In this paper, a vision-based haptic feedback system has been proposed with the aim to assist the movement of an endoscopic device during capsule endoscopy (CE) procedures. We present a general system architecture consisting of three modules responsible for vision, haptic guidance and control of movements. The vision module generates 3D local maps as well as local navigation trajectory for endoluminal navigation. The haptic guidance module consists of a haptic device that allows the user to control the movement of the capsule along the generated path. The haptics module also helps the operator by transforming the 3D maps and the relative paths into a guiding virtual force. Measuring the current relative distance between the user input and the maps boundaries, the haptic guidance module will check if the user is moving away or toward the colonic walls and will generate a feedback force with the aim to assist the operator during the navigation procedure. The user will also sense an attractive virtual feedback force toward the generated path that will help the user in the navigation. Finally, the movement control module is the interface between the haptics module and the chosen manipulator. The final goal is to develop a complete active CE robotic platform with haptic feedback in order to enhance safety, to reduce cost (using the same system as a training simulator as well as real endoscopic platform) and to help the operator during the navigation by combining all 3D local maps into a full 3D reconstructed colon
Capsule endoscopy is a non-invasive procedure for gastrointestinal diagnosis. It does not require sedation and it is comfortable and well tolerated by patient. However, the problem with such procedure is that a huge number of images is collected, which require time to investigate and diagnose; furthermore, the capsule movement is not controlled leading, in some cases, to inaccurate diagnosis. In this context, a mapping of the lumen is required to guarantee a higher reliability of the inspection, enabling the medical doctor to evaluate all the parts of the lumen for a better diagnosis. In this paper, we propose a method for mapping images from a capsule-based endoscope: the technique uses visual and inertial-based data fusion to obtain a 3D map of the lumen from 2D capsule images, also paving the way for the implementation of a path planning and autonomous locomotion and inspection
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.