Navigation of a robotic capsule endoscope with a novel ultrasound tracking system

Gumprecht, Jan D. J.; Lueth, Tim C.; Khamesee, Mir Behrad

doi:10.1007/s00542-013-1828-6

Cited by 19 publications

(18 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…While the WEC moves along the GI tract via the use of a magnetic field, the localization system generates sonographic image data through the back of the person, illustrating the current position of the WEC. The results provided in [48] verify that the approach is real-time implementable and can be applied to navigate a WEC inside the patient’s body.…”

Section: Hybrid Localization and Tracking Techniquesmentioning

confidence: 83%

See 1 more Smart Citation

Localization and Tracking of Implantable Biomedical Sensors

Umay

Fi̇dan

Barshan

2017

Sensors

View full text Add to dashboard Cite

Implantable sensor systems are effective tools for biomedical diagnosis, visualization and treatment of various health conditions, attracting the interest of researchers, as well as healthcare practitioners. These systems efficiently and conveniently provide essential data of the body part being diagnosed, such as gastrointestinal (temperature, pH, pressure) parameter values, blood glucose and pressure levels and electrocardiogram data. Such data are first transmitted from the implantable sensor units to an external receiver node or network and then to a central monitoring and control (computer) unit for analysis, diagnosis and/or treatment. Implantable sensor units are typically in the form of mobile microrobotic capsules or implanted stationary (body-fixed) units. In particular, capsule-based systems have attracted significant research interest recently, with a variety of applications, including endoscopy, microsurgery, drug delivery and biopsy. In such implantable sensor systems, one of the most challenging problems is the accurate localization and tracking of the microrobotic sensor unit (e.g., robotic capsule) inside the human body. This article presents a literature review of the existing localization and tracking techniques for robotic implantable sensor systems with their merits and limitations and possible solutions of the proposed localization methods. The article also provides a brief discussion on the connection and cooperation of such techniques with wearable biomedical sensor systems.

show abstract

Section: Hybrid Localization and Tracking Techniquesmentioning

confidence: 83%

“…The authors in [48] introduce an ultrasound imaging-based localization scheme for the WECs, integrated with magnetic-field-based localization. The localization system is composed of a Cartesian robot actuating a transcutaneous sonographic probe in 2D.…”

Section: Hybrid Localization and Tracking Techniquesmentioning

confidence: 99%

Localization and Tracking of Implantable Biomedical Sensors

Umay

Fi̇dan

Barshan

2017

Sensors

View full text Add to dashboard Cite

show abstract

“…The authors of (Gumprecht, Lueth, & Khamesee, ) built a system consisting of a magnet driving unit and a transcutaneous sonographic probe mounted on a 2D Cartesian robot to, respectively, propel and track the endoscope capsule (15 mm in diameter and 38.3 mm long) through the back of the patient (Figure ). The size of the inserted device classifies the system as invasive.…”

Section: Existing Tracking Systemsmentioning

confidence: 99%

“…(a) Ultrasound robot: (1) endoscope capsule, (2) ultrasound waves, (3) flexible membrane adapting to patient's back, (4) ultrasound liquid, (5) ultrasound probe, (6) kinematics, (7) magnetic drive unit | (b) layer model: (8) ultrasound waves, (9) endoscope capsule, (10) tissue, (11) ultrasound fluid, (12) sonographic probe, (13) membrane, (14) wave with reflection schematic. Figure reproduced from Gumprecht et al ()…”

Section: Existing Tracking Systemsmentioning

confidence: 99%

Tracking systems for intracranial medical devices: A review

François

Duplat²,

Haliyo

et al. 2019

Med Devices & Sens

View full text Add to dashboard Cite

In minimally invasive surgery, especially in neurosurgery, the ability to reach deep and functional structures without damage remains a major challenge. Recent breakthroughs in microtechnologies have enabled the downsizing of an increasing number of devices. In such a context, the possibility to navigate a micromedical device inside the human brain is a reachable ambition. One of the most expected applications is the identification and the treatment of early‐stage cancers which could strongly improve therapies efficiency. Despite these remarkable attainments, micromachines, to actually become revolutionary, require a tracking system at least as accurate as its size and working in an heterogeneous environment. The aim of the present paper was to provide an overview of the state of the art in medical device tracking systems for the brain. Firstly, the latest advances are categorized by technological family: magnetic field, electromagnetic waves, magnetic resonance, ultrasound waves and hybrid solutions. Secondly, in a comparative purpose, performance criteria are evaluated and displayed in radar diagrams and graphs to highlight the three dimensions challenge the systems should take up: performance, invasiveness and user experience. Finally, the present and future of each localization family are provided.

show abstract

“…Other localization methods include computer vision [25], ultrasound [26], [27], and MRI [28], which have some potential drawbacks. In the computer vision method, the tracking performance largely depends on the image capturing rate and the speed of the capsule.…”

Section: Introductionmentioning

confidence: 99%

An Effective Localization Method for Robotic Endoscopic Capsules Using Multiple Positron Emission Markers

et al. 2014

View full text Add to dashboard Cite

The wireless capsule endoscope (WCE) is a first-line medical tool for the diagnosis of many gastrointestinal (GI) tract diseases such as obscure GI bleeding, Crohn's disease, small bowel tumors, and Celiac disease. Over the past few years, significant research attention has been paid to upgrading the WCE from a diagnostic-only tool to an active medical robot having not only diagnostic capabilities but therapeutic functionalities, such as biopsy, microsurgery, and targeted drug delivery, as well. One of the major limitations that impedes the development of such a robotic-type endoscope is the lack of a highly accurate localization system. In this paper, we present an experimental evaluation of a new realtime localization method (patent pending) based on tracking three positron emission markers embedded in the cover of an endoscopic capsule. Coincidence gamma rays emitted from the markers are detected by surrounding gamma ray detectors. The position and orientation information of the capsule can then be extracted by an effective tracking algorithm. The experiments were conducted in two different commercial positron emission technology (PET) scanners: Philips Allegro and Philips TF64. The experimental results show that the proposed localization method could provide less than 0.5-mm position error and 2.4 • orientation error in a localization time interval of 50 ms with an average computational time of 6 ms per time interval. Zero power consumption and zero space occupation inside the capsule are additional advantages of this localization method.

show abstract

Navigation of a robotic capsule endoscope with a novel ultrasound tracking system

Cited by 19 publications

References 21 publications

Localization and Tracking of Implantable Biomedical Sensors

Localization and Tracking of Implantable Biomedical Sensors

Tracking systems for intracranial medical devices: A review

An Effective Localization Method for Robotic Endoscopic Capsules Using Multiple Positron Emission Markers

Contact Info

Product

Resources

About