Estimating endoscopic orientation in static and dynamic states with inertial sensors

Hung V. Dao, Takashi Komeda

Research output: Contribution to journalArticle

Abstract

This paper presents a new method for estimating the tilt angles of endoscopic images. Disorientation is one of the major challenges during natural orifice translumenal endoscopic surgery (NOTES). Reorientation allows surgeons or gastroenterologists to work in off-axis conditions and provides an important reference for coupling a secondary image. Some published studies of angle estimation for NOTES still have the limitation under the influence of movement or vibration. This study proposes a new sensor-fusion method for reducing the shock-based error. A triaxial accelerometer measures the gravitational vector (g-components) in all static states. When motion appears, the angular velocity from a triaxial gyroscope is used to calculate the elemental changes in g-components. A so-called predict-and-choose process relies on this data to predict the future state by giving many prediction values. The relationship between these values, the newest accelerometer readings, and their variation determine the final choice. Hence, under all conditions, the gravitational components are iteratively estimated to calculate the tilt angles. The result is evaluated by being applied in a well-known application, endoscopic horizon stabilization. Compared with the reference method, the proposed method has notable advantages. The simulation and experimental results show small errors, smooth angle change, and a small delay time. The tilt angles are reliable without any cumulative error under the prolonged motion. Therefore, this study gives surgeons or gastroenterologists an improved rectified image for reorienting under off-axis conditions. Further research will identify more applications for the development of surgical instruments for NOTES.

Original languageEnglish
Article number041003
JournalJournal of Medical Devices, Transactions of the ASME
Volume10
Issue number4
DOIs
Publication statusPublished - 2016 Dec 1

Fingerprint

Orifices
Surgery
Accelerometers
Sensors
Gyroscopes
Angular velocity
Time delay
Fusion reactions
Stabilization

ASJC Scopus subject areas

  • Biomedical Engineering
  • Medicine (miscellaneous)

Cite this

Estimating endoscopic orientation in static and dynamic states with inertial sensors. / Dao, Hung V.; Komeda, Takashi.

In: Journal of Medical Devices, Transactions of the ASME, Vol. 10, No. 4, 041003, 01.12.2016.

Research output: Contribution to journalArticle

@article{90495fc221da4770a19e5f7d44e07341,
title = "Estimating endoscopic orientation in static and dynamic states with inertial sensors",
abstract = "This paper presents a new method for estimating the tilt angles of endoscopic images. Disorientation is one of the major challenges during natural orifice translumenal endoscopic surgery (NOTES). Reorientation allows surgeons or gastroenterologists to work in off-axis conditions and provides an important reference for coupling a secondary image. Some published studies of angle estimation for NOTES still have the limitation under the influence of movement or vibration. This study proposes a new sensor-fusion method for reducing the shock-based error. A triaxial accelerometer measures the gravitational vector (g-components) in all static states. When motion appears, the angular velocity from a triaxial gyroscope is used to calculate the elemental changes in g-components. A so-called predict-and-choose process relies on this data to predict the future state by giving many prediction values. The relationship between these values, the newest accelerometer readings, and their variation determine the final choice. Hence, under all conditions, the gravitational components are iteratively estimated to calculate the tilt angles. The result is evaluated by being applied in a well-known application, endoscopic horizon stabilization. Compared with the reference method, the proposed method has notable advantages. The simulation and experimental results show small errors, smooth angle change, and a small delay time. The tilt angles are reliable without any cumulative error under the prolonged motion. Therefore, this study gives surgeons or gastroenterologists an improved rectified image for reorienting under off-axis conditions. Further research will identify more applications for the development of surgical instruments for NOTES.",
author = "Dao, {Hung V.} and Takashi Komeda",
year = "2016",
month = "12",
day = "1",
doi = "10.1115/1.4033332",
language = "English",
volume = "10",
journal = "Journal of Medical Devices, Transactions of the ASME",
issn = "1932-6181",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "4",

}

TY - JOUR

T1 - Estimating endoscopic orientation in static and dynamic states with inertial sensors

AU - Dao, Hung V.

AU - Komeda, Takashi

PY - 2016/12/1

Y1 - 2016/12/1

N2 - This paper presents a new method for estimating the tilt angles of endoscopic images. Disorientation is one of the major challenges during natural orifice translumenal endoscopic surgery (NOTES). Reorientation allows surgeons or gastroenterologists to work in off-axis conditions and provides an important reference for coupling a secondary image. Some published studies of angle estimation for NOTES still have the limitation under the influence of movement or vibration. This study proposes a new sensor-fusion method for reducing the shock-based error. A triaxial accelerometer measures the gravitational vector (g-components) in all static states. When motion appears, the angular velocity from a triaxial gyroscope is used to calculate the elemental changes in g-components. A so-called predict-and-choose process relies on this data to predict the future state by giving many prediction values. The relationship between these values, the newest accelerometer readings, and their variation determine the final choice. Hence, under all conditions, the gravitational components are iteratively estimated to calculate the tilt angles. The result is evaluated by being applied in a well-known application, endoscopic horizon stabilization. Compared with the reference method, the proposed method has notable advantages. The simulation and experimental results show small errors, smooth angle change, and a small delay time. The tilt angles are reliable without any cumulative error under the prolonged motion. Therefore, this study gives surgeons or gastroenterologists an improved rectified image for reorienting under off-axis conditions. Further research will identify more applications for the development of surgical instruments for NOTES.

AB - This paper presents a new method for estimating the tilt angles of endoscopic images. Disorientation is one of the major challenges during natural orifice translumenal endoscopic surgery (NOTES). Reorientation allows surgeons or gastroenterologists to work in off-axis conditions and provides an important reference for coupling a secondary image. Some published studies of angle estimation for NOTES still have the limitation under the influence of movement or vibration. This study proposes a new sensor-fusion method for reducing the shock-based error. A triaxial accelerometer measures the gravitational vector (g-components) in all static states. When motion appears, the angular velocity from a triaxial gyroscope is used to calculate the elemental changes in g-components. A so-called predict-and-choose process relies on this data to predict the future state by giving many prediction values. The relationship between these values, the newest accelerometer readings, and their variation determine the final choice. Hence, under all conditions, the gravitational components are iteratively estimated to calculate the tilt angles. The result is evaluated by being applied in a well-known application, endoscopic horizon stabilization. Compared with the reference method, the proposed method has notable advantages. The simulation and experimental results show small errors, smooth angle change, and a small delay time. The tilt angles are reliable without any cumulative error under the prolonged motion. Therefore, this study gives surgeons or gastroenterologists an improved rectified image for reorienting under off-axis conditions. Further research will identify more applications for the development of surgical instruments for NOTES.

UR - http://www.scopus.com/inward/record.url?scp=84982300689&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84982300689&partnerID=8YFLogxK

U2 - 10.1115/1.4033332

DO - 10.1115/1.4033332

M3 - Article

AN - SCOPUS:84982300689

VL - 10

JO - Journal of Medical Devices, Transactions of the ASME

JF - Journal of Medical Devices, Transactions of the ASME

SN - 1932-6181

IS - 4

M1 - 041003

ER -