Text this: Computerized detection of lumen boundary in robotic colonoscopy for medical diagnosis

  ____      _____              _    _    __   _   
 |  _ \\   |  ___||   ____    | || | || | || | || 
 | |_| ||  | ||__    |    \\  | || | || | '--' || 
 | .  //   | ||__    | [] ||  | \\_/ || | .--. || 
 |_|\_\\   |_____||  |  __//   \____//  |_|| |_|| 
 `-` --`   `-----`   |_|`-`     `---`   `-`  `-`  
                     `-`