{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:11:21Z","timestamp":1760235081604,"version":"build-2065373602"},"reference-count":21,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2021,7,18]],"date-time":"2021-07-18T00:00:00Z","timestamp":1626566400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["16H03191"],"award-info":[{"award-number":["16H03191"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016987","name":"Research Center for Biomedical Engineering","doi-asserted-by":"publisher","award":["-"],"award-info":[{"award-number":["-"]}],"id":[{"id":"10.13039\/100016987","id-type":"DOI","asserted-by":"publisher"}]},{"name":"RIVERFIELD, Inc.","award":["-"],"award-info":[{"award-number":["-"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Three-dimensional (3D) shape acquisition has been widely introduced to enrich quantitative analysis with the combination of object shape and texture, for example, surface roughness evaluation in industry and gastrointestinal endoscopy in medicine. Shape from focus is a promising technique to measure substance surfaces in 3D space because no occlusion problem appears in principle, as does with stereo shape measurement, which is another commonly used option. We have been developing endoscopic shape measurement devices and shape reconstruction algorithms. In this paper, we propose a mechanism for driving an image sensor reciprocated for the shape from focus of 3D shape measurement in monocular endoscopy. It uses a stepping motor and a planar-end cam, which transforms the motor rotation to imaging sensor reciprocation, to implement the shape from focus of 3D shape measurement in endoscopy. We test and discuss the device in terms of its driving accuracy and application feasibility for endoscopic 3D shape measurement.<\/jats:p>","DOI":"10.3390\/s21144887","type":"journal-article","created":{"date-parts":[[2021,7,18]],"date-time":"2021-07-18T21:18:52Z","timestamp":1626643132000},"page":"4887","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Small and High-Speed Driving Mechanism for 3D Shape Measurement in Monocular Endoscopy"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3067-6290","authenticated-orcid":false,"given":"Yoshikazu","family":"Nakajima","sequence":"first","affiliation":[{"name":"Department of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 101-0062, Japan"},{"name":"Department of Bioengineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nobuyuki","family":"Tanigaki","sequence":"additional","affiliation":[{"name":"Department of Bioengineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takaaki","family":"Sugino","sequence":"additional","affiliation":[{"name":"Department of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 101-0062, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9766-1726","authenticated-orcid":false,"given":"Toshihiro","family":"Kawase","sequence":"additional","affiliation":[{"name":"Department of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 101-0062, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0642-0511","authenticated-orcid":false,"given":"Shinya","family":"Onogi","sequence":"additional","affiliation":[{"name":"Department of Biomedical Information, Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, Tokyo 101-0062, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1178","DOI":"10.1126\/science.1957169","article-title":"Optical coherence tomography","volume":"254","author":"Huang","year":"1991","journal-title":"Science"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"103902","DOI":"10.1063\/1.1879096","article-title":"Dynamically focused optical coherence tomography for endoscopic applications","volume":"86","author":"Divetia","year":"2005","journal-title":"Appl. Phys. Lett."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Watanabe, Y., Niizuma, T., and Sato, M. (2006). Three-dimensional imaging by high-speed wide field optical coherence tomography. Proc. Conf. Lasers Electro Opt.","DOI":"10.1109\/CLEO.2006.4628643"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"706","DOI":"10.1053\/j.gastro.2004.06.050","article-title":"Confocal laser endoscopy for diagnosing intraepithelial neoplasias and colorectal cancer in vivo","volume":"127","author":"Kiesslich","year":"2004","journal-title":"Gastroenterology"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1275","DOI":"10.1055\/s-2006-944813","article-title":"Confocal laser endomicroscopy: Technical status and current indications","volume":"38","author":"Hoffman","year":"2006","journal-title":"Endoscopy"},{"key":"ref_6","first-page":"584","article-title":"Development of 3-D stereo endoscopic image processing system","volume":"85","author":"Kim","year":"2002","journal-title":"IEICE Trans. Inf. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"199","DOI":"10.3109\/10929080500230379","article-title":"A practical approach towards accurate dense 3D depth recovery for robotic laparoscopic surgery","volume":"10","author":"Stoyanov","year":"2005","journal-title":"Comput. Aided Surg."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1006\/cviu.1997.0613","article-title":"Shape reconstruction from an endoscope image by shape from shading technique for a point light source at the projection center","volume":"66","author":"Okatani","year":"1997","journal-title":"Comput. Vis. Image. Underst."},{"key":"ref_9","unstructured":"Prados, E., and Faugeras, O. (2006, January 20\u201325). Shape from shading: A well-posed problem?. Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR\u201905), San Diego, CA, USA."},{"key":"ref_10","first-page":"1329","article-title":"3-D shape reconstruction from endoscope image sequences by the factorization method","volume":"79","author":"Deguchi","year":"1996","journal-title":"IEICE Trans. Inf. Syst."},{"key":"ref_11","unstructured":"Hagenm\u00fcller, F., Manns, M.P., and Musmann, H.G. (2002). Three-dimensional endoscopy. Medical Imaging in Gastroenterology and Hepatology, Kluwer Academic Publishers."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1109\/TPAMI.1987.4767940","article-title":"A new sense of depth of field","volume":"9","author":"Pentland","year":"1987","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"824","DOI":"10.1109\/34.308479","article-title":"Shape from focus","volume":"16","author":"Nayer","year":"1994","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1007\/BF02028349","article-title":"Depth from defocus: A spatial domain approach","volume":"13","author":"Subbarao","year":"1994","journal-title":"Int. J. Comput. Vis."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1007\/s11548-012-0794-2","article-title":"3-D shape measurement endoscope using a single-lens system","volume":"8","author":"Takeshita","year":"2013","journal-title":"Int. J. CARS"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Pradeep, K.S., and Rajagopalan, A.N. (2006, January 20\u201324). Improving shape from focus using defocus information. Proceedings of the 2006 IEEE International Conference on Pattern Recognition (ICPR\u201906), Hong Kong, China.","DOI":"10.1109\/ICPR.2006.704"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"725","DOI":"10.1016\/j.imavis.2013.07.005","article-title":"Reliability measure for shape-from-focus","volume":"31","author":"Pertuz","year":"2013","journal-title":"Image Vis. Comput."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Jang, H.S., Muhammad, M.S., and Kang, M.K. (2020). Removal of non-Gaussian jitter noise for shape from focus through improved maximum correntropy criterion Karman filter. IEEE Access, 2975274.","DOI":"10.1109\/ACCESS.2020.2975274"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"3227","DOI":"10.1109\/TIP.2019.2957941","article-title":"Parameter-free Gaussian PSF model for extended depth of field in brightfield microscopy","volume":"29","author":"Zhou","year":"2020","journal-title":"IEEE Trans. Image Process."},{"key":"ref_20","unstructured":"Ishii, A. (2000, January 3\u20137). 3-D shape measurement using a focused-section method. Proceedings of the International Conference on Pattern Recognition (ICPR-2000), Barcelona, Spain."},{"key":"ref_21","unstructured":"Ishii, A. (2011, January 13\u201315). Fast focus mechanism using a pair of convergent and divergent lenses differentially for three-dimensional imaging. Proceedings of the MVA2011 IAPR Conference on Machine Vision Applications, Nara, Japan."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/14\/4887\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T06:31:24Z","timestamp":1760164284000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/14\/4887"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,18]]},"references-count":21,"journal-issue":{"issue":"14","published-online":{"date-parts":[[2021,7]]}},"alternative-id":["s21144887"],"URL":"https:\/\/doi.org\/10.3390\/s21144887","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2021,7,18]]}}}