Camboni, D;
Massari, L;
Chiurazzi, M;
Calio, R;
Alcaide, JO;
D'Abbraccio, J;
Mazomenos, E;
... Ciuti, G; + view all
(2021)
Endoscopic Tactile Capsule for Non-Polypoid Colorectal Tumour Detection.
IEEE Transactions on Medical Robotics and Bionics
, 3
(1)
pp. 64-73.
10.1109/tmrb.2020.3037255.
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Abstract
An endoscopic tactile robotic capsule, embedding miniaturized MEMS force sensors, is presented. The capsule is conceived to provide automatic palpation of non-polypoid colorectal tumours during colonoscopy, since it is characterized by high degree of dysplasia, higher invasiveness and lower detection rates with respect to polyps. A first test was performed employing a silicone phantom that embedded inclusions with variable hardness and curvature. A hardness-based classification was implemented, demonstrating detection robustness to curvature variation. By comparing a set of supervised classification algorithms, a weighted 3-nearest neighbor classifier was selected. A bias force normalization model was introduced in order to make different acquisition sets consistent. Parameters of this model were chosen through a particle swarm optimization method. Additionally, an ex-vivo test was performed to assess the capsule detection performance when magnetically-driven along a colonic tissue. Lumps were identified as voltage peaks with a prominence depending on the total magnetic force applied to the capsule. Accuracy of 94 % in hardness classification was achieved, while a 100 % accuracy is obtained for the lump detection within a tolerance of 5 mm from the central path described by the capsule. In real application scenario, we foresee our device aiding physicians to detect tumorous tissues.
| Type: | Article |
|---|---|
| Title: | Endoscopic Tactile Capsule for Non-Polypoid Colorectal Tumour Detection |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/tmrb.2020.3037255 |
| Publisher version: | https://doi.org/10.1109/tmrb.2020.3037255 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL 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/10123626 |
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