Fundamental Limits of TOA/DOA and Inertial Measurement Unit-Based Wireless Capsule Endoscopy Hybrid Localization

AbstractLocalizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery. In this paper, we have proposed a new method to localize the capsule inside human GI track. We propose to equip the capsule with four side wall cameras and an Inertial Measurement Unit (IMU), that consists of 9 Degree-Of-Freedom (DOF) including a gyroscope, an accelerometer and a magnetometer to monitor the capsule’s orientation and direction of travel. The low resolution mono-chromatic cameras, installed along the wide wall, are responsible to measure the actual capsule movement, not the involuntary motion of the small intestine. Finally, a fusion algorithm is used to combine all data to derive the traveled path and plot the trajectory. Compared to other methods, the presented system is resistive to surrounding conditions, such as GI nonhomogeneous structure and involuntary small bowel movements. In addition, it does not require external antenna or arrays. Therefore, GI tracking can be achieved without disturbing patients’ daily activities.

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Towards Human Motion Tracking: Multi-Sensory IMU/TOA Fusion Method and Fundamental Limits

Electronics ◽

10.3390/electronics8020142 ◽

2019 ◽

Vol 8 (2) ◽

pp. 142 ◽

Cited By ~ 6

Author(s):

Cheng Xu ◽

Jie He ◽

Xiaotong Zhang ◽

Xinghang Zhou ◽

Shihong Duan

Keyword(s):

Inertial Measurement Unit ◽

Motion Tracking ◽

Human Motion ◽

Measurement Unit ◽

Time Of Arrival ◽

Fusion Method ◽

Tracking Accuracy ◽

Fundamental Limits ◽

Inertial Measurement ◽

Human Motion Tracking

Human motion tracking could be viewed as a multi-target tracking problem towards numerous body joints. Inertial-measurement-unit-based human motion tracking technique stands out and has been widely used in body are network applications. However, it has been facing the tough problem of accumulative errors and drift. In this paper, we propose a multi-sensor hybrid method to solve this problem. Firstly, an inertial-measurement-unit and time-of-arrival fusion-based method is proposed to compensate the drift and accumulative errors caused by inertial sensors. Secondly, Cramér–Rao lower bound is derived in detail with consideration of both spatial and temporal related factors. Simulation results show that the proposed method in this paper has both spatial and temporal advantages, compared with traditional sole inertial or time-of-arrival-based tracking methods. Furthermore, proposed method is verified in 3D practical application scenarios. Compared with state-of-the-art algorithms, proposed fusion method shows better consistency and higher tracking accuracy, especially when moving direction changes. The proposed fusion method and comprehensive fundamental limits analysis conducted in this paper can provide a theoretical basis for further system design and algorithm analysis. Without the requirements of external anchors, the proposed method has good stability and high tracking accuracy, thus it is more suitable for wearable motion tracking applications.

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A Localization Method for Wireless Capsule Endoscopy Using Side Wall Cameras and IMU Sensor

10.21203/rs.3.rs-137277/v1 ◽

2021 ◽

Author(s):

seyed shahim vedaei ◽

khan wahid

Keyword(s):

Inertial Measurement Unit ◽

Side Wall ◽

Measurement Unit ◽

Fusion Algorithm ◽

Inertial Measurement ◽

Bowel Movements ◽

Wireless Capsule ◽

Nonhomogeneous Structure ◽

Medical Delivery ◽

Wide Wall

Abstract Localizing the endoscopy capsule inside gastrointestinal (GI) system provides key information which leads to GI abnormality tracking and precision medical delivery. In this paper, we have proposed a new method to localize the capsule inside human GI track. We propose to equip the capsule with four side wall cameras and an Inertial Measurement Unit (IMU), that consists of 9 Degree-Of-Freedom (DOF) including a gyroscope, an accelerometer and a magnetometer to monitor the capsule’s orientation and direction of travel. The low resolution mono-chromatic cameras, installed along the wide wall, are responsible to measure the actual capsule movement, not the involuntary motion of the small intestine. Finally, a fusion algorithm is used to combine all data to derive the traveled path and plot the trajectory. Compared to other methods, the presented system is resistive to surrounding conditions, such as GI nonhomogeneous structure and involuntary small bowel movements. In addition, it does not require external antenna or arrays. Therefore, GI tracking can be achieved without disturbing patients’ daily activities.

