Simulation Study of Autonomous Drive for Active Capsule Endoscopy

Abstract

Recently, external electromagnetic actuation(EMA) system was introduced to control the locomotion of the capsule endoscopy(CE) using magnetic force. EMA system provides the manual user interface to control the system, but inspectors suffered from fatigues due to the long examination time. We proposed an autonomous driving algorithm for the capsule endoscope. The algorithm searched the target point based on the image processing where the capsule should orient, and the steering was automatically manipulated until the capsule oriented the target point. Then, the propulsion was made until the capsule deviated from the target point. In order to verify the feasibility of the algorithm, simulated endoscopic images were acquired from the commercially available endoscopic capsule by using intestine phantom and a linear and rotation motion stage. The driving simulator was tested on the arc-shaped paths having the various curvatures under the various propulsion forces. In the most conditions, the proposed algorithm succeeded in driving autonomously in the given paths. In some conditions, having a large curvature and a large propulsion, the target point was missed, but scanning algorithm for the missed target point may overcome this problem. In conclusion, the proposed algorithm could be utilized in the active capsule endoscope system and provide the autonomous driving mode in the capsule endoscopy without additional sensors or devices.