A review of localization systems for robotic endoscopic capsules

IEEE Transactions on Biomedical Engineering

Volumn 59, Issue 9, 2012, Pages 2387-2399

  Than, Trung Duc ^a   Alici, Gursel ^a   Zhou, Hao ^a   Li, Weihua ^a  

^a UNIVERSITY OF WOLLONGONG   (Australia)

Author keywords

Localization; microrobots; tracking; wireless capsule endoscope (WSE)

Indexed keywords

ACTUATION MECHANISM; CELIAC DISEASE; COMPLEX ENVIRONMENTS; CROHN DISEASE; ENDOSCOPIC CAPSULE; GI TRACT; HUMAN BODIES; LOCALIZATION; LOCALIZATION METHOD; LOCALIZATION SYSTEM; MICROROBOTS; RESEARCH FIELDS; ROBOTIC DEVICES; WIRELESS CAPSULE ENDOSCOPE;

PATIENT TREATMENT; ROBOTICS; SURFACE DISCHARGES;

ENDOSCOPY;

ACCURACY; ALGORITHM; APPARATUS; ARTICLE; BIOMEDICAL ENGINEERING; CAPSULE ENDOSCOPE; CAPSULE ENDOSCOPY; ELECTROMAGNETIC FIELD; EQUIPMENT DESIGN; GAMMA RADIATION; HUMAN; MAGNET; MAGNETIC FIELD; RADIOFREQUENCY IDENTIFICATION; RADIOFREQUENCY RADIATION; RELIABILITY; ROBOTICS; SENSOR; X RAY;

CAPSULE ENDOSCOPES; CAPSULE ENDOSCOPY; ELECTROMAGNETIC FIELDS; HUMANS; IMAGE PROCESSING, COMPUTER-ASSISTED; ROBOTICS;

EID: 84865530285     PISSN: 00189294     EISSN: 15582531     Source Type: Journal    
DOI: 10.1109/TBME.2012.2201715     Document Type: Article

References (90)

