System Block Diagram
A standard gastroscope is instrumented with a tracking sensor at the tip, and a movement sensor at the insertion opening of the biopsy channel. The tracking sensor tracks the position and orientation of the gastroscope tip. The movement sensor tracks the relative insertion depth of the inserted biopsy tool. The data from these sensors is relayed to the host computer. The instrumented gastroscope is inserted into a life-size transparent silicone rubber force-feedback model of the esophagus, stomach and duodenum. The computer contains a three-dimensional (3-D) computer graphics model of the esophagus, stomach and duodenum. With the position and orientation of the front tip known, the computer now calculates the image that would have been seen with a gastroscope in a real patient. This image is displayed on the computer screen. The insertion depth of the biopsy tool is tracked similarly, and a simulated biopsy tool is shown in the image.

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