Session

Friday, June 23, 2017 - 09:00 to 18:45
A SIMULATION ENVIRONMENT FOR ACTIVE ENDOSCOPIC CAPSULES
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 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.
Yasmeen Abu-Kheil's picture
Yasmeen Abu-Kheil
Khalifa University of Science and Technology (AE)
Lakmal Seneviratne's picture
Lakmal Seneviratne
Jorge Dias's picture
Jorge Dias