胶囊内窥镜全六维位姿定位与胃肠道三维重建及辅助检查技术研究

项目名称： 胶囊内窥镜全六维位姿定位与胃肠道三维重建及辅助检查技术研究

项目编号： No.61273332

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 胡超

作者单位： 浙江大学宁波理工学院

项目金额： 79万元

中文摘要： 无线胶囊内镜克服了传统缆线内镜的两大问题：难以实现完整小肠检查和给病人带来的痛苦；是该领域的一个重大突破。但其推广应用还要解决胶囊的精确定位和运动主动控制，和更完善的辅助诊断技术。本项目研究基于径向磁化圆磁套(置于胶囊外环)定位和磁套/图像综合定位两种全6维胶囊位姿定位新技术，完成快速可靠的定位算法并实验测试；能同时跟踪体内胶囊和体外参考目标的位姿参数，进行差分减除人体运动对定位的干扰。从而实施胃肠道三维重建和有效的人机界面，向医生准确反馈与内镜图像相对应的胶囊3D位置、3D姿态和运动参数；为实现进一步胶囊姿态和运动主动控制提供反馈参数信息。在此基础上，研究准确的病理组织尺寸及位置深度计算，为诊断提供可靠依据。通过本项目的研究，形成应用于胶囊内镜实际系统的高精度高实时性定位算法，改进现有胶囊内镜，为其推广新的飞跃做出贡献；同时产生多项具有自主知识产权的新成果，在国内外相关领域形成学术影响。

中文关键词： 胶囊内窥镜；3维位置3维姿态；定位跟踪；3D重建；胃肠道检查

英文摘要： Wireless capsule endoscope (WCE) overcomes 2 main problems in traditional cabled endoscopy; it realizes the examination of the whole gastrointestinal (GI) tract, especially the small intestine, and brings about not so much pain during the test. It is a great breakthrough in endoscopy. However, there are some difficulties to be overcome to popularize WCE, and the accurate localization and the active motion actuation, as well as the better assistant diagnosis techniques, are among the key problems to be solved. In this project, we will study whole 6 dimensional position/orientation localization methods based on the radially magnetized tube (fixed on the outer side of the WCE) and axially magnetized tube/image integrated localization methods, to realize fast and reliable algorithm and real application tests. Also the system can simultaneously track the capsule inside the human body and the reference objectives outside the human body, and do the difference calculation to remove the interference of body motion on the localization; so as to build a foundation to design the 3D recovery graphs of the GI tract and the human mashing interface. These techniques will provide the physician with the accurate information of the WCE related position, orientation and motion parameters, which can further be used for the feedback

英文关键词： Capsule Endoscope；3D Position and 3D Orientation；Localization and Tracking；3D Recovery；GI Tract Examination