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. Author manuscript; available in PMC: 2024 Dec 1.
Published in final edited form as: Med Image Anal. 2023 Sep 7;90:102956. doi: 10.1016/j.media.2023.102956

Fig. 2: Data acquisition setup.

Fig. 2:

A commercial colonoscope is rigidly affixed to a robotic arm using a 3D printed mount. The colonoscope is navigated through the silicone colon with known 3D shape while video and pose are simultaneously recorded.