Image - Based Capsule Endoscopic Localization And Lesion Depth Calculation

Wireless capsule endoscopy is a major breakthrough in endoscopic surgery,which overcomes the traditional cable endoscope’s two drawbacks: difficult to achieve a complete examination of the small intestine and causing so much pain to the patient. But there are still some difficulties facing to spread. The key difficult is the doctor how to accurately observe and operate the capsule endoscope. Which includes determining the position of lesion tissue,accurately determining the lesion tissue, image quality and too many images causing wasting time and so on. All of these problems are related to the capsule endoscope positioning and three-dimensional information of image. So far there are not useful methods to solve this problem.This article attempts to solve the problem how to get the three-dimension information of tumor tissue by combining the images of capsule endoscope with magnetic location. Solve the six-dimensional position and orientation of the capsule by the image processing technology and magnetic positioning technology based on capsule picture sequences. This article also proposes a new method to correct the capsule endoscope distortion images, which overcomes the problem of traditional methods. Get the rotation matrix and translation vector of capsule movement by 8-point algorithm and quaternion; Get three-dimensional information of gastrointestinal lesions tissue. Through the simulation and experiment, it shows that the proposed methods are effective and reliable.