering,2003,11(2):166-170.(in Chinese)

王惠文.光纤传感技术与应用[M] .北京:国防工业出版社,2001.WANG H W.The technologies and applications of optical fiber sensing [M] . Beijing:National Defense Industry Publishing Company,2001.(in Chinese)

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