Prototype of Video Endoscopic Capsule With 3-D Imaging Capabilities

Abstract

Wireless video capsules can now carry out gastroenterological examinations. The images make it possible to analyze some diseases during postexamination, but the gastroenterologist could make a direct diagnosis if the video capsule integrated vision algorithms. The first step toward in situ diagnosis is the implementation of 3-D imaging techniques in the video capsule. By transmitting only the diagnosis instead of the images, the video capsule autonomy is increased. This paper focuses on the Cyclope project, an embedded active vision system that is able to provide 3-D and texture data in real time. The challenge is to realize this integrated sensor with constraints on size, consumption, and processing, which are inherent limitations of the video capsule. We present the hardware and software development of a wireless multispectral vision sensor which enables the transmission of the 3-D reconstruction of a scene in real time. An FPGA-based prototype has been designed to show the proof of concept. Experiments in the laboratory, in vitro, and in vivo on a pig have been performed to determine the performance of the 3-D vision system. A roadmap towardthe integrated system is set out.

3D reconstruction of small bowel lesions using stereo camera-based capsule endoscopy

“…To obtain more information from limited image data from current capsule endoscopy, several efforts have been made, including three-dimensional reconstructions of the small bowel structure. There was a hardware approach using an infrared projector and a CMOS camera to construct a 3D structure, but the device failed commercialization due to size, power consumption, and packaging problems 6,16,17 . On the other hand, a software approach using the SfS technique yielded some promising results 6,7 .…”

Optimizing lesion detection in small-bowel capsule endoscopy: from present problems to future solutions

“…3D technology is currently in use, for example, a magnetometer can provide not only acceleration values on the three axes, but also the 3D orientation of the device. Commercial time-offlight range cameras (i.e., Microsoft's Kinect Project), already exist in the market and in the near future this may be further improved and miniaturized for use inside a capsule endoscope [106]. These cameras offer information on depth and color.…”

“…The SfS technique, firstly proposed by Horn [108], is a member of a family of shape recovery algorithms called shape-from-X techniques [106], which has the capability to recover the shape of objects presenting a single image using the gradual variation of shading. The SfS problem is to compute a 3D shape from a grayscale image [108].…”

An Insect Eye Inspired Miniaturized Multi-Camera System for Endoscopic Imaging

“…In order to have a uniform and high resolution imaging capability in such applications, our proposal is to exploit the insect eye imaging to the endoscopy domain. For this purpose we propose a miniature multi-camera system, which also have the capability for 3D reconstruction for future applications like capsule endoscopy [15].…”