1. Y. Kusuda, "A further step beyond wireless capsule endoscopy," Sensor Rev., vol. 25, pp. 259-260, 2005. (Pubitemid 41392720)
2. J. D. Mellinger, "Upper gastrointestinal endoscopy: Current status," Surgical Innov., vol. 10, pp. 3-12, Mar. 2003. (Pubitemid 37407572)
3. M. Yu, "M2A(TM) capsule endoscopy: A breakthrough diagnostic tool for small intestine imaging," Gastroenterol. Nursing, vol. 25, pp. 24-27, 2002.
4. D. E. Fleischer, "Motion in the direction of making the video capsule our primary endoscope," Gastrointestinal Endoscopy, vol. 72, pp. 388-391, 2010.
5. A. Glukhovsky, "Wireless capsule endoscopy," Sensor Rev., vol. 23, pp. 128-133, 2003.
6. A. Moglia, A. Menciassi, S. Marc Oliver, and P. Dario, "Wireless capsule endoscopy: From diagnostic devices to multipurpose robotic systems," Biomed. Microdevices, vol. 9, pp. 235-243, 2007. (Pubitemid 46554131)
7. A.Moglia, A. Menciassi, P. Dario, and A. Cuschieri, "Capsule endoscopy: Progress update and challenges ahead," Nat. Rev. Gastroenterology Hepatol., vol. 6, pp. 353-361, 2009.
8. P. Swain, "At a watershed? Technical developments in wireless capsule endoscopy," J. Digestive Dis., vol. 11, pp. 259-265, 2010.
9. G. Iddan, G. Meron, A. Glukhovsky, and P. Swain, "Wireless capsule endoscopy," Nature, vol. 405, pp. 417-417, 2000.
10. G. Ciuti, A. Menciassi, and P. Dario, "Capsule endoscopy: From current achievements to open challenges," IEEE Rev. Biomed. Eng., vol. 4, pp. 59- 72, 2011.
11. L. Lin, M. Rasouli, A. Kencana, S. Tan, K. Wong, K. Ho, and S. Phee, "Capsule endoscopy - A mechatronics perspective," Front. Mech. Eng., vol. 6, pp. 33-39, 2011.
12. J. L. Toennies, G. Tortora,M. Simi, P. Valdastri, and R. J.Webster, "Swallowable medical devices for diagnosis and surgery: The state of the art," Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci., vol. 224, pp. 1397-1414, Jan. 2010.
13. A. Moglia, A. Menciassi, and P. Dario, "Recent patents on wireless capsule endoscopy," Recent Patents Biomed. Eng., vol. 1, pp. 24-33, 2008.
14. H. Chao, L. Mao, S. Shuang, Y. Wan'an, Z. Rui, and M. Q. H. Meng, "A cubic 3-Axismagnetic sensor array for wirelessly trackingmagnet position and orientation," IEEE Sens. J., vol. 10, no. 5, pp. 903-913, May 2010.
15. N. C. Atuegwu and R. L. Galloway, "Volumetric characterization of the Aurora magnetic tracker system for image-guided transorbital endoscopic procedures," Phy. Med. Biol., vol. 53, pp. 4355-4368, 2008.
16. G. Ciuti, P. Valdastri, A. Menciassi, and P. Dario, "Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures," Robotica, vol. 28, pp. 199-207, 2010.
17. F. Carpi, N. Kastelein,M. Talcott, and C. Pappone, "Magnetically controllable gastrointestinal steering of video capsules," IEEE Trans. Biomed. Eng., vol. 58, no. 2, pp. 231-234, Feb. 2011.
18. G. Mingyuan, H. Chengzhi, C. Zhenzhi, Z. Honghai, and L. Sheng, "Design and fabrication of a magnetic propulsion system for self-propelled capsule endoscope," IEEE Trans. Biomed. Eng., vol. 57, no. 12, pp. 2891- 2902, Dec. 2010.
19. J. S. Lee, B. Kim, and Y. S. Hong, "A flexible chain-based screw propeller for capsule endoscopes," Int. J. Precis. Eng. Manuf., vol. 10, pp. 27-34, Oct. 2009.
20. A. Uchiyama,H.Kawano, K. Arai, K. Ishiyama, and M. Sendoh, "Medical device guidance system," U.S. Patent 7 711 408, 2010.
21. Z. Yongshun, J. Shengyuan, Z. Xuewen, R. Xiaoyan, and G. Dongming, "A variable-diameter capsule robot based on multiple wedge effects," IEEE/ASME Trans. Mechatronics, vol. 16, no. 2, pp. 241-254, Apr. 2011.
