{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,25]],"date-time":"2026-08-25T10:35:05Z","timestamp":1787654105347,"version":"build-2736575974"},"reference-count":0,"publisher":"Georg Thieme Verlag KG","issue":"02","license":[{"start":{"date-parts":[[2018,2,1]],"date-time":"2018-02-01T00:00:00Z","timestamp":1517443200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Endosc Int Open"],"published-print":{"date-parts":[[2018,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>\n          Background and study aims\u2002Capsule endoscopy (CE) is invaluable for minimally invasive endoscopy of the gastrointestinal tract; however, several technological limitations remain including lack of reliable lesion localization. We present an approach to 3D reconstruction and localization using visual information from 2D CE images.<\/jats:p><jats:p>\n          Patients and methods\u2002Colored thumbtacks were secured in rows to the internal wall of a LifeLike bowel model. A PillCam SB3 was calibrated and navigated linearly through the lumen by a high-precision robotic arm. The motion estimation algorithm used data (light falling on the object, fraction of reflected light and surface geometry) from 2D CE images in the video sequence to achieve 3D reconstruction of the bowel model at various frames. The ORB-SLAM technique was used for 3D reconstruction and CE localization within the reconstructed model. This algorithm compared pairs of points between images for reconstruction and localization.<\/jats:p><jats:p>\n          Results\u2002As the capsule moved through the model bowel 42 to 66 video frames were obtained per pass. Mean absolute error in the estimated distance travelled by the CE was 4.1\u200a\u00b1\u200a3.9\u200acm. Our algorithm was able to reconstruct the cylindrical shape of the model bowel with details of the attached thumbtacks. ORB-SLAM successfully reconstructed the bowel wall from simultaneous frames of the CE video. The \u201ctrack\u201d in the reconstruction corresponded well with the linear forwards-backwards movement of the capsule through the model lumen.<\/jats:p><jats:p>\n          Conclusion\u2002The reconstruction methods, detailed above, were able to achieve good quality reconstruction of the bowel model and localization of the capsule trajectory using information from the CE video and images alone.<\/jats:p>","DOI":"10.1055\/s-0043-121882","type":"journal-article","created":{"date-parts":[[2018,2,1]],"date-time":"2018-02-01T18:39:01Z","timestamp":1517510341000},"page":"E205-E210","source":"Crossref","is-referenced-by-count":20,"title":["Novel experimental and software methods for image reconstruction and localization in capsule endoscopy"],"prefix":"10.1055","volume":"06","author":[{"given":"Anastasios","family":"Koulaouzidis","sequence":"additional","affiliation":[{"name":"Centre for Liver & Digestive Disorders, The Royal Infirmary of Edinburgh, Edinburgh, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dimitris","family":"Iakovidis","sequence":"additional","affiliation":[{"name":"University of Thessaly, Department of Computer Science and Biomedical Informatics, Lamia, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Diana","family":"Yung","sequence":"additional","affiliation":[{"name":"Centre for Liver & Digestive Disorders, The Royal Infirmary of Edinburgh, Edinburgh, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Evangelos","family":"Mazomenos","sequence":"additional","affiliation":[{"name":"Centre of Medical Image Computing and Department of Computer Science, University College London, London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Federico","family":"Bianchi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexandros","family":"Karagyris","sequence":"additional","affiliation":[{"name":"IBM Research, Almaden California, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"George","family":"Dimas","sequence":"additional","affiliation":[{"name":"University of Thessaly, Department of Computer Science and Biomedical Informatics, Lamia, Greece"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Danail","family":"Stoyanov","sequence":"additional","affiliation":[{"name":"Centre of Medical Image Computing and Department of Computer Science, University College London, London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Henrik","family":"Thorlacius","sequence":"additional","affiliation":[{"name":"Department of Clinical Sciences, Lund University, Malm\u00f6, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ervin","family":"Toth","sequence":"additional","affiliation":[{"name":"Department of Gastroenterology, Sk\u00e5ne University Hospital, Malm\u00f6, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gastone","family":"Ciuti","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"194","published-online":{"date-parts":[[2018,2,1]]},"container-title":["Endoscopy International Open"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.thieme-connect.de\/products\/ejournals\/pdf\/10.1055\/s-0043-121882.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T16:10:59Z","timestamp":1557159059000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.thieme-connect.de\/DOI\/DOI?10.1055\/s-0043-121882"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,2]]},"references-count":0,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2018,2,1]]},"published-print":{"date-parts":[[2018,2]]}},"URL":"https:\/\/doi.org\/10.1055\/s-0043-121882","relation":{},"ISSN":["2364-3722","2196-9736"],"issn-type":[{"value":"2364-3722","type":"print"},{"value":"2196-9736","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,2]]}}}