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

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

    7 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