22. C. Yu, J. Kim, H. Choi, J. Choi, S. Jeong, K. Cha, J.-O. Park, and S. Park, "Novel electromagnetic actuation system for three-dimensional locomotion and drilling of intravascular microrobot," Sens. Actuators A: Phys., vol. 161, pp. 297-304, 2010.
23. M. Lam and M. Mintchev, "Diamagnetically stabilized levitation control of an intraluminal magnetic capsule," Physiol. Meas., vol. 30, pp. 763- 777, 2009.
24. I. K. Mohammed, B. S. Sharif, J. A. Neasham, and D. Giaouris, "Novel MIMO 4-DOF position control for Capsule Endoscope," in Proc. IEEE Int. Symp. Circuits Syst., 2011, pp. 909-912.
25. P. Swain, A. Toor, F. Volke, J. Keller, J. Gerber, E. Rabinovitz, and R. I. Rothstein, "Remote magnetic manipulation of a wireless capsule endoscope in the esophagus and stomach of humans (with videos)," Gastrointestinal Endoscopy, vol. 71, pp. 1290-1293, 2010.
26. X. Wang and M. Q. H. Meng, "Perspective of active capsule endoscope: Actuation and localisation," Int. J. Mechatron. Autom., vol. 1, pp. 38-45, 2011.
27. M. G. Kim, Y. S. Hong, and E. J. Lim, "Position and orientation detection of capsule endoscopes in spiral motion," Int. J. Precision Eng. Manuf., vol. 11, pp. 31-37, Feb. 2010.
28. J. M. D. Coey, Magnetism and Magnetic Materials. Cambridge, U.K.: Cambridge Univ. Press, 2010.
29. W.Weitschies, J.Wedemeyer,R. Stehr, and L. Trahms, "Magnetic markers as a noninvasive tool to monitor gastrointestinal transit," IEEE Trans. Biomed. Eng., vol. 41, no. 2, pp. 192-195, Feb. 1994. (Pubitemid 24152759)
30. W. Weitschies, R. K̈otitz, D. Cordini, and L. Trahms, "High-resolution monitoring of the gastrointestinal transit of a magnetically marked capsule," J. Pharm. Sci., vol. 86, pp. 1218-1222, 1997. (Pubitemid 27486090)
31. V. Schlageter, P. A. Besse, R. S. Popovic, and P. Kucera, "Tracking system with five degrees of freedom using a 2D-Array of Hall sensors and a permanent magnet," Sens. Actuators A: Phys., vol. 92, pp. 37-42, 2001. (Pubitemid 32697877)
32. V. Schlageter, P. Drljaca, R. S. Popovic, Ku, and P. Era, "A magnetic tracking system based on highly sensitive integrated hall sensors," JSME Int. J. Ser. C, vol. 45, pp. 967-973, 2002. (Pubitemid 36357569)
33. H. Chao, M. Q. Meng, and M. Mandal, "Efficient magnetic localization and orientation technique for capsule endoscopy," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 2005, pp. 628-633.
34. H. Chao, M. Q. H. Meng, and M. Mandal, "Efficient linear algorithm for magnetic localization and orientation in capsule endoscopy," in Proc. 27th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2005, pp. 7143-7146. (Pubitemid 46230626)
35. H. Chao, M. Q. H. Meng, and M. Mandal, "A linear algorithm for tracing magnet position and orientation by using three-Axis magnetic sensors," IEEE Trans. Magn., vol. 43, no. 12, pp. 4096-4101, Dec. 2007. (Pubitemid 350157818)
36. H. Chao, Y. Wanan, C. Dongmei, M. Q. H. Meng, and D. Houde, "An improved magnetic localization and orientation algorithm for wireless capsule endoscope," in Proc. 30th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2008, pp. 2055-2058.
37. H. Chao, Q. H. M. Max, and M. Mrinal, "The calibration of 3-Axis magnetic sensor array system for tracking wireless capsule endoscope," in Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst., 2006, pp. 162-167.
38. L. Mao, S. Shuang, H. Chao, Y. Wanan, W. Lujia, and M. Q. H. Meng, "A new calibration method for magnetic sensor array for tracking capsule endoscope," in Proc. IEEE Int. Conf. Robot. Biomimetics, 2009, pp. 1561- 1566.
