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

Figure 3

The previously marked points are reached by the CSBMS at follow-up endoscopy. (a) Live endoscopy image showing the scope touching the mucosa previously marked with India ink. (b) Reconstructed gastric model. The distance between the endoscope tip and the blue marker decreases as the CSBMS probe approaches the previously marked site (blue marker). (c) Measurement of CSBMS accuracy using CSBMS.