전자공학회논문지SC (Journal of the Institute of Electronics Engineers of Korea SC)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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초음파 거리를 이용한 캡슐 내시경의 위치 및 자세각 추정

Position and Attitude Estimation of a Capsule Endoscope based on Ultrasonic Ranging

  • 김은정 (충북대학교 정보통신공학과 컴퓨터정보통신 연구소) ;
  • 김명유 (충북대학교 정보통신공학과 컴퓨터정보통신 연구소) ;
  • 김덕기 (충북대학교 정보통신공학과 컴퓨터정보통신 연구소) ;
  • 김용대 (충북대학교 정보통신공학과 컴퓨터정보통신 연구소) ;
  • 유영갑 (충북대학교 정보통신공학과 컴퓨터정보통신 연구소)
  • Kim, Eun-Joung (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University) ;
  • Kim, Myung-Yu (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University) ;
  • Kim, Deok-Ki (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University) ;
  • Kim, Yong-Dae (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University) ;
  • You, Young-Gap (Dept. of Computer and Communication Engineering and Research Institute for Computer and Information Communication, Chungbuk National University)
  • 발행 : 2007.09.25
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초록

본 논문은 초음파 거리를 이용하여 캡슐 내시경의 3차원 위치 측정 방법과 자세각을 측정하는 방법을 제시하였다. 인체의 불규칙한 초음파 전달 특성들에 의해 발생되는 측정 에러를 줄이기 위해서 제안된 트랙킹 시스템은 초음파센서들을 사용하였다. 캡슐 내시경과 바인더 시스템까지의 거리 정보를 이용하여 캡슐 내시경의 3-D 위치 정보와 자세 정보를 추적하는 방법을 제안한다. 제안된 방법은 Matlab으로 랜덤 오차를 포함하여 시뮬레이션 하였다. 3-D 위치 측정 결과는 평균오차 0.8mm, 자세 측정 결과는 평균 오차 $0.2^{\circ}$의 결과를 얻었다. 캡슐 내시경의 위치 정보와 자세 정보를 이용하여 의사들이 정확한 발병 위치를 진단 할 수 있도록 하였다.

This paper presented a location and attitude estimation scheme of a capsule endoscope based on ultrasonic ranging. The scheme comprised eight on-capsule ultrasonic sensors to alleviate measurement errors due to irregularities in human body ultrasonic characteristics. It calculated the coordinate values and angles in a Cartesian coordinate system. The Matlab simulation reflecting random errors yielded the average deviations of 0.8mm in the location and $0.2^{\circ}$ in the attitude angle. These values are far smaller than normal intestine movement ranges inside human body, and will contribute accurate diagnosis of intestine.

키워드

참고문헌

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