39. H. Chao, M. Tongxing, and M. Q. H. Meng, "Sensor arrangement optimization of magnetic localization and orientation system," in Proc. IEEE Int. Conf. Integr. Technol., 2007, pp. 311-315.
40. Y. Kegen, F. Gengfa, and E. Dutkiewicz, "Position and orientation accuracy analysis for wireless endoscope magnetic field based localization system design," in Proc. IEEE Wireless Commun. Netw. Conf., 2010, pp. 1-6.
41. S. M. Aziz, M. Grcic, and T. Vaithianathan, "A real-Time tracking system for an endoscopic capsule usingmultiple magnetic sensors," Smart Sensors and Sensing Technology, vol. 20, S. C. Mukhopadhyay and G. S. Gupta, Eds., Berlin, Germany: Springer, 2008 pp. 201-218.
42. X. Wu, W. Hou, C. Peng, X. Zheng, X. Fang, and J. He, "Wearable magnetic locating and tracking system forMEMSmedical capsule," Sens. Actuators A: Phys., vol. 141, pp. 432-439, 2008.
43. A. Plotkin and E. Paperno, "3-D magnetic tracking of a single subminiature coil with a large 2-D array of uniaxial transmitters," IEEE Trans. Magn., vol. 39, no. 5, pp. 3295-3297, Sep. 2003.
44. A. Plotkin, V. Kucher, Y. Horen, and E. Paperno, "A new calibration procedure for magnetic tracking systems," IEEE Trans. Magn., vol. 44, no. 11, pp. 4525-4528, Nov. 2008.
45. Aurora Electromagnetic Tracking System. (Dec. 2, 2011). [Online]. Available: http://www.ndigital.com/medical/technology-em.php
46. T. Nagaoka and A. Uchiyama, "Development of a small wireless position sensor for medical capsule devices," in Proc. 26th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2004, pp. 2137-2140. (Pubitemid 40035842)
47. X. Guo, G. Yan, and W. He, "A novel method of three-dimensional localization based on a neural network algorithm," J. Med. Eng. Technol., vol. 33, pp. 192-198, 2009.
48. X. Guo, G. Yan,W. He, and P. Jiang, "Improved modeling of electromagnetic localization for implantable wireless capsules," Biomed. Instrum. Technol./Assoc. Adv. Med. Instrum., vol. 44, pp. 354-359, 2010.
49. X. Guo, C. Wang, and R. Yan, "An electromagnetic localization method for medical micro-devices based on adaptive particle swarm optimization with neighborhood search," Measurement, vol. 44, pp. 852-858, 2011.
50. D. Roetenberg, C. T. M. Baten, and P. H. Veltink, "Estimating body segment orientation by applying inertial and magnetic sensing near ferromagnetic materials," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 15, no. 3, pp. 469-471, Sep. 2007. (Pubitemid 47460421)
51. L.Wei, H. Chao, H. Qing, M. Q. Meng, and L. Li, "An hybrid localization system based on optics and magnetics," in Proc. IEEE Int. Conf. Rob. Biomimetics, 2010, pp. 1165-1169.
52. I. Aoki, A. Uchiyama, K. Arai, K. Ishiyama, and S. Yabukami, "Detecting system of position and posture of capsule medical device" 2010, U.S. Patent 7 815 563.
53. R. Graumann, "Cable-free endoscopy method and system for determining in vivo position and orientation of an endoscopy capsule," U.S. Patent 20 050 187 479, 2005.
54. S. Hashi, S. Yabukami, H. Kanetaka, K. Ishiyama, and K. I. Arai, "Numerical study on the improvement of detection accuracy for a wireless motion capture system," IEEE Trans. Magn., vol. 45, no. 6, pp. 2736-2739, Jun. 2009.
55. S. Hashi, S.Yabukami,H.Kanetaka, K. Ishiyama, and K. I. Arai,"Wireless magnetic position-sensing system using optimized pickup coils for higher accuracy," IEEE Trans.Magn., vol. 47, no. 10, pp. 3542-3545, Oct. 2011.
