A Simulation Environment for Active Endoscopic Capsules

Yasmeen Abu-Kheil, L. Seneviratne, J. Dias
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引用次数: 1

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.
主动内窥镜胶囊的模拟环境
在对真人进行实验之前,研究人员测试他们的算法和设计概念的最佳方法是创建模拟环境平台。本文提出了一种用于主动腔镜胶囊的虚拟模拟器。该模拟器旨在为研究人员提供一个环境来测试他们在内窥镜胶囊应用中的视觉和导航算法。采用机器人操作系统(ROS)环境下健壮的物理引擎Gazebo模拟器进行仿真。它由三个主要的软件模块组成:(i)胶囊模型,(ii)胶囊控制,(iii)凉亭定制插件。当前版本的模拟器可以提供三个主要功能:流明跟踪、胶囊远程操作和胶囊导航的触觉反馈。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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