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Machine learning-based colon deformation estimation method for colonoscope tracking

Masahiro Oda, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori, Robert J. Webster, Baowei Fei
2018 Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling  
Colonoscope tracking or navigation system that navigates a physician to polyp positions during a colonoscope insertion is required to reduce complications such as colon perforation.  ...  However, large tracking errors were observed due to colon deformations occurred during colonoscope insertions. Such deformations make the registration difficult.  ...  A colonoscope tracking method is one of fundamental function in the navigation systems. It estimates the colonoscope position in the colon.  ... 
doi:10.1117/12.2293936 dblp:conf/miigp/OdaKFMHGNM18 fatcat:fkfu7k2ewrgh3i2432xcggyzim

Colon Shape Estimation Method for Colonoscope Tracking Using Recurrent Neural Networks [chapter]

Masahiro Oda, Holger R. Roth, Takayuki Kitasaka, Kasuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori
2018 Lecture Notes in Computer Science  
Colonoscope tracking or a navigation system that navigates physician to polyp positions is needed to reduce such complications as colon perforation.  ...  Previous tracking methods caused large tracking errors at the transverse and sigmoid colons because these areas largely deform during colonoscope insertion.  ...  A colonoscope navigation system is needed that leads a physician to the polyp position. To develop a colonoscope navigation system, a colonoscope tracking method must be developed.  ... 
doi:10.1007/978-3-030-00937-3_21 fatcat:2vwyavnnyjfhfc2jojf7y5wk5u

An optical flow approach to tracking colonoscopy video

Jianfei Liu, Kalpathi R. Subramanian, Terry S. Yoo
2013 Computerized Medical Imaging and Graphics  
In this work, we demonstrate a computer vision algorithm based on optical flow to compute egomotion from live colonoscopy video, which is then used to navigate and visualize the corresponding patient anatomy  ...  We constructed two colon like phantoms, a straight phantom and a curved phantom to measure actual colonoscopy motion; tracking accuracy was quantitatively evaluated by comparing estimated motion parameters  ...  Based on our discussions with medical practitioners, such a system can be a useful navigation aid during endoscopic procedures.  ... 
doi:10.1016/j.compmedimag.2013.01.010 pmid:23490235 fatcat:ug5zowqeznawffjbq4df4xqweu


2021 Biomedical Engineering  
, such as augmented reality based surgical aids.  ...  Methods We utilize different machine learning techniques to provide learning software for cognition-guided robotic assistance during surgery.  ...  Conclusion By providing the dual-arm system with a rigid marker for initial registration, the line-of-sight problem could be significantly reduced.  ... 
doi:10.1515/bmt-2021-6044 pmid:34598355 fatcat:4xvtpbd5z5hhhd43yf2xgfwwpu

A robust method to track colonoscopy videos with non-informative images

Jianfei Liu, Kalpathi R. Subramanian, Terry S. Yoo
2013 International Journal of Computer Assisted Radiology and Surgery  
These data were used for virtual colonoscopy study, and all subjects gave their informed consent prior to their inclusion in the study.  ...  An egomotion estimator based on optical flow [5] is used to automatically track informative OC images thereafter.  ...  Matched feature points should stay at corresponding epipolar lines in the source and target images based on epipolar geometry.  ... 
doi:10.1007/s11548-013-0814-x pmid:23377706 fatcat:y2mwuy5xdnbw3hb2erc4xoomoy

Reconstruction of a 3D Virtual Colon Structure and Camera Motion for Screening Colonoscopy

Wallapak Tavanapong, Dong Hong, Johnny Wong, Piet Groen, Jung Oh
2017 Medical Research Archives  
Materials and Methods: This paper presents a novel method for reconstructing (i) a 3D virtual colon structure from a sequence of 2D colonoscopic images and (ii) the endoscope camera navigation path.  ...  Conclusions: We present the work on reconstruction of a colon structure and endoscope motion from a colonoscopic image sequence for screening colonoscopy.  ...  Zagrochev, Nonrigid Registration of 3D Ultrasound Images Using Model-Based Segmentation. 2014 IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2014: p. 323 -328. 58.  ... 
doi:10.18103/mra.v5i6.1351 fatcat:5czpnkjqo5e55dz7typf64sen4

Front Matter: Volume 9786

2016 Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling  
using a Base 36 numbering system employing both numerals and letters.  ...  SPIE uses a six-digit CID article numbering system structured as follows:  The first four digits correspond to the SPIE volume number.  The last two digits indicate publication order within the volume  ...  : a comparison of different feature detectors [9786-47] 9786 1D Position-based adjustment of landmark-based correspondence finding in electromagnetic sensor-based colonoscope tracking method [9786  ... 
doi:10.1117/12.2240097 dblp:conf/miigp/X16 fatcat:e2sr443rvfa7rcz24tfpgb44gy

Front Matter: Volume 10576

Robert J. Webster, Baowei Fei
2018 Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling  
ultrasound [10576-35] Machine learning-based colon deformation estimation method for colonoscope tracking [10576-36] CARDIAC AND LUNG IMAGING AND TRACKING 10576 1A A real-time system for prosthetic  ...  automatic feature extraction methods [10576-94] 10576 2X Bundling 3D-and 2D-based registration of MRI to x-ray breast tomosynthesis [10576-95] ProjectAlign: a real-time ultrasound guidance system for  ... 
doi:10.1117/12.2323924 fatcat:hva4ny4ftbe2voqifpbt5wewky

New Image Similarity Measure for Bronchoscope Tracking Based on Image Registration [chapter]