56. K. Yu, I. Sharp, and Y. Guo, Ground-Based Wireless Positioning. New York: Wiley, 2009.
57. K. Arshak, F. Adepoju, and D. Waldron, "A review and adaptation of methods of object tracking to telemetry capsules," Int. J. Intell. Comput. Med. Sci. Image Process., vol. 1, pp. 35-46, Mar. 2007.
58. K. Arshak and F. Adepoju, "Adaptive linearized methods for tracking a moving telemetry capsule," in Proc. IEEE Int. Symp. Ind. Electron., 2007, pp. 2703-2708.
59. D. Fischer, R. Shreiber, G. Meron, M. Frisch, H. Jacob, A. Glukhovsky, and A. Engel, "Localization of the wireless capsule endoscope in its passage through theGI tract," Gastrointestinal Endoscopy, vol. 53, p. AB126, 2001.
60. D. Fischer, "Capsule endoscopy: The localization system," Gastrointestinal Endoscopy Clin, North Amer., vol. 14, pp. 25-31, 2004. (Pubitemid 38234301)
61. V. Erceg, L. J. Greenstein, S. Y. Tjandra, S. R. Parkoff, A. Gupta, B. Kulic, A. A. Julius, and R. Bianchi, "An empirically based path loss model for wireless channels in suburban environments," IEEE J. Sel. Areas Commun., vol. 17, no. 7, pp. 1205-1211, Jul. 1999.
62. T. Shah, S. M. Aziz, and T. Vaithianathan, "Development of a tracking algorithm for an in-vivo RF capsule prototype," in Proc. Int. Conf. Electr. Comput. Eng., 2006, pp. 173-176.
63. W. Lujia, H. Chao, T. Longqiang, L. Mao, and M. Q. H. Meng, "A novel radio propagation radiation model for location of the capsule in GI tract," in Proc. IEEE Int. Conf. Rob. Biomimetics, 2009, pp. 2332-2337.
64. W. Lujia, L. Li, H. Chao, and M. Q. H. Meng, "A novel RF-based propagation model with tissue absorption for location of the GI tract," in Proc. Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2010, pp. 654-657.
65. W. Yi, F. Ruijun, Y. Yunxing, U. Khan, and K. Pahlavan, "Performance bounds for RF positioning of endoscopy camera capsules," in Proc. IEEE Top. Conf. Biomed. Wireless Technol., Netw., Sens. Syst., 2011, pp. 71- 74.
66. H. Jinlong, Z.Yongxin, Z. Le, F.Yuzhuo, Z. Feng,Y. Li, and R. Guoguang, "Design and implementation of a high resolution localization system for In-vivo capsule endoscopy," in Proc. 8th IEEE Int. Conf. Dependable, Auton. Secure Comput., 2009, pp. 209-214.
67. Z. Le, Z. Yongxin, M. Tingting, H. Jinlong, and H. Hao, "Design of 3D positioning algorithm based on RFID receiver array for in vivo microrobot," in Proc. 8th IEEE Int. Conf. Dependable, Auton. Secure Comput., 2009, pp. 749-753.
68. L. Zhang,Y. Zhu,T. Mo, J.Hou, andG.Rong, "Design and implementation of 3D positioning algorithms based on RF signal radiation patterns for in vivo micro-robot," in Proc. Int. Conf. Body Sens. Netw., 2010, pp. 255- 260.
69. C. Hekimian-Williams, B. Grant, L. Xiuwen, Z. Zhenghao, and P. Kumar, "Accurate localization of RFID tags using phase difference," in Proc. IEEE Int. Conf. Radio Freq. Identif., 2010, pp. 89-96.
70. A. Wille, M. Broll, and S. Winter, "Phase difference based RFID navigation for medical applications," in Proc. IEEE Int. Conf. Radio Freq. Identif., 2011, pp. 98-105.
71. K. Duda, T. Zielinski, R. Fraczek, J. Bulat, andM. Duplaga, "Localization of endoscopic capsule in theGI tract based onMPEG-7 visual descriptors," in Proc. IEEE Int. Workshop Imaging Syst. Tech., 2007, pp. 1-4.
72. J. Bulat, K. Duda,M.Duplaga, R. Fraczek,A. Skalski,M. Socha, P.Turcza, and T. P. Zielinski, "Data processing tasks in wireless GI endoscopy: Image-based capsule localization, navigation and video compression," in Proc. 29th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2007, pp. 2815- 2818.
