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To build a new wireless robotic capsule endoscope with external guidance for controllable and interactive GI tract examination, a sensing system is needed for tracking 3D location and 2D orientation of the capsule endoscope movement. An appropriate sensing method is to enclose a small permanent magnet in the capsule. The intensities of the magnetic field produced by the magnet in different spatial points can be measured by the magnetic sensors outside the patient's body. With the sensing data of magnetic sensor array, the 3D location and 2D orientation of the capsule can be calculated. Higher calculation accuracy can be obtained if more sensors and optimal algorithm are applied. In this paper, different nonlinear optimization algorithms were evaluated to solve the magnet's 5D parameters, e.g. Powell's, Downhill Simplex, DIRECT, Multilevel Coordinate Search, and Levenberg Marquardt method. We have found that Levenberg-Marquardt method provides satisfactory calculation accuracy and faster speed. Simulations were done for investigating the de-noise ability of this algorithm based on different sensor arrays. Also the real experiment shows that the results are satisfactory with high accuracy (average localization error is 5.6 mm).

Wireless capsule endoscopy (WCE) can directly take digital images in the gastrointestinal tract of a patient. It has opened a new chapter in small intestine examination. However, a major problem associated with this technology is that too many images need to be manually examined by clinicians. Currently, there is no standard for capsule endoscopy image interpretation and classification. Most state-of-the-art CAD methods often suffer from poor performance, high computational cost, or multiple empirical thresholds. In this paper, a new method for rapid bleeding detection in the WCE video is proposed. We group pixels through superpixel segmentation to reduce the computational complexity while maintaining high diagnostic accuracy. Feature of each superpixel is extracted using the red ratio in RGB space and fed into support vector machine for classification. Also, the influence of edge pixels has been removed in this paper. Comparative experiments show that our algorithm is superior to the existing methods in terms of sensitivity, specificity, and accuracy.

In this paper, we propose an efficient method for segmenting cell nuclei in the skin histopathological images. The proposed technique consists of four modules. First, it separates the nuclei regions from the background with an adaptive threshold technique. Next, an elliptical descriptor is used to detect the isolated nuclei with elliptical shapes. This descriptor classifies the nuclei regions based on two ellipticity parameters. Nuclei clumps and nuclei with irregular shapes are then localized by an improved seed detection technique based on voting in the eroded nuclei regions. Finally, undivided nuclei regions are segmented by a marked watershed algorithm. Experimental results on 114 different image patches indicate that the proposed technique provides a superior performance in nuclei detection and segmentation.

Efficient and accurate detection of cell nuclei is an important step toward automatic analysis in histopathology. In this work, we present an automatic technique based on generalized Laplacian of Gaussian (gLoG) filter for nuclei detection in digitized histological images. The proposed technique first generates a bank of gLoG kernels with different scales and orientations and then performs convolution between directional gLoG kernels and the candidate image to obtain a set of response maps. The local maxima of response maps are detected and clustered into different groups by mean-shift algorithm based on their geometrical closeness. The point which has the maximum response in each group is finally selected as the nucleus seed. Experimental results on two datasets show that the proposed technique provides a superior performance in nuclei detection compared to existing techniques.

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