Precise angle estimation of capsule robot in ultrasound using heatmap guided two-stage network.

Journal: Computer methods and programs in biomedicine
Published Date: May 18, 2023

Abstract

PURPOSE: A capsule robot can be controlled inside gastrointestinal (GI) tract by an external permanent magnet outside of human body for finishing non-invasive diagnosis and treatment. Locomotion control of capsule robot relies on the precise angle feedback that can be achieved by ultrasound imaging. However, ultrasound-based angle estimation of capsule robot is interfered by gastric wall tissue and the mixture of air, water, and digestive matter existing in the stomach.

Authors

  • Fang Chen
  • Lingyu Chen
    Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Tianze Xu
    Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
  • Haoran Ye
    College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, MIIT Key Laboratory of Pattern Analysis and Machine Intelligence, China.
  • Hongen Liao
  • Daoqiang Zhang
    College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China.

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