Figure 6
Control block diagram for alignment experiment with the MACC system. Using the calibration error between the lumen position and the image center, real-time posture information of the MCC was sent to the orientation correction and PI controller. The MFN calibrated by yaw angle and pitch angle according to instructions given by control signal from PI controller until the calibration error reached the predefined threshold. P proportional, I integral, Kp proportional gain, Ki integral gain.
