應用於磁控膠囊內視鏡之控制策略及自動牽引技術

Control Strategy and Automatic Traction Technology for Magnetic Controlled Capsule Endoscopy

褚家灃(Chia-Feng Chu)

指導教授 ： 劉志文

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202001604

摘要

磁控膠囊內視鏡相較於各種內視鏡研究中，具有低壓迫性、舒適性、不需要麻醉且能透過磁力控制內視鏡影像鏡頭觀測到整個大腸狀況等優點，而本實驗室致力於開發內視鏡相關技術已長達多年，如開發上消化道(胃鏡)所使用的手持式磁控器、探討磁場與位置相關的磁力定位技術、以及為了大腸鏡檢測而開發的磁控牽引平台、以及透過AI人工智慧開發的腸腔辨識技術，透過這些技術，有助於提高醫生在進行手術時的效率及準確度。
本研究是因應操作者在操控磁控牽引平台時，可能會因為磁控牽引平台的指令較繁雜、功能較多元，使得操作者需要一段時間才能上手，故透過AI人工智慧、控制策略、演算法將磁力牽引平台整合成一個半自動化機構，開發包括腸腔自動校正技術、防內視鏡走失技術、以及利用深度優先搜尋演算法實現內視鏡自動牽引技術，之後將這些技術包裝成在使用者介面上的按鈕，操作者只需要點擊使用者介面的按鈕即可使用這些技術，如此可大大降低操作者在操控磁力牽引平台時的不便性。

關鍵字

磁控膠囊內視鏡 ； 磁控式系統 ； 深度優先搜尋演算法 ； 腸道對準 ； 力感測器定位

並列摘要

Comparing to all the studies of endoscope, Capsule Endoscope has many advantages, such as low pressure, comfortability and no need to anesthesia. Also, it can observe the entire situation in the large intestine by controlling the camera lens magnetically. Our lab has dedicated to Endoscope and its related technique for many years. Such as developing Magnetic handheld controller for EsophagoGastroDuodenoscopy (EGD) use, investigating magnetic field and related position of Magnetic Positioning Technology. Moreover, our lab also developed the magnetic field navigator (MFN) platform for colonoscopy detection and the intestinal cavity identification technology through AI artificial intelligence. During the surgery, these technologies can help the doctors to have a better understanding of the conditions inside the intestine. This research is due to the fact that when the operator controls the magnetic field navigator platform, the command may be complicated and the functions are more diverse, so that the operator needs a period of time to get started. Therefore, the magnetic field navigator platform is integrated into a semi-automatic mechanism through AI artificial intelligence, control strategies and algorithms. The development includes lumen calibration technology, Anti-endoscope loss and using the depth-first search algorithm to achieve endoscope automatic traction technology. Then integrate these technologies into the user interface’s button. The operator only needs to click the button of the user interface to use these technologies, which can greatly reduce the inconvenience of the operator when controlling the magnetic field navigator platform.

並列關鍵字

Magnetic controlled capsule endoscopy ； Magnetic control system ； Depth-first search algorithm ； lumen detection ； Positioning by force sensor

參考文獻

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