Computer-Simulated Biopsy Marking System for Endoscopic Surveillance of Gastric Lesions: A Pilot Study

Figure 2

The endoscope is navigated by the CSMBS. (a) Live endoscopy image. (b) Reconstructed gastric model. The blue markers are the simulated CTBMS marked sites. (c) CSBMS directs the endoscope to the nearest marked site.