Araştırma Makalesi
Yıl 2025,
Cilt: 13 Sayı: 2, 546 - 567, 01.06.2025
Öz
In robotic capsule endoscopy, highly accurate localization of the capsule device inside the human body is a critical problem for disease diagnosis and treatment. Quantitative analysis of lower bounds, such as the Cramer-Rao Lower Bound, is practically important for localization systems, as they inform system designers of the best achievable performance under a given set of conditions. This paper presents a comprehensive, systematic analysis of the Cramer-Rao Lower Bound for the scenario of magnetic localization of a robotic wireless capsule endoscope inside the human body. The specific contributions of the study are threefold. First, we undertake a systematic analysis of the bound in the presence of a realistic 3D body model. Second, we present a detailed analysis of the effects of capsule motion as well as other system parameters (such as magnet type and magnet dimensions) inside the body on the bound values. Finally, we interpret the findings to come up with recommendations on system parameters to guarantee optimal performance.
Anahtar Kelimeler
Cramer-Rao Lower Bound Magnetic Localization Robotic Capsule Endoscopy
Etik Beyan
The authors declare that the study complies with all applicable laws and regulations and meets ethical standards.
Kaynakça
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- G. J. Iddan and C. P. Swain, "History and development of capsule endoscopy," Gastrointestinal Endoscopy Clinics, vol. 14, no. 1, pp. 1-9, 2004.
- M. Kanaan and H. Farhadi, "Advances in wireless video capsule endoscopy," International Journal of Wireless Information Networks, vol. 24, pp. 166-167, 2017.
- B. S. Lewis and P. Swain, "Capsule endoscopy in the evaluation of patients with suspected small intestinal bleeding: results of a pilot study," Gastrointestinal endoscopy, vol. 56, no. 3, pp. 349-353, 2002.
- O. H. Maghsoudi, M. Alizadeh, and M. Mirmomen, "A computer aided method to detect bleeding, tumor, and disease regions in Wireless Capsule Endoscopy," in 2016 IEEE Signal Processing in Medicine and Biology Symposium (SPMB), 2016: IEEE, pp. 1-6.
- X. Wang, Study on magnetic localization and actuation of active capsule endoscope (no. 03). 2006.
- T. D. Than, G. Alici, H. Zhou, and W. Li, "A review of localization systems for robotic endoscopic capsules," IEEE transactions on biomedical engineering, vol. 59, no. 9, pp. 2387-2399, 2012.
- A. Moglia, A. Menciassi, M. O. Schurr, and P. Dario, "Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems," Biomedical microdevices, vol. 9, no. 2, pp. 235-243, 2007.
- G. Ciuti, A. Menciassi, and P. Dario, "Capsule endoscopy: from current achievements to open challenges," IEEE reviews in biomedical engineering, vol. 4, pp. 59-72, 2011.
- D. Fischer, R. Schreiber, D. Levi, and R. Eliakim, "Capsule endoscopy: the localization system," Gastrointestinal Endoscopy Clinics, vol. 14, no. 1, pp. 25-31, 2004.
- C. Hu, M. Q.-H. Meng, and M. Mandal, "Efficient magnetic localization and orientation technique for capsule endoscopy," International Journal of Information Acquisition, vol. 2, no. 01, pp. 23-36, 2005.
- C. Xiao, Z. Liang, and J. Yang, "Radiation characteristic analysis of antenna deeply implanted in human body and localization sensor array," IEEE Transactions on Instrumentation and Measurement, vol. 71, pp. 1-12, 2022.
- K. Diamantis, T. Anderson, J. A. Jensen, P. A. Dalgarno, and V. Sboros, "Development of super-resolution sharpness-based axial localization for Ultrasound Imaging," IEEE Access, vol. 7, pp. 6297-6309, 2018.
- J. Boese, N. Rahn, and B. Sandkamp, "Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images," ed: Google Patents, 2010.
- P. Muruganantham and S. M. Balakrishnan, "Attention aware deep learning model for wireless capsule endoscopy lesion classification and localization," Journal of Medical and Biological Engineering, vol. 42, no. 2, pp. 157-168, 2022.
- M. Suveren, R. Akay, M. Y. Yildirim, and M. Kanaan, "Application of hybrid metaheuristic with Levenberg-Marquardt algorithm for 6-dimensional magnetic localization," Evolving Systems, vol. 13, no. 6, pp. 849-867, 2022.
