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Colonoscope tracking method based on shape estimation network

机译：基于形状估计网络的唱镜跟踪方法

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This paper presents a colonoscope tracking method utilizing a colon shape estimation method. CT colonographyis used as a less-invasive colon diagnosis method. If colonic polyps or early-stage cancers are found, they areremoved in a colonoscopic examination. In the colonoscopic examination, understanding where the colonoscoperunning in the colon is difficult. A colonoscope navigation system is necessary to reduce overlooking of polyps. Wepropose a colonoscope tracking method for navigation systems. Previous colonoscope tracking methods causedlarge tracking errors because they do not consider deformations of the colon during colonoscope insertions. Weutilize the shape estimation network (SEN), which estimates deformed colon shape during colonoscope insertions.The SEN is a neural network containing long short-term memory (LSTM) layer. To perform colon shapeestimation suitable to the real clinical situation, we trained the SEN using data obtained during colonoscopeoperations of physicians. The proposed tracking method performs mapping of the colonoscope tip position toa position in the colon using estimation results of the SEN. We evaluated the proposed method in a phantomstudy. We confirmed that tracking errors of the proposed method was enough small to perform navigation inthe ascending, transverse, and descending colons.
机译：本文介绍了利用结肠形状估计方法的冒光镜跟踪方法。 CT结肠术.用作较少侵入性的结肠诊断方法。如果发现结肠息肉或早期癌症，它们是在结肠镜检查中除去。在结肠镜检查中，了解结肠镜的地方在冒号中运行很难。校准导航系统是减少息肉的俯视所必需的。我们提出用于导航系统的校准跟踪方法。以前的校准跟踪方法引起大跟踪误差是因为它们在结肠镜插入期间不考虑结肠的变形。我们利用形状估计网络（SEN），其在结肠镜插入期间估计变形的结肠形状。森是一种包含长短期内存（LSTM）层的神经网络。执行结肠形状估计适合真正的临床状况，我们使用在结肠镜期间获得的数据训练了森斯医生的行动。所提出的跟踪方法执行校准校准尖端位置使用森的估计结果在结肠中的位置。我们在幻影中评估了所提出的方法学习。我们确认所提出的方法的跟踪误差足够小以便执行导航上升，横向和下降的冒号。

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