Abstract
Localizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery. In this paper, we have proposed a new method to localize the capsule inside human GI track. We propose to equip the capsule with four side wall cameras and an Inertial Measurement Unit (IMU), that consists of 9 Degree-Of-Freedom (DOF) including a gyroscope, an accelerometer and a magnetometer to monitor the capsule’s orientation and direction of travel. The low resolution mono-chromatic cameras, installed along the wide wall, are responsible to measure the actual capsule movement, not the involuntary motion of the small intestine. Finally, a fusion algorithm is used to combine all data to derive the traveled path and plot the trajectory. Compared to other methods, the presented system is resistive to surrounding conditions, such as GI nonhomogeneous structure and involuntary small bowel movements. In addition, it does not require external antenna or arrays. Therefore, GI tracking can be achieved without disturbing patients’ daily activities.
Highlights
Localizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery
wireless capsule endoscopy (WCE) is designed in a small size electronic device that the patient can swallow, and it travels through the GI tract
In order to evaluate the motion sensor’s performance, basic patterns were introduced as depicted in Figure 7a to understand the preliminary movement of the device against surfaces with various patterns
Summary
Localizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery. Non-homogenous environment inside the body leads to fluctuation of received signals, so they have used an extended Kalman filter to moderate the instabilities of signals Their proposed method results up to 10 mm error in tracking the capsule position. The main advantage of these approaches over other localization methodologies is that low-frequency magnetic signals can pass through the human tissues without degradation, and it is an advantage over RF approaches which are depending on the RF signal’s strength Another advantage is that, the magnetic sensors do not need the line-of-sight vision to detect the capsule. They showed that the non-ferromagnetic biotissue has minor effect on the magnetic fields, so positioning accuracy will not be influenced by human tissues Their proposed method obtains the initial guess of position through the variance-based algorithm which leads to reduce the iterations and achieve higher localization accuracy. The need for fixed position external reference is limiting the application of magnetic localization methods for clinical and experimental usage
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