- I. Castro, J. W. de Wit, J. van Vooren, T. Van Quaethem, W. Huang, and T. Torfs, "Magnetic localization of wireless ingestible capsules using a belt-shaped array transmitter," Electronics, vol. 12, no. 10, p. 2217, 2023.
- A. C. Moldovan, M. V. Turcanu, S. Mitra, and S. Cochran, "Ultrasound technology for capsule endoscopy," in Endorobotics: Elsevier, 2022, pp. 215-240.
- N. Pagoulatos, W. S. Edwards, D. R. Haynor, and Y. Kim, "Interactive 3D registration of ultrasound and magnetic resonance images based on a magnetic position sensor," IEEE Transactions on Information Technology in Biomedicine, vol. 3, no. 4, pp. 278-288, 1999.
- T. D. Than et al., "An effective localization method for robotic endoscopic capsules using multiple positron emission markers," IEEE Transactions on Robotics, vol. 30, no. 5, pp. 1174-1186, 2014.
- F. Bianchi et al., "Localization strategies for robotic endoscopic capsules: a review," Expert review of medical devices, vol. 16, no. 5, pp. 381-403, 2019.
- B. Moussakhani, T. Ramstad, J. T. Flåm, and I. Balasingham, "On localizing a capsule endoscope using magnetic sensors," in 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012: IEEE, pp. 4058-4062.
- M. N. Sadiku et al., Fundamentals of engineering electromagnetics. CRC press, 2018. [24] F. T. Ulaby and U. Ravaioli, Fundamentals of applied electromagnetics. Pearson Upper Saddle River, NJ, 2015.
- H. L. Van Trees, Detection, estimation, and modulation theory, part I: detection, estimation, and linear modulation theory. John Wiley & Sons, 2004.
- A. Eshkevari and S. M. S. Sadough, "On the Cramer-Rao Lower Bound Based Analysis of Direct Position Determination and DOA Position Finding for Co-Channel Emitter Localization," Journal of Applied Research in Electrical Engineering, vol. 1, no. 2, pp. 131-138, 2022.
- D. Dmitrieva, D. Anzai, J. Kirchner, G. Fischer, and J. Wang, "Cost-Efficient Real-Time Adaptive Location Tracking With Interacting Multiple Transition Model for Implantable Medical Device," IEEE Journal of Electromagnetics, RF and Microwaves in Medicine and Biology, vol. 7, no. 2, pp. 102-109, 2022.
- A. Eshkevari and S. M. S. Sadough, "An improved method for localization of wireless capsule endoscope using direct position determination," IEEE Access, vol. 9, pp. 154563-154577, 2021.
- M. Kanaan and M. Cil, "Cramer-Rao Lower Bounds for Magnetic Localization of a Wireless Capsule Endoscope based on the Magnetic Dipole Model," in 2019 IEEE 30th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC Workshops), 2019: IEEE, pp. 1-5.
- A. Dammann, B. Siebler, and S. Sand, "Cramér–Rao Lower Bound for Magnetic Field Localization around Elementary Structures," Sensors, vol. 24, no. 8, p. 2402, 2024.
- T. Costa, G. Boccignone, and M. Ferraro, "Gaussian mixture model of heart rate variability," PloS one, vol. 7, no. 5, p. e37731, 2012.
- T.-T. Lu and S.-H. Shiou, "Inverses of 2× 2 block matrices," Computers & Mathematics with Applications, vol. 43, no. 1-2, pp. 119-129, 2002.
- N. Hosoe, K. Takabayashi, H. Ogata, and T. Kanai, "Capsule endoscopy for small‐intestinal disorders: current status," Digestive Endoscopy, vol. 31, no. 5, pp. 498-507, 2019.
- S. Tumanski, Handbook of magnetic measurements. CRC press, 2016.
- M. Chi, S. Chang, Z. Guo, Q. Zhao, G. Zhang, and F. Meng, "Research on localization control of magneto-controlled capsule endoscopy based on sensor array," Robotic Intelligence and Automation, 2025.
- S. M. Kay, "Fundamentals of Statistical Signal Processing: Estimation Theory," ed: Prentice Hall, 1993.
