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El Hamd MA, Magdy G, El-Maghrabey M, Mansour FR, Al-Khateeb LA, Mahdi WA, Alshehri S, Alsehli BR, Radwan AS. A novel ultrasensitive derivatization-free synchronous fluorescence approach for the simultaneous analysis of propofol and nalbuphine in human plasma and dosage forms: Compliance with greenness and blueness metrics. SPECTROCHIMICA ACTA. PART A, MOLECULAR AND BIOMOLECULAR SPECTROSCOPY 2025; 340:126339. [PMID: 40344883 DOI: 10.1016/j.saa.2025.126339] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/19/2025] [Revised: 04/21/2025] [Accepted: 05/03/2025] [Indexed: 05/11/2025]
Abstract
This study presents a very sensitive and eco-friendly synchronous spectrofluorimetric method for the simultaneous quantification of propofol (PRP) and nalbuphine (NAL) for the first time. The technique used the intrinsic fluorescence characteristics of the two drugs, providing enhanced sensitivity and specificity. The two drugs were assessed simultaneously at 217 nm and 281 nm for PRP and NAL, respectively, with a synchronous wavelength difference (Δλ) of 80 nm. The proposed method was validated according to ICH Q2 (R2) requirements, exhibiting satisfactory accuracy, precision, linearity, and selectivity within the designated concentration ranges. The concentrations exhibited linearity within the ranges of 15.0-300.0 ng/mL and 0.5-16.0 µg/mL, with detection limits of 2.67 ng/mL and 0.15 µg/mL for PRP and NAL, respectively. The developed approach, owing to its great sensitivity, was utilized to assess the examined drugs in human plasma samples. The results demonstrated good bioanalytical applicability, exhibiting high recovery percentages (98.40-101.70) and low relative standard deviation (%RSD) values (<1.66). The proposed method was applied to accurately analyze the cited drugs in their ampoule dosage forms with great selectivity. The MoGAPI and AGREE metricsdemonstrated the method's exceptional eco-friendliness and sustainability. Additionally, the BAGI tool was employed to assess the method's economic viability, applicability, and practicality. The three tools demonstrated the sustainability and feasibility of the developedapproach, as well as its appropriateness for the routine analysis of the examined drugs. The developed method represents the first analytical technique for the concurrent estimation of PRP and NAL without the necessity for toxic reagents, excessive organic solvents, or complicated instruments. The method is derivatization-free and does not require complicated sample treatment or lengthy extraction procedures. The suggested method's excellent sensitivity, simplicity, speed, environmental friendliness, and cost-effectiveness make it appropriate for therapeutic drug monitoring of the studied drugs.
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Affiliation(s)
- Mohamed A El Hamd
- Department of Pharmaceutical Chemistry, College of Pharmacy, Shaqra University, Shaqra 11961, Saudi Arabia; Department of Pharmaceutical Analytical Chemistry, Faculty of Pharmacy, South Valley University, Qena 83523, Egypt.
| | - Galal Magdy
- Pharmaceutical Analytical Chemistry Department, Faculty of Pharmacy, Kafrelsheikh University, Kafrelsheikh 33511, Egypt.
| | - Mahmoud El-Maghrabey
- Department of Pharmaceutical Analytical Chemistry, Faculty of Pharmacy, Mansoura University, Mansoura 35516, Egypt.
| | - Fotouh R Mansour
- Pharmaceutical Analytical Chemistry Department, Faculty of Pharmacy, Tanta University, Tanta 31111, Egypt; Department of Medicinal Chemistry, Faculty of Pharmacy, King Salman International University (KSIU), South Sinai, Egypt
| | - Lateefa A Al-Khateeb
- Department of Chemistry, Faculty of Science, King Abdulaziz University, P.O. Box 80203, Jeddah 21589, Saudi Arabia
| | - Wael A Mahdi
- Department of Pharmaceutics, College of Pharmacy, King Saud University, Riyadh 11451, Saudi Arabia
| | - Sultan Alshehri
- Department of Pharmaceutics, College of Pharmacy, King Saud University, Riyadh 11451, Saudi Arabia
| | - Bandar R Alsehli
- Department of Chemistry, Faculty of Science, Taibah University, Al-Madinah, Al-Munawarah 30002, Saudi Arabia
| | - Aya Saad Radwan
- Department of Pharmaceutical Chemistry, Faculty of Pharmacy, Horus University-Egypt, New Damietta, Egypt.
