Hale-Bopp

What this code does

This Matlab program simulates the exploration of the vocal folds with an endoscope and steerable wrist combination. It is based on code that simulated exploration of the middle ear with a trans-Eustachian endoscope. The algorithm works as follows: first, it runs a sampling-based path planning algorithm (RRT) to generate a set of reachable points within the larynx. It then casts rays from each of these points to generate a map of the visible surface.

For further information see Chiluisa et al. ISMR 2020.

UPDATE LINK IF MOVING IT TO PERSONAL ACCOUNT CHANGES URL

For documentation on how to use this repository: https://wpi-comet-lab.gitbook.io/hale-bopp-documentation/-MC7XkSzIvo1U7f1XOjm/

How to run this code (also in the Gitbook)

Step 1: Run a Simulation
From inside Matlab, open the src directory and run runSimulation.m:

If successful, three things will appear:

1. In the command window, text detailing the results of RRT and ray-casting
2. An animation figure with a model of the endoscope in the larynx model on the left & scatterplots on the right
3. A figure with copies of the same model displaying a visibility map

Step 2: Have fun!