Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
권호 표지
DOI QR코드

DOI QR Code

Design of Sensor Network for Estimation of the Shape of Flexible Endoscope

연성 대장내시경의 형상추정을 위한 센서네트워크의 설계

  • Lee, Jae-Woo (Department of Mechanical Engineering, Ulsan University)
  • 이재우 (울산대학교 기계공학과)
  • Received : 2016.01.05
  • Accepted : 2016.02.04
  • Published : 2016.02.29
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

본 논문에서는 센서 네트워크를 이용하여 의사의 동작을 흉내 낼 수 있는 내시경 취급로봇의 형상 예측방법이 제안된다. 3축 지자기계와 3축 가속도 계로 이루어진 단위센서가 CAN버스 통신을 통하여 네트워크를 구성한다. 각각의 센서 유니트는 연성 튜브로 만들어진 로봇의 길이방향 위에 있는 점들의 각들을 검출하는 데 사용된다. 센서 네트워크로부터 수신된 신호들은 Butterworth lowpass filter를 이용하여 필터링 된다. 여기서 우리는 노이즈 제거를 위하여 버터워쓰 필터를 설계하였다. 최종적으로 로패스 필터에 의하여 노이즈가 걸러진 신호들을 처리하여 Euler 각이 추출된다. 이 Euler 각을 이용하여 sensor network 상에 있는 각 센서의 위치가 추정된다. 우리는 로봇 바디가 링크와 관절들로 구성되어 있다고 가정한다. 그러면 각 센서의 위치는 각 링크의 중심에 부착되어 있는 것으로 가정할 수 있다. Euler 각과 kinematics chain model로부터 링크의 위치를 결정할 수 있다. 각 링크를 매끈하게 연결할 수 있도록 하기 위해 각 센서의 위치사이에 보간이 수행되어 최종적으로 작동 중에 있는 내시경의 최종형상이 얻어진다. 실험 결과는 제시된 센서 네트워크에서 추정된 Euler angle과 kinematic chain model을 이용하여 추정된 serial link의 형상으로부터 내시경형상을 가시화 할 수 있음을 보여준다.

Keywords

References

  1. Phee, S.J.; Ng, W.S.; Chen, I.M.; Seow-Choen, F.; Davies, B.L., "Locomotion and steering aspects in automation of colonoscopy. I. A literature review," in Engineering in Medicine and Biology Magazine, IEEE , vol.16, no.6, pp.85-96, Nov/Dec 1997. DOI: http://dx.doi.org/10.1109/51.637122
  2. Kazuko Itoh, Ryosuke Mochizuki, Koichiro Aida, Sayaka Takanishi, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Makoto Hashizume, Atsuo Takanishi, "Development of Colon Endoscope Robots with New Drive Mechanisms-self Propelled Endoscope Robots of Rotary Inertia and Reverse Screw Types", Proceedings of 25th RSJ conference, Vol.1, no., pp. 1321-1324 Sept. 2007.
  3. Masaki Shikanai, Natsuki Murai, Sayaka Takahashi, Kazuko Itoh, Kazuo Tanoue, Satoshi IEIRI, Kozo Konishi, Makoto Hashizume, Atsuo Takanishi," Devleopment of Colon Endoscope Robots with Reverse Screw Mechanism - Construction of Colon's Biodynamic Model and Acquirement of Control Method-" , Proceedings of 26th RSJ conference, Vol.1, pp. 1284-1288, Sept. 2008.
  4. Junichi Kinoshita, Masaki Shikanai, Natsuki Murai, Hiroyuki Ishii, Kazuko Itoh, Kazuo Tanoue, Satoshi IEIRI, Kozo Konishi, Makoto Hashizume, Atsuo Takanishi, " Development of Colon Endoscope Robots with Reverse Screw Mechanism - Development of Diameter Changing Mechanism and Adjustment to Drive on Bends of Colon", Proceedings of 27th RSJ conference, Vol.1, no., pp. 1155-1159, Sept. 2009.
  5. M. Shikanai, N.Murai, K. Itoh, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, M. Hasizume, "Development of robotic endoscope that locomotes in the colon with flexible helical fins" Proceedings of 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2009), SaBPo Vol.10, no.13, Sept. 2009
  6. Gul N. Khan, Duncan F. Gillies, "Vision based navigation system for an endoscope", Image and Vision Computing Vol. 14, pp. 763-772, 1996. DOI: http://dx.doi.org/10.1016/S0262-8856(96)01085-2
  7. Sayake, Takahashi,"research on the endoscopic robot using inverse mechanism",thesis of Ms. Vol., No., p84, 2007.
  8. G.trovato, M. shikanai, G.Ugawa, J. Kinoshita, N.Murai, J.W. Lee, H. Ishi, A. Takanishi,"the development of colon endoscope robot that adjusts its locomotion through the reinforcement learning", Int. Journal of Computer Assisted Radiology and Surgery, July 2010, Volume 5, Issue 4, pp. 317-325 DOI: http://dx.doi.org/10.1007/s11548-010-0481-0
  9. Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Toshihiro Kusano, Kazuko Itoh and Atsuo Takanishi,"Waseda Bioinstrumentation System WB-2R as a Wearable Tool for an Objective Analysis of Surgeon's Performance",P roceedings of 2009 IEEE/ASME international conference on Advanced Intelligent Mechatronics, Suntec Convention and Exhibition Center, Singapore, Vol.1, pp. 1355-1359, July 14-17 2009. DOI: http://dx.doi.org/10.1109/aim.2009.5229930
  10. Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Tomoya Saaki, Kazuko Itoh, Atsuo Takanishi, "Waseda Bioinstrumentation System #3 as a tool for objective rehabilitation measurement and assessment-development of the inertial measurement unit- ", Proceedings of 2009 IEEE 11th International Conference on Rehabilitation Robotics Kyoto International Conference Center, Japan, Vol.1, pp. 1310-1314, June 23-26, 2009. DOI: http://dx.doi.org/10.1109/icorr.2009.5209491
  11. Rong Zhu, Zhaoying Zhou, "A realtime Articulated Human Motion Tracking Using Tri-Axis Inertial/Magnetic Sensors Package", IEEE transactions on neural systems and rehabilitation engineering, Vol. 12, No.2, June 2004. DOI: http://dx.doi.org/10.1109/TNSRE.2004.827825