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Novel experimental and software methods for image reconstruction and localization in capsule endoscopy

Koulaouzidis, A; Iakovidis, DK; Yung, DE; Mazomenos, E; Bianchi, F; Karagyris, A; Dimas, G; ... Ciuti, G; + view all (2018) Novel experimental and software methods for image reconstruction and localization in capsule endoscopy. Endoscopy International Open , 6 (2) E205-E210. 10.1055/s-0043-121882. Green open access

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Abstract

BACKGROUND AND STUDY AIMS: Capsule endoscopy (CE) is invaluable for minimally invasive endoscopy of the gastrointestinal tract; however, several technological limitations remain including lack of reliable lesion localization. We present an approach to 3D reconstruction and localization using visual information from 2D CE images. PATIENTS AND METHODS: Colored thumbtacks were secured in rows to the internal wall of a LifeLike bowel model. A PillCam SB3 was calibrated and navigated linearly through the lumen by a high-precision robotic arm. The motion estimation algorithm used data (light falling on the object, fraction of reflected light and surface geometry) from 2D CE images in the video sequence to achieve 3D reconstruction of the bowel model at various frames. The ORB-SLAM technique was used for 3D reconstruction and CE localization within the reconstructed model. This algorithm compared pairs of points between images for reconstruction and localization. RESULTS:  As the capsule moved through the model bowel 42 to 66 video frames were obtained per pass. Mean absolute error in the estimated distance travelled by the CE was 4.1 ± 3.9 cm. Our algorithm was able to reconstruct the cylindrical shape of the model bowel with details of the attached thumbtacks. ORB-SLAM successfully reconstructed the bowel wall from simultaneous frames of the CE video. The "track" in the reconstruction corresponded well with the linear forwards-backwards movement of the capsule through the model lumen. CONCLUSION:  The reconstruction methods, detailed above, were able to achieve good quality reconstruction of the bowel model and localization of the capsule trajectory using information from the CE video and images alone.

Type: Article
Title: Novel experimental and software methods for image reconstruction and localization in capsule endoscopy
Location: Germany
Open access status: An open access version is available from UCL Discovery
DOI: 10.1055/s-0043-121882
Publisher version: http://dx.doi.org/10.1055/s-0043-121882
Language: English
Additional information: This article is published under a Creative Commons licence CC BY-NC-ND 4.0.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10043086
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