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Li M, Wang B, Yang J, Cao J, You C, Sun Y, Wang J, Wu D. Multistage adaptive control strategy based on image contour data for autonomous endoscope navigation. Comput Biol Med 2022; 149:105946. [PMID: 36030721 DOI: 10.1016/j.compbiomed.2022.105946] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2022] [Revised: 07/23/2022] [Accepted: 08/06/2022] [Indexed: 11/26/2022]
Abstract
The physician burnout, poor ergonomics are hardly conducive to the sustainability and high quality of colonoscopy. In order to reduce doctors' workload and improve patients' experiences during colonoscopy, this paper proposes a multistage adaptive control approach based on image contour data to guide the autonomous navigation of endoscopes. First, a fast image preprocessing and contour extraction algorithms are designed. Second, different processing algorithms are developed according to the different contour information that can be clearly extracted to compute the endoscope control parameters. Third, when a clear contour cannot be extracted, a triple control method inspired by the turning of a novice car driver is devised to help the endoscope capture clear contours. The proposed multistage adaptive control approach is tested in an intestinal model over a variety of curved configurations and verified on the actual colonoscopy image. The results reveal the success of the strategy in both straight sections of this intestinal model and in tightly curved sections as small as 6 cm in radius of curvature. In the experiment, processing time for a single image is 20-25 ms and the accuracy of judging steering based on intestinal model pictures is 96.7%. Additionally, the average velocity reaches 3.04 cm/s in straight sections and 2.49 cm/s in curved sections respectively.
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Affiliation(s)
- Mingqiang Li
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
| | - Boquan Wang
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
| | - Jianlin Yang
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
| | - Jia Cao
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
| | - Chenzhi You
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
| | - Yizhe Sun
- Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA
| | - Jing Wang
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China.
| | - Dawei Wu
- State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China.
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