Hoang Manh Cuong, Nguyen Kim Tien, Kim Jayoung, Park Jong-Oh, Kim Chang-Sei
School of Mechanical Engineering, Chonnam National University, Gwangju 61186, Korea.
Korea Institute of Medical Microrobotics, Gwangju 61011, Korea.
Diagnostics (Basel). 2021 Oct 12;11(10):1878. doi: 10.3390/diagnostics11101878.
This paper presents an active locomotion capsule endoscope system with 5D position sensing and real-time automated polyp detection for small-bowel and colon applications. An electromagnetic actuation system (EMA) consisting of stationary electromagnets is utilized to remotely control a magnetic capsule endoscope with multi-degree-of-freedom locomotion. For position sensing, an electronic system using a magnetic sensor array is built to track the position and orientation of the magnetic capsule during movement. The system is integrated with a deep learning model, named YOLOv3, which can automatically identify colorectal polyps in real-time with an average precision of 85%. The feasibility of the proposed method concerning active locomotion and localization is validated and demonstrated through in vitro experiments in a phantom duodenum. This study provides a high-potential solution for automatic diagnostics of the bowel and colon using an active locomotion capsule endoscope, which can be applied for a clinical site in the future.
本文介绍了一种用于小肠和结肠应用的具有5D位置传感和实时自动息肉检测功能的主动运动胶囊内窥镜系统。利用由固定电磁铁组成的电磁驱动系统（EMA）对具有多自由度运动的磁性胶囊内窥镜进行远程控制。对于位置传感，构建了一个使用磁传感器阵列的电子系统，以跟踪磁性胶囊在运动过程中的位置和方向。该系统与一个名为YOLOv3的深度学习模型集成，该模型可以实时自动识别结直肠息肉，平均精度为85%。通过在模拟十二指肠中的体外实验，验证并证明了所提方法在主动运动和定位方面的可行性。本研究为使用主动运动胶囊内窥镜进行肠道和结肠的自动诊断提供了一种具有高潜力的解决方案，未来可应用于临床场所。