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Wireless Capsule Endoscopy – Uses Beyond GI Bleeding?

Endoscopy ◽

10.1055/s-2006-956918 ◽

2006 ◽

Vol 38 (11) ◽

Author(s):

P McConville ◽

WJ Cash ◽

RGP Watson ◽

JS Collins

Keyword(s):

Capsule Endoscopy ◽

Wireless Capsule Endoscopy ◽

Gi Bleeding ◽

Wireless Capsule

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Indoor Positioning Based on LTE Carrier Phase Measurements and an Inertial Measurement Unit

Proceedings of the 31st International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2018) ◽

10.33012/2018.16073 ◽

2018 ◽

Cited By ~ 5

Author(s):

Ali A. Abdallah ◽

Kimia Shamaei ◽

Zak M. Kassas

Keyword(s):

Carrier Phase ◽

Inertial Measurement Unit ◽

Indoor Positioning ◽

Measurement Unit ◽

Phase Measurements ◽

Inertial Measurement

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The Role of Wireless Capsule Endoscopy (WCE) in the Detection of Occult Primary Neuroendocrine Tumors

Journal of Gastrointestinal and Liver Diseases ◽

10.15403/jgld.2014.1121.262.wce ◽

2017 ◽

Vol 26 (2) ◽

pp. 151-156

Author(s):

Manuele Furnari ◽

Andrea Buda ◽

Gabriele Delconte ◽

Davide Citterio ◽

Theodor Voiosu ◽

...

Keyword(s):

Neuroendocrine Tumor ◽

Neuroendocrine Tumors ◽

Capsule Endoscopy ◽

Primary Tumor ◽

Diagnostic Yield ◽

Somatostatin Receptor ◽

Tertiary Care ◽

Wireless Capsule Endoscopy ◽

First Line ◽

Wireless Capsule

Background & Aims: Neuroendocrine tumors (NETs) are a heterogeneous group of neoplasms with unclear etiology that may show functioning or non-functioning features. Primary tumor localization often requires integrated imaging. The European Neuroendocrine Tumors Society (ENETS) guidelines proposed wireless-capsule endoscopy (WCE) as a possible diagnostic tool for NETs, if intestinal origin is suspected. However, its impact on therapeutic management is debated. We aimed to evaluate the yield of WCE in detecting intestinal primary tumor in patients showing liver NET metastases when first-line investigations are inconclusive.Method: Twenty-four patients with histological diagnosis of metastatic NET from liver biopsy and no evidence of primary lesions at first-line investigations were prospectively studied in an ENETS-certified tertiary care center. Wireless-capsule endoscopy was requested before explorative laparotomy and intra-operative ultrasound. The diagnostic yield of WCE was compared to the surgical exploration.Results: Sixteen subjects underwent surgery; 11/16 had positive WCE identifying 16 bulging lesions. Mini-laparotomy found 13 NETs in 11/16 patients (9 small bowel, 3 pancreas, 1 bile ducts). Agreement between WCE and laparotomy was recorded in 9 patients (Sensitivity=75%; Specificity=37.5%; PPV=55%; NPV=60%). Correspondence assessed per-lesions produced similar results (Sensitivity=70%; Specificity=25%; PPV=44%; NPV=50%). No capsule retentions were recorded.Conclusions: Wireless-capsule endoscopy is not indicated as second-line investigation for patients with gastro-entero-pancreatic NETs. In the setting of a referral center, it might provide additional information when conventional investigations are inconclusive about the primary site.Abbreviations: DBE: double balloon enteroscopy; GEP-NET: gastro-entero-pancreatic neuroendocrine tumor; GI: gastrointestinal; ENETS: European Neuroendocrine Tumor Society; NET: neuroendocrine tumor; SSRS: somatostatin receptor scintigraphy; WCE: wireless capsule endoscopy.

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