73. J. Lee, J. Oh, S.K. Shah, X.Yuan, and S. J. Tang, "Automatic classification of digestive organs in wireless capsule endoscopy videos," presented at the Proc. 2007 ACM Symp. Appl. Comput., Seoul, Korea, 2007.
74. L. Li, H. Chao, C. Wentao, and M. Q. H. Meng, "Capsule endoscope localization based on computer vision technique," in Proc. Annu. Int. Conf. IEEE Eng. Med. Biol. Soci., 2009, pp. 3711-3714.
75. R. Kuth, J. Reinschke, and R. Rockelein, "Method for determining the position and orientation of an endoscopy capsule guided through an examination object by using a navigating magnetic field generated by means of a navigation device," U.S. Patent 20 070 038 063, 2007.
76. J. Boese, N. Rahn, andB. Sandkamp, "Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images," U.S. Patent 7 801 342, 2010.
77. I. Wilding, P. Hirst, and A. Connor, "Development of a new engineeringbased capsule for human drug absorption studies," Pharm. Sci. Technol. Today, vol. 3, pp. 385-392, 2000.
78. I. R. Wilding, A. J. Coupe, and S. S. Davis, "The role of [gamma]- scintigraphy in oral drug delivery," Adv. Drug Del. Rev., vol. 46, pp. 103- 124, 2001.
79. C. L. Dumoulin, S. P. Souza, and R. D. Darrow, "Real-Time position monitoring of invasive devices using magnetic resonance," Magn. Reson. Med., vol. 29, pp. 411-415, 1993. (Pubitemid 23114512)
80. S. Martel, M. Mohammadi, O. Felfoul, Z. Lu, and P. Pouponneau, "Flagellated magnetotactic bacteria as controlled MRI-Trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature," Int. J. Robot. Res., vol. 28, pp. 571-582, Apr. 1, 2009.
81. A. Krieger, R. C. Susil, C. Menard, J.A. Coleman,G. Fichtinger, E. Atalar, and L. L.Whitcomb, "Design of a novel MRI compatible manipulator for image guided prostate interventions," IEEE Trans. Biomed. Eng., vol. 52, no. 2, pp. 306-313, Feb. 2005. (Pubitemid 40188679)
82. A. Krieger, I. I. Iordachita, P. Guion, A. K. Singh, A. Kaushal, C. Menard, P. A. Pinto, K. Camphausen,G. Fichtinger, and L. L.Whitcomb, "An MRIcompatible robotic system with hybrid tracking for MRI-guided prostate intervention," IEEE Trans. Biomed. Eng., vol. 58, no. 11, pp. 3049-3060, Nov. 2011.
83. A. Krieger, G. Metzger, G. Fichtinger, E. Atalar, and L. L. Whitcomb, "A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 3844- 3849. (Pubitemid 44940653)
84. K. Arshak and F. Adepoju, "Capsule tracking in the GI tract: A novel microcontroller based solution," in Proc. IEEE Sens. Appl. Symp., 2006, pp. 186-191. (Pubitemid 44754605)
85. M. Fluckiger and B. J. Nelson, "Ultrasound emitter localization in heterogeneous media," in Proc. 29th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2007, pp. 2867-2870.
86. Z. Nagy, M. Fluckiger, O. Ergeneman, S. Pane, M. Probst, and B. J. Nelson, "A wireless acoustic emitter for passive localization in liquids," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 2593- 2598.
87. B. J. Nelson, I. K. Kaliakatsos, and J. J. Abbott, "Microrobots for minimally invasive medicine," Annu. Rev. Biomed. Eng., vol. 12, pp. 55-85, 2010.
88. P. N. T. Wells, "Current status and future technical advances of ultrasonic imaging," IEEE Eng. Med. Biol.Mag., vol. 19, no. 5, pp. 14-20, Sep./Oct. 2000.
89. P. Swain, "The future of wireless capsule endoscopy," World J. Gastroenterol., vol. 14, pp. 4142-4145, 2008.
90. F. Carpi, "Magnetic capsule endoscopy: The future is around the corner," Expert Rev., Med. Devices, vol. 7, pp. 161-164, 2010.