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Yang Z, Dai J, Pan J. 3D reconstruction from endoscopy images: A survey. Comput Biol Med 2024; 175:108546. [PMID: 38704902 DOI: 10.1016/j.compbiomed.2024.108546] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/15/2023] [Revised: 01/05/2024] [Accepted: 04/28/2024] [Indexed: 05/07/2024]
Abstract
Three-dimensional reconstruction of images acquired through endoscopes is playing a vital role in an increasing number of medical applications. Endoscopes used in the clinic are commonly classified as monocular endoscopes and binocular endoscopes. We have reviewed the classification of methods for depth estimation according to the type of endoscope. Basically, depth estimation relies on feature matching of images and multi-view geometry theory. However, these traditional techniques have many problems in the endoscopic environment. With the increasing development of deep learning techniques, there is a growing number of works based on learning methods to address challenges such as inconsistent illumination and texture sparsity. We have reviewed over 170 papers published in the 10 years from 2013 to 2023. The commonly used public datasets and performance metrics are summarized. We also give a taxonomy of methods and analyze the advantages and drawbacks of algorithms. Summary tables and result atlas are listed to facilitate the comparison of qualitative and quantitative performance of different methods in each category. In addition, we summarize commonly used scene representation methods in endoscopy and speculate on the prospects of deep estimation research in medical applications. We also compare the robustness performance, processing time, and scene representation of the methods to facilitate doctors and researchers in selecting appropriate methods based on surgical applications.
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Affiliation(s)
- Zhuoyue Yang
- State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, 37 Xueyuan Road, Haidian District, Beijing, 100191, China; Peng Cheng Lab, 2 Xingke 1st Street, Nanshan District, Shenzhen, Guangdong Province, 518000, China
| | - Ju Dai
- Peng Cheng Lab, 2 Xingke 1st Street, Nanshan District, Shenzhen, Guangdong Province, 518000, China
| | - Junjun Pan
- State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, 37 Xueyuan Road, Haidian District, Beijing, 100191, China; Peng Cheng Lab, 2 Xingke 1st Street, Nanshan District, Shenzhen, Guangdong Province, 518000, China.
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Mattille M, Boehler Q, Lussi J, Ochsenbein N, Moehrlen U, Nelson BJ. Autonomous Magnetic Navigation in Endoscopic Image Mosaics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2400980. [PMID: 38482737 PMCID: PMC11109657 DOI: 10.1002/advs.202400980] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/26/2024] [Indexed: 05/23/2024]
Abstract
Endoscopes navigate within the human body to observe anatomical structures with minimal invasiveness. A major shortcoming of their use is their narrow field-of-view during navigation in large, hollow anatomical regions. Mosaics of endoscopic images can provide surgeons with a map of the tool's environment. This would facilitate procedures, improve their efficiency, and potentially generate better patient outcomes. The emergence of magnetically steered endoscopes opens the way to safer procedures and creates an opportunity to provide robotic assistance both in the generation of the mosaic map and in navigation within this map. This paper proposes methods to autonomously navigate magnetic endoscopes to 1) generate endoscopic image mosaics and 2) use these mosaics as user interfaces to navigate throughout the explored area. These are the first strategies, which allow autonomous magnetic navigation in large, hollow organs during minimally invasive surgeries. The feasibility of these methods is demonstrated experimentally both in vitro and ex vivo in the context of the treatment of twin-to-twin transfusion syndrome. This minimally invasive procedure is performed in utero and necessitates coagulating shared vessels of twin fetuses on the placenta. A mosaic of the vasculature in combination with autonomous navigation has the potential to significantly facilitate this challenging surgery.
