Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.

中文翻译：

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用于内窥镜胶囊机器人的基于非刚性地图融合的直接SLAM方法。

随着胶囊内窥镜技术的发展，医疗设备公司和研究小组在将被动胶囊内窥镜转变为机器人主动胶囊内窥镜方面取得了重大进展。但是，在内窥镜检查中使用机器人胶囊仍然存在一些挑战。这样的挑战之一是主动控制机器人的实时精确定位。在本文中，我们提出了一种基于非刚性地图融合的内窥镜胶囊机器人直接同时定位与映射方法。所提出的方法在非刚性，现实的外科手术EsophagoGastro十二指肠镜模拟器上进行姿势估计和地图重建的广泛评估中具有很高的准确性，并且其性能优于最新方法。