NDLI: Controlling the Trajectory of a Flexible Ultrathin Endoscope for Fully Automated Bladder Surveillance

Content Provider	IEEE Xplore Digital Library
Author	Burkhardt, M.R. Soper, T.D. Woon Jong Yoon Seibel, E.J.
Copyright Year	1996
Abstract	During cystoscopy, the urologist manually steers a cyst scope inside a patient's bladder to visually inspect the inner surface. Cystoscopies are performed as part of surveillance for bladder cancer, making it the most expensive cancer to treat over a patient's lifetime. An automated bladder scanning system has been devised to reduce workload and cost by relieving the urologist from performing surveillance. Presented here is a proof-of-concept apparatus that controls the motion of a miniature flexible endoscope. Image-based feedback is used to adjust the endoscope's movement so that captured images overlap with one another, ensuring that the entire inner surface of the bladder is imaged. Within a bladder phantom, the apparatus adaptively created and followed a spherical scan pattern comprised of 13 individual latitudes and 508 captured images, while accepting between 60% and 90% image overlap between adjacent images. The elapsed time and number of captured images were sensitive to the apparatus's placement within the phantom and the acceptable image overlap percentage range. A mosaic of captured images was generated to validate comprehensive surveillance. Overall, a robotically controlled endoscope used in conjunction with image-based feedback may permit fully automated and comprehensive bladder surveillance to be conducted without direct clinician oversight.
Starting Page	366
Ending Page	373
Page Count	8
File Size	707347
File Format	PDF
ISSN	10834435
Volume Number	19
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Endoscopes Bladder Surveillance Trajectory Robots Servomotors Image edge detection robotic Adaptive control bladder endoscope
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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