Dempster-Shafer Theory Applied In State Estimation Of A Pressure Driven Endoscope For Hydro-Colonoscopy

Exploration of the colon with semi-autonomous devices represents a challenge for present researchers in this field. Characteristics, conditions and topography of the colon are unpredictable and sensory feedback from a device within the colon is limited, therefore one key challenge is to provide reliable data on which to base decision-making.Dempster-Shafer theory is used in this paper to address the problem of sensor fusion inside the colon. A device developed within the scope of the EU funded CODIR project is used to explore this approach.Promising results were obtained when combining information from two pressure sensors. Results show the need for further exploration and standardization of this approach as it may represent a valuable tool for future colonoscopy robots.