A Navigation and Pressure Monitoring System Toward Autonomous Wireless Capsule Endoscopy

Alsunaydih, Fahad N.; Redouté, Jean-Michel; Yuce, Mehmet Rasit

doi:10.1109/jsen.2020.2979513

Cited by 16 publications

(9 citation statements)

References 18 publications

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“…It should be noted that the Bluetooth low energy protocol uses Gaussian frequency shift keying (GFSK) modulation, which plays a role in improving the receiver sensitivity of the system [30]. Real part of relative dielectric permittivity 3 Imaginary part of relative dielectric permittivity 4 Conductivity 5 Theoretical RF attenuation rate 6 Average infiltrated Table I also presents the theoretical RF attenuation rate for each medium at 2.4 GHz as derived from the relative permittivity. The real (ε′) and imaginary (ε′′) parts of the relative permittivity of a medium can be used to calculate the loss tangent [32]:…”

Section: Resultsmentioning

confidence: 99%

“…Wireless medical devices that can be implanted or ingested are becoming more prevalent [1][2][3][4][5][6][7][8][9][10][11][12]. Many of these devices use proprietary radio protocols operating in industrial, scientific and medical (ISM) bands such as 433 MHz and 915 MHz [13,14] or standardised radio protocols, specifically for medical use like MedRadio (formerly medical implant communication service (MICS)) and the wireless medical telemetry service (WMTS) [15].…”

Section: Introductionmentioning

confidence: 99%

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Bluetooth Signal Attenuation Analysis in Human Body Tissue Analogues

et al. 2021

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Wireless communications for ingestible and implantable medical device applications are integral for the embedded systems employed to these ends. The Bluetooth protocol is of major interest given its ubiquitous nature in consumer electronic devices. Here the effectiveness of Bluetooth in such applications is examined with a custom-designed Bluetooth system. The radio frequency (RF) attenuation testing was conducted in a variety of different media, including water, meat, ballistic gel, and fat. The RF signal attenuation was found to be the highest in meat and ballistic gel, less in water and least severe in fat. The measured distances at which signal integrity was still maintained provide necessary information for designing and implementing Bluetooth based medical devices and function as evidence for the feasibility of Bluetooth enabled systems for such communications.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bluetooth Signal Attenuation Analysis in Human Body Tissue Analogues

et al. 2021

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“…This is due the fact that those false positives did not appear in all the models at the same regions; therefore, the use of ensembles eliminates them from the final result. This is of great importance in the clinical practice, given that false positive classifications during endoluminal inspection might result in a range of complications of the surgical operation, including tools colliding with tissues [ 17 ], incorrect path planning [ 18 ], among others.…”

Section: Discussionmentioning

confidence: 99%

Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

et al. 2021

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Purpose Ureteroscopy is an efficient endoscopic minimally invasive technique for the diagnosis and treatment of upper tract urothelial carcinoma. During ureteroscopy, the automatic segmentation of the hollow lumen is of primary importance, since it indicates the path that the endoscope should follow. In order to obtain an accurate segmentation of the hollow lumen, this paper presents an automatic method based on convolutional neural networks (CNNs). Methods The proposed method is based on an ensemble of 4 parallel CNNs to simultaneously process single and multi-frame information. Of these, two architectures are taken as core-models, namely U-Net based in residual blocks ($$m_1$$ m 1 ) and Mask-RCNN ($$m_2$$ m 2 ), which are fed with single still-frames I(t). The other two models ($$M_1$$ M 1 , $$M_2$$ M 2 ) are modifications of the former ones consisting on the addition of a stage which makes use of 3D convolutions to process temporal information. $$M_1$$ M 1 , $$M_2$$ M 2 are fed with triplets of frames ($$I(t-1)$$ I ( t - 1 ) , I(t), $$I(t+1)$$ I ( t + 1 ) ) to produce the segmentation for I(t). Results The proposed method was evaluated using a custom dataset of 11 videos (2673 frames) which were collected and manually annotated from 6 patients. We obtain a Dice similarity coefficient of 0.80, outperforming previous state-of-the-art methods. Conclusion The obtained results show that spatial-temporal information can be effectively exploited by the ensemble model to improve hollow lumen segmentation in ureteroscopic images. The method is effective also in the presence of poor visibility, occasional bleeding, or specular reflections.

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“…Nonetheless, their model is somewhat unrealistic due to a lack of wrinkles and other impediments encountered in real-world situations. Alsunaydih et al developed a capacitive-based pressure monitoring system to enable the autonomous navigation of capsule endoscopes 11 . Unfortunately, the PVC tube used to mimic the GI tract in that study did not accurately represent real-world conditions.…”

Section: Discussionmentioning

confidence: 99%

Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

Huang

Yen

Chu

et al. 2021

Sci Rep

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This paper presents an autonomous navigation system for cost-effective magnetic-assisted colonoscopy, employing force-based sensors, an actuator, a proportional–integrator controller and a real-time heuristic searching method. The force sensing system uses load cells installed between the robotic arm and external permanent magnets to derive attractive force data as the basis for real-time surgical safety monitoring and tracking information to navigate the disposable magnetic colonoscope. The average tracking accuracy on magnetic field navigator (MFN) platform in x-axis and y-axis are 1.14 ± 0.59 mm and 1.61 ± 0.45 mm, respectively, presented in mean error ± standard deviation. The average detectable radius of the tracking system is 15 cm. Three simulations of path planning algorithms are presented and the learning real-time A* (LRTA*) algorithm with our proposed directional heuristic evaluation design has the best performance. It takes 75 steps to complete the traveling in unknown synthetic colon map. By integrating the force-based sensing technology and LRTA* path planning algorithm, the average time required to complete autonomous navigation of a highly realistic colonoscopy training model on the MFN platform is 15 min 38 s and the intubation rate is 83.33%. All autonomous navigation experiments are completed without intervention by the operator.

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A Navigation and Pressure Monitoring System Toward Autonomous Wireless Capsule Endoscopy

Cited by 16 publications

References 18 publications

Bluetooth Signal Attenuation Analysis in Human Body Tissue Analogues

Bluetooth Signal Attenuation Analysis in Human Body Tissue Analogues

Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

Autonomous navigation of a magnetic colonoscope using force sensing and a heuristic search algorithm

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