张震, 王震, 章亚男, 沈林勇, 钱晋武. 智能内窥镜导航中一种新的多传感器融合算法[J]. 机器人, 2008, 30(3): 264-267,272.
引用本文: 张震, 王震, 章亚男, 沈林勇, 钱晋武. 智能内窥镜导航中一种新的多传感器融合算法[J]. 机器人, 2008, 30(3): 264-267,272.
ZHANG Zhen, WANG Zhen, ZHANG Ya-nan, SHEN Lin-yong, QIAN Jin-wu. A New Algorithm of Multi-sensor Information Fusion for Intelligent Endoscope Navigation[J]. ROBOT, 2008, 30(3): 264-267,272.
Citation: ZHANG Zhen, WANG Zhen, ZHANG Ya-nan, SHEN Lin-yong, QIAN Jin-wu. A New Algorithm of Multi-sensor Information Fusion for Intelligent Endoscope Navigation[J]. ROBOT, 2008, 30(3): 264-267,272.

智能内窥镜导航中一种新的多传感器融合算法

A New Algorithm of Multi-sensor Information Fusion for Intelligent Endoscope Navigation

  • 摘要: 首先介绍了智能内窥镜导航中视觉传感器和触觉传感器的导航原理及应用情况;然后通过分析各种传感器的数据,对各种传感器的信息进行可信度分配;最后采用Dempster-Shafer证据理论方法,以各种传感信息作为证据,引导内窥镜.试验证明,在内窥镜导航中使用多传感器融合算法后,可以过滤单个传感器的微小变化,放大单个传感器的显著变化,有利于引导内窥镜的介入,能有效解决内窥镜穿孔问题.

     

    Abstract: First,the principles and application of vision sensors and tactile sensors used in endoscope navigation are introduced.Next,probability is assigned to the information of various sensors by analyzing the data from them.At last,Dempster-Shafer theory of evidence is used and various information of sensors is taken as evidence to navigate the endoscope.Experiment shows that the tiny change of single sensor can be filtrated and the remarkable change can be magnified with the multi-sensor information fusion algorithm for endoscope navigation,which is advantageous to the endoscope's insertion and can effectively solve the problem of endoscope perforation.

     

/

返回文章
返回