Daisuke Deguchi, Kensaku Mori, Yasuhito Suenaga, Jun-ichi Hasegawa, Jun-ichiro Toriwaki, Hirotsugu Takabatake, Hiroshi Natori
2003 Lecture Notes in Computer Science  
A function for bronchoscope tracking is one of the fundamental functions in a bronchoscope navigation system.  ...  This paper presents new image similarity measure for bronchoscope tracking based on image registration between real and virtual endoscopic images.  ...  The authors thank to our colleagues for their useful suggestions and discussions. D. Deguchi and K. Mori thank to Dr. Calvin R.  ... 
doi:10.1007/978-3-540-39899-8_50 fatcat:5i4s6il43nabnh6dwxfudk2rhe

Real-time computed tomography-based augmented reality for natural orifice transluminal endoscopic surgery navigation

D. E. Azagury, M. Ryou, S. N. Shaikh, R. San José Estépar, B. I. Lengyel, J. Jagadeesan, K. G. Vosburgh, C. C. Thompson
2012 British Journal of Surgery  
This study tested whether an image registration system for NOTES procedures (IR-NOTES) can facilitate navigation.  ...  Ease of navigation was evaluated objectively by kinematic analysis, and navigation complexity was determined by creating an organ access complexity score based on the same data.  ...  This work was supported by the Center for Integration of Medicine and Innovative Technology under US Army Medical Research Acquisition Activity Cooperative Agreement W81XWH-09-2-0001.  ... 
doi:10.1002/bjs.8838 pmid:22864885 pmcid:PMC3677565 fatcat:5cqt6z25znbe3ptzysn57aczka

Spatial awareness in Natural Orifice Transluminal Endoscopic Surgery (NOTES) navigation

Vahe Karimyan, Felipe Orihuela-Espina, Daniel Richard Leff, James Clark, Mikael Sodergren, Ara Darzi, Guang-Zhong Yang
2012 International Journal of Surgery  
Electromagnetic tracking was used to trace the tip of the endoscope during the navigation.  ...  Four awareness groups were identified based on the subjects exhibited navigation footprint over the frontal plane, namely: (1) consistent navigation and performance; (2) inconsistent navigation and performance  ...  Data acquisition A single coil from an Aurora EM tracking system (NDI, Canada) was attached to the colonoscope for tracking the position of the tip of the tool.  ... 
doi:10.1016/j.ijsu.2011.12.005 pmid:22227629 fatcat:6rzdxjb7w5bfflrd6p3cwlwzyu

Survey of Computer Vision and Machine Learning in Gastrointestinal Endoscopy [article]

Anant S. Vemuri
2019 arXiv   pre-print
A lot of deep learning based applications have not been covered in this thesis.  ...  For colonoscopic procedures, the need to provide navigational assistance is substantial.  ...  (SLAM) based method for feature tracking in deformable scene, such as in laparoscopic surgery.  ... 
arXiv:1904.13307v1 fatcat:u66me6hx6bfvfkkalqyodf7tmq

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, Arianna Menciassi
2021 Frontiers in Robotics and AI  
To help the reader make a suitable choice, this paper presents a review of recent progress on shape reconstruction methods, based on a systematic literature search, excluding pure kinematic models.  ...  Second, imaging-based methods are discussed that utilize images from different imaging systems such as fluoroscopy, endoscopy cameras, and ultrasound for the shape reconstruction process.  ...  Alternatively, Zhang et al. proposed a method that illustrated the navigation of wire-driven continuum surgical robot based on permanent magnetic tracking (Zhang et al., 2017) .  ... 
doi:10.3389/frobt.2021.758411 pmid:34869615 pmcid:PMC8640970 fatcat:ai5dvdz42bg77bkdkltc7u4x3i

Robotic-assisted stereotactic real-time navigation: initial clinical experience and feasibility for rectal cancer surgery

S. Atallah, E. Parra-Davila, A. G. F. Melani, L. G. Romagnolo, S. W. Larach, J. Marescaux
2019 Techniques in Coloproctology  
Methods After pre-clinical assessment, and configuration of a robotic-assisted navigational system, two patients with locally advanced rectal cancer were selected for enrollment into a pilot study designed  ...  In one case, fluorescence-guided surgery was also used as an adjunct for structure localization, with local administration of indocyanine green into the ureters and at the tumor site.  ...  A colonoscope was also used to inject ICG into the submucosal plane at the distal aspect of the lesion.  ... 
doi:10.1007/s10151-018-1914-y fatcat:6asf665hfzg7ljq42he7ghis7u

Frontiers of robotic endoscopic capsules: a review

Gastone Ciuti, R. Caliò, D. Camboni, L. Neri, F. Bianchi, A. Arezzo, A. Koulaouzidis, S. Schostek, D. Stoyanov, C. M. Oddo, B. Magnani, A. Menciassi (+3 others)
2016 Journal of Micro-Bio Robotics  
With the integration of further capabilities based on microrobotics, e.g. active locomotion and embedded therapeutic modules, WCE could become the key-technology for GI diagnosis and treatment.  ...  This review presents a research update on WCE and describes the state-of-the-art of current endoscopic devices with a focus on research-oriented robotic capsule endoscopes enabled by microsystem technologies  ...  Spyrou et al. proposed an image-based tracking method using algorithms for 3D reconstruction based on the registration of consecutive frames [66] .  ... 
doi:10.1007/s12213-016-0087-x pmid:29082124 pmcid:PMC5646258 fatcat:hhlj2giqd5fmbmpos4bdndi6j4
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