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Affiliation(s)
- Michelle Mattille
- Multi‐Scale Robotics LabETH ZurichTannenstrasse 3Zurich8092Switzerland
| | - Quentin Boehler
- Multi‐Scale Robotics LabETH ZurichTannenstrasse 3Zurich8092Switzerland
| | - Jonas Lussi
- Multi‐Scale Robotics LabETH ZurichTannenstrasse 3Zurich8092Switzerland
| | - Nicole Ochsenbein
- Department of ObstetricsUniversity Hospital of ZurichRämistrasse 100Zürich8092Switzerland
- The Zurich Center for Fetal Diagnosis and TherapyUniversity of ZurichRämistrasse 71Zürich8092Switzerland
| | - Ueli Moehrlen
- The Zurich Center for Fetal Diagnosis and TherapyUniversity of ZurichRämistrasse 71Zürich8092Switzerland
- Department of Pediatric SurgeryUniversity Children's Hospital ZurichSteinwiesstrasse 75Zürich8092Switzerland
| | - Bradley J. Nelson
- Multi‐Scale Robotics LabETH ZurichTannenstrasse 3Zurich8092Switzerland
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Shen Y, Chen A, Zhang X, Zhong X, Ma A, Wang J, Wang X, Zheng W, Sun Y, Yue L, Zhang Z, Zhang X, Lin N, Kim JJ, Du Q, Liu J, Hu W. Real-Time Evaluation of Helicobacter pylori Infection by Convolution Neural Network During White-Light Endoscopy: A Prospective, Multicenter Study (With Video). Clin Transl Gastroenterol 2023; 14:e00643. [PMID: 37800683 PMCID: PMC10589579 DOI: 10.14309/ctg.0000000000000643] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 05/31/2023] [Accepted: 09/19/2023] [Indexed: 10/07/2023] Open
Abstract
INTRODUCTION Convolutional neural network during endoscopy may facilitate evaluation of Helicobacter pylori infection without obtaining gastric biopsies. The aim of the study was to evaluate the diagnosis accuracy of a computer-aided decision support system for H. pylori infection (CADSS-HP) based on convolutional neural network under white-light endoscopy. METHODS Archived video recordings of upper endoscopy with white-light examinations performed at Sir Run Run Shaw Hospital (January 2019-September 2020) were used to develop CADSS-HP. Patients receiving endoscopy were prospectively enrolled (August 2021-August 2022) from 3 centers to calculate the diagnostic property. Accuracy of CADSS-HP for H. pylori infection was also compared with endoscopic impression, urea breath test (URT), and histopathology. H. pylori infection was defined by positive test on histopathology and/or URT. RESULTS Video recordings of 599 patients who received endoscopy were used to develop CADSS-HP. Subsequently, 456 patients participated in the prospective evaluation including 189 (41.4%) with H. pylori infection. With a threshold of 0.5, CADSS-HP achieved an area under the curve of 0.95 (95% confidence interval [CI], 0.93-0.97) with sensitivity and specificity of 91.5% (95% CI 86.4%-94.9%) and 88.8% (95% CI 84.2%-92.2%), respectively. CADSS-HP demonstrated higher sensitivity (91.5% vs 78.3%; mean difference = 13.2%, 95% CI 5.7%-20.7%) and accuracy (89.9% vs 83.8%, mean difference = 6.1%, 95% CI 1.6%-10.7%) compared with endoscopic diagnosis by endoscopists. Sensitivity of CADSS-HP in diagnosing H. pylori was comparable with URT (91.5% vs 95.2%; mean difference = 3.7%, 95% CI -1.8% to 9.4%), better than histopathology (91.5% vs 82.0%; mean difference = 9.5%, 95% CI 2.3%-16.8%). DISCUSSION CADSS-HP achieved high sensitivity in the diagnosis of H. pylori infection in the real-time test, outperforming endoscopic diagnosis by endoscopists and comparable with URT. Clinicaltrials.gov ; ChiCTR2000030724.
