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A Phantom Design for Validating Colonoscopy Tracking.
Phantom experiments are useful and frequently used in validating algorithms or techniques in applications where it is difficult or impossible to generate accurate ground-truth. In this work we present a phantom design and experiments to validate our colonoscopy tracking algorithms, that serve to keep both virtual colonoscopy and optical colonoscopy images aligned (in location and orientation). We describe the construction of two phantoms, capable of respectively moving along a straight and a curved path. The phantoms are motorized so as to be able to move at a near constant speed. Experiments were performed at three speeds: 10, 15 and 20mm/sec, to simulate motion velocities during colonoscopy procedures. The average velocity error was within 3mm/sec in both straight and curved phantoms. Displacement error was within 7mm over a total distance of 288mm in the straight phantom, and less than 7mm over 287mm in the curved phantom. Multiple trials were performed of each experiment(and their errors averaged) to ensure repeatability.