Image-based navigation for a robotized flexible endoscope

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    Robotizing flexible endoscopy enables image-based control of endoscopes. Especially during high-throughput procedures, such as a colonoscopy, navigation support algorithms could improve procedure turnaround and ergonomics for the endoscopist. In this study, we have developed and implemented a navigation algorithm that is based on image classification followed by dark region segmentation. Robustness and accuracy were evaluated on real images obtained from human colonoscopy exams. Comparison was done using manual annotation as a reference. Intraclass correlation (ICC) was employed as a measure for similarity between automated and manual results. The discrimination of the developed classifier was 6.8, making it a reliable classifier. In the experiments, the developed algorithm gave an ICC of 93 % (range 84.7–98.8 %) over the test image sequences on average. If images were classified as ‘uninformative’, which led to re-initialization of the algorithm, this was predictive for the result of dark region segmentation accuracy. In conclusion, the developed target detection algorithm provided accurate results and is thought to provide reliable assistance in the clinic. The clinical relevance of this kind of navigation and control is currently being investigated.
    Original languageUndefined
    Title of host publicationFirst International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2014
    EditorsXiongbiao Luo, Tobias Reichl, Daniel Mirota, Timothy Soper
    Place of PublicationSwitzerland
    Number of pages11
    ISBN (Print)978-3-319-13409-3
    Publication statusPublished - 1 Dec 2014
    EventFirst International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2014 - Boston, MA, USA
    Duration: 14 Sept 201418 Sept 2014

    Publication series

    NameLecture Notes in Computer Science
    PublisherSpringer International Publishing
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    WorkshopFirst International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2014
    Other14-18 September 2014


    • robotized endoscopy
    • EWI-25304
    • image classification
    • METIS-309661
    • Flexible endoscopy
    • Image-based navigation
    • IR-93014

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