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Affiliation(s)
- Yuqin Shen
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
- West China Xiamen Hospital, Sichuan University, Xiamen, China
| | - Angli Chen
- Shaoxing University School of Medicine, Shaoxing, Zhejiang, China
| | - Xinsen Zhang
- Key Laboratory for Biomedical Engineering of Ministry of Education, College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
| | - Xingwei Zhong
- Department of Gastroenterology, Deqing County People's Hospital, Huzhou, China
| | - Ahuo Ma
- Department of Gastroenterology, Shaoxing People's Hospital, Shaoxing, China
| | - Jianping Wang
- Department of Gastroenterology, Deqing County People's Hospital, Huzhou, China
| | - Xinjie Wang
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
| | - Wenfang Zheng
- Department of Gastroenterology, Hangzhou First People's Hospital, Hangzhou, China
| | - Yingchao Sun
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
| | - Lei Yue
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
| | - Zhe Zhang
- Department of Gastroenterology, Longyou County People's Hospital, Quzhou, China
| | - Xiaoyan Zhang
- Key Laboratory for Biomedical Engineering of Ministry of Education, College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
| | - Ne Lin
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
| | - John J. Kim
- Division of Gastroenterology and Hepatology, Loma Linda University Health, Loma Linda, California, USA
| | - Qin Du
- Department of Gastroenterology, The Second Affiliated Hospital, Medical School, Zhejiang University, Hangzhou, China
| | - Jiquan Liu
- Key Laboratory for Biomedical Engineering of Ministry of Education, College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
| | - Weiling Hu
- Department of Gastroenterology, Sir Run Run Shaw Hospital, Medical School, Zhejiang University, Hangzhou, China
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Liu Y, Zuo S. Self-supervised monocular depth estimation for gastrointestinal endoscopy. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2023; 238:107619. [PMID: 37235969 DOI: 10.1016/j.cmpb.2023.107619] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/07/2022] [Revised: 04/26/2023] [Accepted: 05/18/2023] [Indexed: 05/28/2023]
Abstract
BACKGROUND AND OBJECTIVE Gastrointestinal (GI) endoscopy represents a promising tool for GI cancer screening. However, the limited field of view and uneven skills of endoscopists make it remains difficult to accurately identify polyps and follow up on precancerous lesions under endoscopy. Estimating depth from GI endoscopic sequences is essential for a series of AI-assisted surgical techniques. Nonetheless, depth estimation algorithm of GI endoscopy is a challenging task due to the particularity of the environment and the limitation of datasets. In this paper, we propose a self-supervised monocular depth estimation method for GI endoscopy. METHODS A depth estimation network and a camera ego-motion estimation network are firstly constructed to obtain the depth information and pose information of the sequence respectively, and then the model is enabled to perform self-supervised training by calculating the multi-scale structural similarity with L1 norm (MS-SSIM+L1) loss function between the target frame and the reconstructed image as part of the loss of the training network. The MS-SSIM+L1 loss function is good for reserving high-frequency information and can maintain the invariance of brightness and color. Our model consists of the U-shape convolutional network with the dual-attention mechanism, which is beneficial to capture muti-scale contextual information, and greatly improves the accuracy of depth estimation. We evaluated our method qualitatively and quantitatively with different state-of-the-art methods. RESULTS AND CONCLUSIONS The experimental results manifest that our method has superior generality, achieving lower error metrics and higher accuracy metrics on both the UCL dataset and the Endoslam dataset. The proposed method has also been validated with clinical GI endoscopy, demonstrating the potential clinical value of the model.
