무선 캡슐내시경 조종을 위한 머리부착형 디스플레이 인터페이스 시스템의 개발

Abstract

The present study proposed a new interface system for capsule endoscopy by using head mounted display (HMD) device, which can control the orientation of the capsule endoscope with electromagnetic actuator (EMA) sys- tem. The orientation information of the HMD user was detected by the gyroscope sensor built into the device and then calculated to as an angle increment using Unity Engine compiler. The measured angle changes from the HMD were converted to the current values of the corresponding coils to be changed in the EMA system. Two experiments were designed to measure the accuracy and the intuitiveness of the HMD interface system. In the angle accuracy measurement, the capsule endoscope driven by HMD interface system showed the averaged errors of 0.68 degrees horizontally and 1.001 degrees vertically for given test angles. In the intuitiveness measurement, HMD interface sys- tem showed 1.33 times faster manipulation speed rather than the joystick interface system. In this respect, the HMD interface system for capsule endoscopy was expected to improve the overall diagnostic environment while main- taining comfort of patients and clinicians.