Hybrid Localization of Microrobotic Endoscopic Capsule Inside Small Intestine by Data Fusion of Vision and RF Sensors

PROJECT TITLE :

Hybrid Localization of Microrobotic Endoscopic Capsule Inside Small Intestine by Data Fusion of Vision and RF Sensors

ABSTRACT:

Wireless capsule endoscope (WCE) offers a noninvasive investigation of the entire small intestine, which different standard wired endoscopic instruments can barely reach. As a crucial part of the capsule endoscopic examination, physicians need to keep track of the 3D trajectory that the capsule has traveled inside the lower abdomen to identify the positions of the intestinal abnormalities once they are found by the video supply. However, existing commercially accessible radio frequency (RF)-based localization systems will solely provide inaccurate and discontinuous position estimation of the WCE thanks to nonhomogeneity of body tissues and highly difficult distribution of the intestinal tube. In this paper, we have a tendency to gift a hybrid localization technique, that takes advantage of information fusion of multiple sensors within the WCE, to enhance the positioning accuracy and construct the 3-D trajectory of the WCE. The proposed hybrid technique extracts motion info of the WCE from the image sequences captured by the capsule’s embedded visual sensor and combines it with the RF signal emitted by the wireless capsule, to simultaneously localize the WCE and mapping the path traveled by the WCE. Experimental results show that the proposed hybrid algorithm is able to reduce the average localization error from half dozen.eight cm to <2.3 cm of the existing RF localization systems and a three-D map can be exactly constructed to represent the position of the WCE within tiny intestine.

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