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Affiliation(s)
- Yuying Liu
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China.
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Lidocaine spray anesthesia with a disposable laryngeal anesthetic tube for gastroscopy. Asian J Surg 2022:S1015-9584(22)01812-7. [PMID: 36593141 DOI: 10.1016/j.asjsur.2022.12.113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/09/2022] [Accepted: 12/22/2022] [Indexed: 01/02/2023] Open
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Li S, Wang Y, Chen X, Huang T, Li N. Effective Doses of Nalbuphine Combined With Propofol for Painless Gastroscopy in Adults: A Randomized Controlled Trial. Front Pharmacol 2021; 12:673550. [PMID: 34924999 PMCID: PMC8672217 DOI: 10.3389/fphar.2021.673550] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/25/2021] [Accepted: 11/03/2021] [Indexed: 01/14/2023] Open
Abstract
Objective: This prospective study evaluated the 50% effective dose (ED50) and 95% effective dose (ED95) of nalbuphine combined with propofol during painless gastroscopy. Methods: Seventy-five patients who underwent painless gastroscopy were randomly divided into five groups (group N0, N0.05, N0.1, N0.15, and N0.2), with doses of 0, 0.05, 0.1, 0.15, or 0.2 mg/kg nalbuphine in each group. Propofol was given to all groups as the sedative. The bispectral index (BIS) value, propofol dose, examination time, and awakening time were recorded. The number of patients with intolerance indexes (coughing, retching, swallowing, or limb movement) was recorded in each group. The ED50/ED95 of nalbuphine combined with propofol for gastroscopy were calculated. Results: Compared with those of groups N0, N0.05, or N0.1, the propofol dose and awakening time were significantly reduced in group N0.15 or N0.2 (p < 0.05). The successful rate of painless gastroscopy in group N0.15 or N0.2 significantly increased compared to that of group N0 or N0.05 (p < 0.05). When combined with propofol, nalbuphine had an ED50 and ED95 for painless gastroscopy of 0.078 mg/kg (95% CI, 0.056–0.098 mg/kg) and 0.162 mg/kg (95% CI, 0.134–0.217 mg/kg), respectively. Conclusion: The ED50/ED95 of nalbuphine combined with propofol are 0.078 and 0.162 mg/kg, respectively, for painless gastroscopy. Nalbuphine at 0.162 mg/kg combined with propofol is effective and safe for painless gastroscopy in adults.
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Affiliation(s)
- Shuangfeng Li
- Department of Anesthesiology, Haikou Women and Children's Hospital, Haikou Maternity and Child Health Hospital, Haikou, China
| | - Ying Wang
- Department of Anesthesiology, Hainan General Hospital, Haikou, China
| | - Xiaojian Chen
- Department of Anesthesiology, Hainan General Hospital, Haikou, China
| | - Tingwan Huang
- Department of Anesthesiology, Haikou Women and Children's Hospital, Haikou Maternity and Child Health Hospital, Haikou, China
| | - Na Li
- Department of Anesthesiology, Hainan General Hospital, Haikou, China
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Widya AR, Monno Y, Okutomi M, Suzuki S, Gotoda T, Miki K. Stomach 3D Reconstruction Using Virtual Chromoendoscopic Images. IEEE JOURNAL OF TRANSLATIONAL ENGINEERING IN HEALTH AND MEDICINE-JTEHM 2021; 9:1700211. [PMID: 33796417 PMCID: PMC8009143 DOI: 10.1109/jtehm.2021.3062226] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/16/2020] [Revised: 01/19/2021] [Accepted: 02/15/2021] [Indexed: 12/23/2022]
Abstract
Gastric endoscopy is a golden standard in the clinical process that enables medical practitioners to diagnose various lesions inside a patient’s stomach. If a lesion is found, a success in identifying the location of the found lesion relative to the global view of the stomach will lead to better decision making for the next clinical treatment. Our previous research showed that the lesion localization could be achieved by reconstructing the whole stomach shape from chromoendoscopic indigo carmine (IC) dye-sprayed images using a structure-from-motion (SfM) pipeline. However, spraying the IC dye to the whole stomach requires additional time, which is not desirable for both patients and practitioners. Our objective is to propose an alternative way to achieve whole stomach 3D reconstruction without the need of the IC dye. We generate virtual IC-sprayed (VIC) images based on image-to-image style translation trained on unpaired real no-IC and IC-sprayed images, where we have investigated the effect of input and output color channel selection for generating the VIC images. We validate our reconstruction results by comparing them with the results using real IC-sprayed images and confirm that the obtained stomach 3D structures are comparable to each other. We also propose a local reconstruction technique to obtain a more detailed surface and texture around an interesting region. The proposed method achieves the whole stomach reconstruction without the need of real IC dye using SfM. We have found that translating no-IC green-channel images to IC-sprayed red-channel images gives the best SfM reconstruction result. Clinical impact We offer a method of the frame localization and local 3D reconstruction of a found gastric lesion using standard endoscopy images, leading to better clinical decision.
