The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

6 Citations (Scopus)

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 languageUndefined
Title of host publication4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages13-18
Number of pages6
ISBN (Print)9781457711992
DOIs
Publication statusPublished - 24 Jun 2012
Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
Duration: 24 Jun 201227 Jun 2012
Conference number: 4

Publication series

NameIEEE Conference Publications
PublisherIEEE Robotics and Automation Society
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated titleBioRob
CountryItaly
CityRome
Period24/06/1227/06/12

Keywords

  • Computer Vision
  • IR-83533
  • Endoscopy
  • Heading Direction
  • EWI-22693
  • Optical Flow
  • METIS-293250
  • Focus of Expansion

Cite this

van der Stap, N., Reilink, R., Misra, S., Broeders, I. A. M. J., & van der Heijden, F. (2012). The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. In 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 13-18). (IEEE Conference Publications). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BioRob.2012.6290804
van der Stap, N. ; Reilink, Rob ; Misra, Sarthak ; Broeders, Ivo Adriaan Maria Johannes ; van der Heijden, Ferdinand. / The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. pp. 13-18 (IEEE Conference Publications).
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title = "The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes",
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.",
keywords = "Computer Vision, IR-83533, Endoscopy, Heading Direction, EWI-22693, Optical Flow, METIS-293250, Focus of Expansion",
author = "{van der Stap}, N. and Rob Reilink and Sarthak Misra and Broeders, {Ivo Adriaan Maria Johannes} and {van der Heijden}, Ferdinand",
note = "eemcs-eprint-22693",
year = "2012",
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day = "24",
doi = "10.1109/BioRob.2012.6290804",
language = "Undefined",
isbn = "9781457711992",
series = "IEEE Conference Publications",
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van der Stap, N, Reilink, R, Misra, S, Broeders, IAMJ & van der Heijden, F 2012, The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. in 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE Conference Publications, IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 13-18, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290804

The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. / van der Stap, N.; Reilink, Rob; Misra, Sarthak; Broeders, Ivo Adriaan Maria Johannes; van der Heijden, Ferdinand.

4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. p. 13-18 (IEEE Conference Publications).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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T1 - The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes

AU - van der Stap, N.

AU - Reilink, Rob

AU - Misra, Sarthak

AU - Broeders, Ivo Adriaan Maria Johannes

AU - van der Heijden, Ferdinand

N1 - eemcs-eprint-22693

PY - 2012/6/24

Y1 - 2012/6/24

N2 - 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.

AB - 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.

KW - Computer Vision

KW - IR-83533

KW - Endoscopy

KW - Heading Direction

KW - EWI-22693

KW - Optical Flow

KW - METIS-293250

KW - Focus of Expansion

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DO - 10.1109/BioRob.2012.6290804

M3 - Conference contribution

SN - 9781457711992

T3 - IEEE Conference Publications

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EP - 18

BT - 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

PB - IEEE ROBOTICS AND AUTOMATION SOCIETY

CY - USA

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van der Stap N, Reilink R, Misra S, Broeders IAMJ, van der Heijden F. The Use of the Focus of Expansion for Automated Steering of Flexible Endoscopes. In 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2012. p. 13-18. (IEEE Conference Publications). https://doi.org/10.1109/BioRob.2012.6290804