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In the gastrointestinal (GI) tract endoscopy field, ingestible wirelesscapsule endoscopy is emerging as a novel, minimally invasive diagnostictechnology for inspection of the GI tract and diagnosis of a wide range ofdiseases and pathologies. Since the development of this technology, medicaldevice companies and many research groups have made substantial progress inconverting passive capsule endoscopes to robotic active capsule endoscopes withmost of the functionality of current active flexible endoscopes. However,robotic capsule endoscopy still has some challenges. In particular, the use ofsuch devices to generate a precise three-dimensional (3D) mapping of the entireinner organ remains an unsolved problem. Such global 3D maps of inner organswould help doctors to detect the location and size of diseased areas moreaccurately and intuitively, thus permitting more reliable diagnoses. To ourknowledge, this paper presents the first complete pipeline for a complete 3Dvisual map reconstruction of the stomach. The proposed pipeline is modular andincludes a preprocessing module, an image registration module, and a finalshape-from-shading-based 3D reconstruction module; the 3D map is primarilygenerated by a combination of image stitching and shape-from-shadingtechniques, and is updated in a frame-by-frame iterative fashion via capsulemotion inside the stomach. A comprehensive quantitative analysis of theproposed 3D reconstruction method is performed using an esophagus gastroduodenoscopy simulator, three different endoscopic cameras, and a 3D opticalscanner.

A fully dense and globally consistent 3D map reconstruction approach for GI tract to enhance therapeutic relevance of the endoscopic capsule robot