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Enhanced Localization of Robotic Capsule Endoscopes Using Positron Emission Markers and Rigid-Body Transformation

Journal Article


Abstract


  • Using positron emission markers for the localization of a robotic capsule endoscope is promising because it does not require onboard space or built-in battery for operation. Further, its compatibility with magnetic actuation is another significant advantage compared with conventional magnetic localization methods reported in the literature. In this paper, we propose a new tracking algorithm based on rigid-body transformation and gamma rays emitted from three positron emission markers onboard to localize an endoscopic capsule operating within the gastrointestinal tract of the human body. Different from traditional rigid-body transformation based on datasets of 3-D points, our method estimates the transformation parameters (e.g., translation vector and rotation angle) from several groups of 3-D lines in order to determine the locations of the markers emitting the gamma rays. Validated by both simulation data using a voxelized phantom in the Geant4 Application for Emission Tomography toolkit and the experimental data collected from a positron emission tomography scanner, the new localization method shows a significant improvement in the tracking accuracy (an average position error of 0.4 mm and orientation error of 1.9 & #x00B0;) and the failure rate (18/9600 localization runs), compared to the localization results reported in the literature.

Publication Date


  • 2019

Citation


  • Than, T. Duc., Alici, G., Zhou, H., Harvey, S. & Li, W. (2019). Enhanced Localization of Robotic Capsule Endoscopes Using Positron Emission Markers and Rigid-Body Transformation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49 (6), 1270-1284.

Scopus Eid


  • 2-s2.0-85023616027

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/1296

Has Global Citation Frequency


Number Of Pages


  • 14

Start Page


  • 1270

End Page


  • 1284

Volume


  • 49

Issue


  • 6

Place Of Publication


  • United States

Abstract


  • Using positron emission markers for the localization of a robotic capsule endoscope is promising because it does not require onboard space or built-in battery for operation. Further, its compatibility with magnetic actuation is another significant advantage compared with conventional magnetic localization methods reported in the literature. In this paper, we propose a new tracking algorithm based on rigid-body transformation and gamma rays emitted from three positron emission markers onboard to localize an endoscopic capsule operating within the gastrointestinal tract of the human body. Different from traditional rigid-body transformation based on datasets of 3-D points, our method estimates the transformation parameters (e.g., translation vector and rotation angle) from several groups of 3-D lines in order to determine the locations of the markers emitting the gamma rays. Validated by both simulation data using a voxelized phantom in the Geant4 Application for Emission Tomography toolkit and the experimental data collected from a positron emission tomography scanner, the new localization method shows a significant improvement in the tracking accuracy (an average position error of 0.4 mm and orientation error of 1.9 & #x00B0;) and the failure rate (18/9600 localization runs), compared to the localization results reported in the literature.

Publication Date


  • 2019

Citation


  • Than, T. Duc., Alici, G., Zhou, H., Harvey, S. & Li, W. (2019). Enhanced Localization of Robotic Capsule Endoscopes Using Positron Emission Markers and Rigid-Body Transformation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 49 (6), 1270-1284.

Scopus Eid


  • 2-s2.0-85023616027

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/1296

Has Global Citation Frequency


Number Of Pages


  • 14

Start Page


  • 1270

End Page


  • 1284

Volume


  • 49

Issue


  • 6

Place Of Publication


  • United States