- A. Verbyla, "A NOTE ON THE INVERSE COVARIANCE MATRIX OF THE AUTOREGRESSIVE PROCESS 1," Australian Journal of Statistics, vol. 27, no. 2, pp. 221-224, 1985.
Yıl 2025,
Cilt: 13 Sayı: 2, 546 - 567, 01.06.2025
Öz
Kaynakça
- G. Iddan, G. Meron, and A. Glukhovsky, "Wireless capsule endoscopy. Nature," vol, vol. 405, p. 25, 2000.
- G. J. Iddan and C. P. Swain, "History and development of capsule endoscopy," Gastrointestinal Endoscopy Clinics, vol. 14, no. 1, pp. 1-9, 2004.
- M. Kanaan and H. Farhadi, "Advances in wireless video capsule endoscopy," International Journal of Wireless Information Networks, vol. 24, pp. 166-167, 2017.
- B. S. Lewis and P. Swain, "Capsule endoscopy in the evaluation of patients with suspected small intestinal bleeding: results of a pilot study," Gastrointestinal endoscopy, vol. 56, no. 3, pp. 349-353, 2002.
- O. H. Maghsoudi, M. Alizadeh, and M. Mirmomen, "A computer aided method to detect bleeding, tumor, and disease regions in Wireless Capsule Endoscopy," in 2016 IEEE Signal Processing in Medicine and Biology Symposium (SPMB), 2016: IEEE, pp. 1-6.
- X. Wang, Study on magnetic localization and actuation of active capsule endoscope (no. 03). 2006.
- T. D. Than, G. Alici, H. Zhou, and W. Li, "A review of localization systems for robotic endoscopic capsules," IEEE transactions on biomedical engineering, vol. 59, no. 9, pp. 2387-2399, 2012.
- A. Moglia, A. Menciassi, M. O. Schurr, and P. Dario, "Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems," Biomedical microdevices, vol. 9, no. 2, pp. 235-243, 2007.
- G. Ciuti, A. Menciassi, and P. Dario, "Capsule endoscopy: from current achievements to open challenges," IEEE reviews in biomedical engineering, vol. 4, pp. 59-72, 2011.
- D. Fischer, R. Schreiber, D. Levi, and R. Eliakim, "Capsule endoscopy: the localization system," Gastrointestinal Endoscopy Clinics, vol. 14, no. 1, pp. 25-31, 2004.
- C. Hu, M. Q.-H. Meng, and M. Mandal, "Efficient magnetic localization and orientation technique for capsule endoscopy," International Journal of Information Acquisition, vol. 2, no. 01, pp. 23-36, 2005.
- C. Xiao, Z. Liang, and J. Yang, "Radiation characteristic analysis of antenna deeply implanted in human body and localization sensor array," IEEE Transactions on Instrumentation and Measurement, vol. 71, pp. 1-12, 2022.
- K. Diamantis, T. Anderson, J. A. Jensen, P. A. Dalgarno, and V. Sboros, "Development of super-resolution sharpness-based axial localization for Ultrasound Imaging," IEEE Access, vol. 7, pp. 6297-6309, 2018.
- J. Boese, N. Rahn, and B. Sandkamp, "Method for determining the position and orientation of an object, especially of a catheter, from two-dimensional X-ray images," ed: Google Patents, 2010.
- P. Muruganantham and S. M. Balakrishnan, "Attention aware deep learning model for wireless capsule endoscopy lesion classification and localization," Journal of Medical and Biological Engineering, vol. 42, no. 2, pp. 157-168, 2022.
- M. Suveren, R. Akay, M. Y. Yildirim, and M. Kanaan, "Application of hybrid metaheuristic with Levenberg-Marquardt algorithm for 6-dimensional magnetic localization," Evolving Systems, vol. 13, no. 6, pp. 849-867, 2022.
- I. Castro, J. W. de Wit, J. van Vooren, T. Van Quaethem, W. Huang, and T. Torfs, "Magnetic localization of wireless ingestible capsules using a belt-shaped array transmitter," Electronics, vol. 12, no. 10, p. 2217, 2023.
- A. C. Moldovan, M. V. Turcanu, S. Mitra, and S. Cochran, "Ultrasound technology for capsule endoscopy," in Endorobotics: Elsevier, 2022, pp. 215-240.
