A Simulation Environment for Active Endoscopic Capsules

Yasmeen Abu-Kheil, Lakmal Seneviratne, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications. The proposed simulation was created using Gazebo simulator, , a robust physics engine under Robotic Operating System (ROS) environment. It consists of three main software modules: (i) capsule model, (ii) capsule control, and (iii) Gazebo customized plugins. The current version of the simulator can provide three main functions: lumen tracking, capsule tele-operation and haptic feedback for capsule navigation.

Original languageBritish English
Title of host publicationProceedings - 2017 IEEE 30th International Symposium on Computer-Based Medical Systems, CBMS 2017
EditorsPanagiotis D. Bamidis, Stathis Th. Konstantinidis, Pedro Pereira Rodrigues
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages714-719
Number of pages6
ISBN (Electronic)9781538617106
DOIs
StatePublished - 10 Nov 2017
Event30th IEEE International Symposium on Computer-Based Medical Systems, CBMS 2017 - Thessaloniki, Greece
Duration: 22 Jun 201724 Jun 2017

Publication series

NameProceedings - IEEE Symposium on Computer-Based Medical Systems
Volume2017-June
ISSN (Print)1063-7125

Conference

Conference30th IEEE International Symposium on Computer-Based Medical Systems, CBMS 2017
Country/TerritoryGreece
CityThessaloniki
Period22/06/1724/06/17

Keywords

  • Active locomotion
  • Capsule endoscopy
  • Haptic Guidance
  • Simulation Environment

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