TY - GEN
T1 - A Simulation Environment for Active Endoscopic Capsules
AU - Abu-Kheil, Yasmeen
AU - Seneviratne, Lakmal
AU - Dias, Jorge
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/10
Y1 - 2017/11/10
N2 - 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.
AB - 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.
KW - Active locomotion
KW - Capsule endoscopy
KW - Haptic Guidance
KW - Simulation Environment
UR - https://www.scopus.com/pages/publications/85040325247
U2 - 10.1109/CBMS.2017.109
DO - 10.1109/CBMS.2017.109
M3 - Conference contribution
AN - SCOPUS:85040325247
T3 - Proceedings - IEEE Symposium on Computer-Based Medical Systems
SP - 714
EP - 719
BT - Proceedings - 2017 IEEE 30th International Symposium on Computer-Based Medical Systems, CBMS 2017
A2 - Bamidis, Panagiotis D.
A2 - Konstantinidis, Stathis Th.
A2 - Rodrigues, Pedro Pereira
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Symposium on Computer-Based Medical Systems, CBMS 2017
Y2 - 22 June 2017 through 24 June 2017
ER -