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Affiliation(s)
- Aji Resindra Widya
- Department of Systems and Control EngineeringSchool of EngineeringTokyo Institute of TechnologyTokyo152-8550Japan
| | - Yusuke Monno
- Department of Systems and Control EngineeringSchool of EngineeringTokyo Institute of TechnologyTokyo152-8550Japan
| | - Masatoshi Okutomi
- Department of Systems and Control EngineeringSchool of EngineeringTokyo Institute of TechnologyTokyo152-8550Japan
| | - Sho Suzuki
- Division of Gastroenterology and HepatologyDepartment of MedicineNihon University School of MedicineTokyo101-8309Japan
| | - Takuji Gotoda
- Division of Gastroenterology and HepatologyDepartment of MedicineNihon University School of MedicineTokyo101-8309Japan
| | - Kenji Miki
- Department of Internal MedicineTsujinaka Hospital KashiwanohaKashiwa277-0871Japan
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Fu Z, Jin Z, Zhang C, He Z, Zha Z, Hu C, Gan T, Yan Q, Wang P, Ye X. The Future of Endoscopic Navigation: A Review of Advanced Endoscopic Vision Technology. IEEE ACCESS 2021; 9:41144-41167. [DOI: 10.1109/access.2021.3065104] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/04/2025]
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Kim DT, Cheng CH, Liu DG, Liu KCJ, Huang WSW. Designing a New Endoscope for Panoramic-View with Focus-Area 3D-Vision in Minimally Invasive Surgery. J Med Biol Eng 2019. [DOI: 10.1007/s40846-019-00503-9] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2022]
Abstract
Abstract
Purpose
The minimally invasive surgery (MIS) has shown advantages when compared to traditional surgery. However, there are two major challenges in the MIS technique: the limited field of view (FOV) and the lack of depth perception provided by the standard monocular endoscope. Therefore, in this study, we proposed a New Endoscope for Panoramic-View with Focus-Area 3D-Vision (3DMISPE) in order to provide surgeons with a broad view field and 3D images in the surgical area for real-time display.
Method
The proposed system consisted of two endoscopic cameras fixed to each other. Compared to our previous study, the proposed algorithm for the stitching videos was novel. This proposed stitching algorithm was based on the stereo vision synthesis theory. Thus, this new method can support 3D reconstruction and image stitching at the same time. Moreover, our approach employed the same functions on reconstructing 3D surface images by calculating the overlap region’s disparity and performing image stitching with the two-view images from both the cameras.
