Publication Date

2016

Document Type

Thesis

Committee Members

Yong Pei, Ph.D. (Advisor); Mateen Rizki, Ph.D. (Committee Member); Paul Bender, Ph.D. (Committee Member)

Degree Name

Master of Science (MS)

Abstract

One of the critical challenges of wireless capsule endoscopy examination is to find the exact position of the capsule in the Gastrointestinal Tract (GI) tract so as to correctly and accurately spot the position of the intestinal diseases. Creating a 3D virtual GI tract system could significantly improve the capsule endoscopy operations. The virtual human model, such as the BioDigital Human, has been credited as Google Earth for the human body, which provides us medically accurate virtual body and organ structures. However, it only assembles a “Standard” human body. The problem is: there is only one earth, but billions of people. Every patient has varying GI tract with regards to its length, width and structures depending on his or her body structure, the kind of the food intake, etc. Clearly, a virtual GI tract system based on the standard patient anatomy, such as the Digital Human project, is used for reference in anatomy studies, but not sufficient to provide the locating and navigation for each individual patient’s disease diagnosis and treatment in GI medicine. As a result, the proposed idea is a 3D customizable GI tract model development and a prototype system to illustrate the automatic generation of an individual-specific virtual GI tract system based on sensory data that could be collected from the capsule. The resulted highly customized 3D map for GI tract for each patient can then be used for navigating with high-precision and for drug delivery capsules or surgical micro-robot within the GI tract. Specifically, the main interest of this thesis research is in developing accurate 3D map of Human GI system that can be automatically customized for each individual patient, such that it can support high-precision navigation for endoscopy and drug delivery capsules used in GI medicine. Such individually customized virtual Human GI Tract can support the physician with more intuitive views of the endoscopy-obtained images and easily obtaining the location of interest, as each image has already been accurately mapped to its corresponding location and orientation in the GI tract. These new technologies will significantly improve the accuracy, efficiency and workflow performance in diagnostic and treatment of gastrointestinal diseases. In particular, this thesis research has : (i) designed and developed an individually-customizable 3D virtual Human Gastrointestinal Tract system - a 3D map, that can be accurately and individually customized for each patient; (ii) demonstrated the process to automatically fusing the visual-inertial odometry sensory measurements with the human anatomy to build a 3D Locating and Mapping–based navigation system for endoscopy and drug delivery capsules used in GI medicine; and, (iii) built a prototype for the individually-customizable virtual colon to demonstrate the proposed approach. In summary, a new technique for the inertial odometer and human anatomy based 3D locating and mapping technology for endoscopy and drug delivery capsule is presented. Prototypes to illustrate the approach and to carry out experimental studies to assess its performance and complexity have been developed. Research believes these new technologies can significantly improve the current practice in Human Gastrointestinal Tract endoscopy operation, data analysis, disease diagnostics and treatments.

Page Count

72

Department or Program

Department of Computer Science and Engineering

Year Degree Awarded

2016

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