Hybrid magnetic and vision localization technique of capsule endoscope for 3D recovery of pathological tissues

Wireless capsule endoscope (WCE) is a miniature medical instrument for inspection of gastrointestinal tract non-invasively. Commercial available WCE only can provide monocular view, so it is different from what the physician see from the actual sites of the body, where clinically valuable depth, size and shape information can be perceived. The dimension of the lesion area is usually estimated by physician´s experience with more or less inaccuracy. In order to precisely measure the dimension of the pathological tissues, 3D imaging techniques can be applied to recover the structure of the pathological tissues. In this paper, a hybrid tracking method of WCE motion is proposed, integrating magnetic sensing localization and image-based localization, which provide robust and accurate estimation of capsular camera motion for 3D reconstruction. And then a classical 3D reconstruction method based on stereo triangulation is performed using full 6D position and orientation information. The experiments on real data are presented to show the performance of our proposed method.