Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers
Abstract
Purpose: Over the last decade, wireless capsule endoscope has been the tool of choice for noninvasive inspection of the gastrointestinal tract, especially in the small intestine. However, the latest clinical products have not been equipped with a sufficiently accurate localization system which makes it difficult to determine the location of intestinal abnormalities, and to apply follow-up interventions such as biopsy or drug delivery. In this paper, the authors present a novel localization method based on tracking three positron emission markers embedded inside an endoscopic capsule. Methods: Three spherical {sup 22}Na markers with diameters of less than 1 mm are embedded in the cover of the capsule. Gamma ray detectors are arranged around a patient body to detect coincidence gamma rays emitted from the three markers. The position of each marker can then be estimated using the collected data by the authors’ tracking algorithm which consists of four consecutive steps: a method to remove corrupted data, an initialization method, a clustering method based on the Fuzzy C-means clustering algorithm, and a failure prediction method. Results: The tracking algorithm has been implemented inMATLAB utilizing simulation data generated from the Geant4 Application for Emission Tomography toolkit. The results show that this localization methodmore »
- Authors:
-
- School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, New South Wales 2522 (Australia)
- Department of Nuclear Medicine, Wollongong Hospital, New South Wales 2500 (Australia)
- Publication Date:
- OSTI Identifier:
- 22412493
- Resource Type:
- Journal Article
- Journal Name:
- Medical Physics
- Additional Journal Information:
- Journal Volume: 41; Journal Issue: 7; Other Information: (c) 2014 American Association of Physicists in Medicine; Country of input: International Atomic Energy Agency (IAEA); Journal ID: ISSN 0094-2405
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND TECHNOLOGY; 60 APPLIED LIFE SCIENCES; ALGORITHMS; GAMMA RADIATION; POSITRON COMPUTED TOMOGRAPHY; SMALL INTESTINE; SODIUM 22; SPHERICAL CONFIGURATION
Citation Formats
Than, Trung Duc, E-mail: dtt581@uowmail.edu.au, Alici, Gursel, Zhou, Hao, Li, Weihua, and Harvey, Steven. Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers. United States: N. p., 2014.
Web. doi:10.1118/1.4881316.
Than, Trung Duc, E-mail: dtt581@uowmail.edu.au, Alici, Gursel, Zhou, Hao, Li, Weihua, & Harvey, Steven. Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers. United States. https://doi.org/10.1118/1.4881316
Than, Trung Duc, E-mail: dtt581@uowmail.edu.au, Alici, Gursel, Zhou, Hao, Li, Weihua, and Harvey, Steven. 2014.
"Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers". United States. https://doi.org/10.1118/1.4881316.
@article{osti_22412493,
title = {Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers},
author = {Than, Trung Duc, E-mail: dtt581@uowmail.edu.au and Alici, Gursel and Zhou, Hao and Li, Weihua and Harvey, Steven},
abstractNote = {Purpose: Over the last decade, wireless capsule endoscope has been the tool of choice for noninvasive inspection of the gastrointestinal tract, especially in the small intestine. However, the latest clinical products have not been equipped with a sufficiently accurate localization system which makes it difficult to determine the location of intestinal abnormalities, and to apply follow-up interventions such as biopsy or drug delivery. In this paper, the authors present a novel localization method based on tracking three positron emission markers embedded inside an endoscopic capsule. Methods: Three spherical {sup 22}Na markers with diameters of less than 1 mm are embedded in the cover of the capsule. Gamma ray detectors are arranged around a patient body to detect coincidence gamma rays emitted from the three markers. The position of each marker can then be estimated using the collected data by the authors’ tracking algorithm which consists of four consecutive steps: a method to remove corrupted data, an initialization method, a clustering method based on the Fuzzy C-means clustering algorithm, and a failure prediction method. Results: The tracking algorithm has been implemented inMATLAB utilizing simulation data generated from the Geant4 Application for Emission Tomography toolkit. The results show that this localization method can achieve real-time tracking with an average position error of less than 0.4 mm and an average orientation error of less than 2°. Conclusions: The authors conclude that this study has proven the feasibility and potential of the proposed technique in effectively determining the position and orientation of a robotic endoscopic capsule.},
doi = {10.1118/1.4881316},
url = {https://www.osti.gov/biblio/22412493},
journal = {Medical Physics},
issn = {0094-2405},
number = 7,
volume = 41,
place = {United States},
year = {Tue Jul 15 00:00:00 EDT 2014},
month = {Tue Jul 15 00:00:00 EDT 2014}
}