Abstract
Colon cancer screening remains a time-consuming and expensive clinical process. Automating flexible endoscopy has the potential to increase screening efficiency. In this research the images captured by the camera at the endoscope tip are used to find the heading direction of the endoscope. Comparing the current heading direction to the desired target direction in a computer algorithm is expected to allow automated steering of the endoscope. Heading direction determination is achieved using an estimation of the focus of expansion (FOE) from the optical flow field. The resulting heading direction is compared to results obtained manually by several human observers. From our experiments it becomes clear that the FOE can be used as a reliable estimator for heading direction in human colonoscopy images. Additionally, the automated results have an intraclass correlation of 89% with the manual results, demonstrating that the algorithm works as expected. It is anticipated that the final steering algorithm can be used in a variety of motorized flexible endoscope applications.
Original language | English |
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Title of host publication | 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 13-18 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-4577-1200-5 |
ISBN (Print) | 978-1-4577-1199-2, 978-1-4577-1198-5 (CD) |
DOIs | |
Publication status | Published - 24 Jun 2012 |
Event | 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4 |
Publication series
Name | IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
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Publisher | IEEE Robotics and Automation Society |
Number | 4 |
Volume | 2012 |
ISSN (Print) | 2155-1774 |
ISSN (Electronic) | 2155-1782 |
Conference
Conference | 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 |
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Abbreviated title | BioRob |
Country/Territory | Italy |
City | Rome |
Period | 24/06/12 → 27/06/12 |
Keywords
- 2024 OA procedure
- Endoscopy
- Heading direction
- Optical flow
- Focus of expansion
- Computer vision