Image-based navigation for a robotized flexible endoscope

作     者：Van Der Stap, Nanda Slump, C.H. Broeders, Ivo A. M. J. Van Der Heijden, Ferdi 

作者机构：Robotics and Mechatronics group MIRA Institute for Biomedical Technology and Technical Medicine University of Twente Enschede Netherlands Department of Surgery Meander Medical Center P.O. Box 1502 Amersfoort3800 BM Netherlands 

出 版 物：《Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)》 (Lect. Notes Comput. Sci.)

年 卷 期：2014年第8899卷

页      面：77-87页

核心收录：

主　　题：Endoscopy 

摘      要：Robotizing flexible endoscopy enables image-based control of endoscopes. Especially during high-throughput procedures, such as a colonoscopy, navigation support algorithms could improve procedure turnaround and ergonomics for the *** this study, we have developed and implemented a navigation algorithm that is based on image classification followed by dark region segmentation. Robustness and accuracy were evaluated on real images obtained from human colonoscopy exams. Comparison was done using manual annotation as a reference. Intraclass correlation (ICC) was employed as a measure for similarity between automated and manual *** discrimination of the developed classifier was 6.8, making it a reliable classifier. In the experiments, the developed algorithm gave an ICC of 93 % (range 84.7-98.8 %) over the test image sequences on average. If images were classified as ‘uninformative’, which led to re-initialization of the algorithm, this was predictive for the result of dark region segmentation *** conclusion, the developed target detection algorithm provided accurate results and is thought to provide reliable assistance in the clinic. The clinical relevance of this kind of navigation and control is currently being investigated. © Springer International Publishing Switzerland 2014.