- N. Pagoulatos, W. S. Edwards, D. R. Haynor, and Y. Kim, "Interactive 3D registration of ultrasound and magnetic resonance images based on a magnetic position sensor," IEEE Transactions on Information Technology in Biomedicine, vol. 3, no. 4, pp. 278-288, 1999.
- T. D. Than et al., "An effective localization method for robotic endoscopic capsules using multiple positron emission markers," IEEE Transactions on Robotics, vol. 30, no. 5, pp. 1174-1186, 2014.
- F. Bianchi et al., "Localization strategies for robotic endoscopic capsules: a review," Expert review of medical devices, vol. 16, no. 5, pp. 381-403, 2019.
- B. Moussakhani, T. Ramstad, J. T. Flåm, and I. Balasingham, "On localizing a capsule endoscope using magnetic sensors," in 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012: IEEE, pp. 4058-4062.
- M. N. Sadiku et al., Fundamentals of engineering electromagnetics. CRC press, 2018. [24] F. T. Ulaby and U. Ravaioli, Fundamentals of applied electromagnetics. Pearson Upper Saddle River, NJ, 2015.
- H. L. Van Trees, Detection, estimation, and modulation theory, part I: detection, estimation, and linear modulation theory. John Wiley & Sons, 2004.
- A. Eshkevari and S. M. S. Sadough, "On the Cramer-Rao Lower Bound Based Analysis of Direct Position Determination and DOA Position Finding for Co-Channel Emitter Localization," Journal of Applied Research in Electrical Engineering, vol. 1, no. 2, pp. 131-138, 2022.
- D. Dmitrieva, D. Anzai, J. Kirchner, G. Fischer, and J. Wang, "Cost-Efficient Real-Time Adaptive Location Tracking With Interacting Multiple Transition Model for Implantable Medical Device," IEEE Journal of Electromagnetics, RF and Microwaves in Medicine and Biology, vol. 7, no. 2, pp. 102-109, 2022.
- A. Eshkevari and S. M. S. Sadough, "An improved method for localization of wireless capsule endoscope using direct position determination," IEEE Access, vol. 9, pp. 154563-154577, 2021.
- M. Kanaan and M. Cil, "Cramer-Rao Lower Bounds for Magnetic Localization of a Wireless Capsule Endoscope based on the Magnetic Dipole Model," in 2019 IEEE 30th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC Workshops), 2019: IEEE, pp. 1-5.
- A. Dammann, B. Siebler, and S. Sand, "Cramér–Rao Lower Bound for Magnetic Field Localization around Elementary Structures," Sensors, vol. 24, no. 8, p. 2402, 2024.
- T. Costa, G. Boccignone, and M. Ferraro, "Gaussian mixture model of heart rate variability," PloS one, vol. 7, no. 5, p. e37731, 2012.
- T.-T. Lu and S.-H. Shiou, "Inverses of 2× 2 block matrices," Computers & Mathematics with Applications, vol. 43, no. 1-2, pp. 119-129, 2002.
- N. Hosoe, K. Takabayashi, H. Ogata, and T. Kanai, "Capsule endoscopy for small‐intestinal disorders: current status," Digestive Endoscopy, vol. 31, no. 5, pp. 498-507, 2019.
- S. Tumanski, Handbook of magnetic measurements. CRC press, 2016.
- M. Chi, S. Chang, Z. Guo, Q. Zhao, G. Zhang, and F. Meng, "Research on localization control of magneto-controlled capsule endoscopy based on sensor array," Robotic Intelligence and Automation, 2025.
- S. M. Kay, "Fundamentals of Statistical Signal Processing: Estimation Theory," ed: Prentice Hall, 1993.
- A. Verbyla, "A NOTE ON THE INVERSE COVARIANCE MATRIX OF THE AUTOREGRESSIVE PROCESS 1," Australian Journal of Statistics, vol. 27, no. 2, pp. 221-224, 1985.
Toplam 36 adet kaynakça vardır.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Biyomekatronik |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 1 Haziran 2025 |
| Gönderilme Tarihi | 18 Kasım 2024 |
| Kabul Tarihi | 5 Mayıs 2025 |
| Yayımlandığı Sayı | Yıl 2025 Cilt: 13 Sayı: 2 |