Results
The experimental results demonstrated that the proposed method can combine two endoscope’s FOV into one wider FOV. In addition, the part in the overlap region could also be synthesized for a 3D display to provide more information about depth and distance, with an error of about 1 mm. In the proposed system, the performance could achieve a frame rate of up to 11.3 fps on a single Intel i5-4590 CPU computer and 17.6 fps on a computer with an additional GTX1060 Nvidia GeForce GPU. Furthermore, the proposed stitching method in this study could be made 1.4 times after when compared to that in our previous report. Besides, our method also improved stitched image quality by significantly reducing the alignment errors or “ghosting” when compared to the SURF-based stitching method employed in our previous study.
Conclusion
The proposed system can provide a more efficient way for the doctors with a broad area of view while still providing a 3D surface image in real-time applications. Our system give promises to improve existing limitations in laparoscopic surgery such as the limited FOV and the lack of depth perception.
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Performance Improvement for Two-Lens Panoramic Endoscopic System during Minimally Invasive Surgery. JOURNAL OF HEALTHCARE ENGINEERING 2019. [DOI: 10.1155/2019/2097284] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
One of the major challenges for Minimally Invasive Surgery (MIS) is the limited field of vision (FOV) of the endoscope. A previous study by the authors designed a MIS Panoramic Endoscope (MISPE) that gives the physician a broad field of view, but this approach is still limited, in terms of performance and quality because it encounters difficulty when there is smoke, specular reflections, or a change in viewpoint. This study proposes a novel algorithm that increases the MISPE’s performance. The method calculates the disparity for the region that is overlapped by the two cameras to allow image stitching. An improved evaluation of the homography matrix uses a frame-by-frame calculation, so the stitched videos are more stable for MIS. The experimental results show that the revised MISPE has a FOV that is 55% greater, and the system operates stably in real time. The proposed system allows a frame rate of 26.7 fps on a single CPU computer. The proposed stitching method is 1.55 times faster than the previous method. The stitched image that is obtained using the proposed method is as similar as the ground truth as the SURF-based stitching method that was used in the previous study.
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Gastroscopic Panoramic View: Application to Automatic Polyps Detection under Gastroscopy. COMPUTATIONAL AND MATHEMATICAL METHODS IN MEDICINE 2019; 2019:4393124. [PMID: 31885680 PMCID: PMC6925673 DOI: 10.1155/2019/4393124] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/04/2019] [Accepted: 10/12/2019] [Indexed: 12/22/2022]
Abstract
Endoscopic diagnosis is an important means for gastric polyp detection. In this paper, a panoramic image of gastroscopy is developed, which can display the inner surface of the stomach intuitively and comprehensively. Moreover, the proposed automatic detection solution can help doctors locate the polyps automatically and reduce missed diagnosis. The main contributions of this paper are firstly, a gastroscopic panorama reconstruction method is developed. The reconstruction does not require additional hardware devices and can solve the problem of texture dislocation and illumination imbalance properly; secondly, an end-to-end multiobject detection for gastroscopic panorama is trained based on a deep learning framework. Compared with traditional solutions, the automatic polyp detection system can locate all polyps in the inner wall of the stomach in real time and assist doctors to find the lesions. Thirdly, the system was evaluated in the Affiliated Hospital of Zhejiang University. The results show that the average error of the panorama is less than 2 mm, the accuracy of the polyp detection is 95%, and the recall rate is 99%. In addition, the research roadmap of this paper has guiding significance for endoscopy-assisted detection of other human soft cavities.
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Li XT, Ma CQ, Qi SH, Zhang LM. Combination of propofol and dezocine to improve safety and efficacy of anesthesia for gastroscopy and colonoscopy in adults: A randomized, double-blind, controlled trial. World J Clin Cases 2019; 7:3237-3246. [PMID: 31667174 PMCID: PMC6819283 DOI: 10.12998/wjcc.v7.i20.3237] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 06/16/2019] [Revised: 09/03/2019] [Accepted: 09/09/2019] [Indexed: 02/05/2023] Open
Abstract
BACKGROUND Gastroscopy and colonoscopy are important and common endoscopic methods for the diagnosis and treatment of gastrointestinal and colorectal diseases. However, endoscopy is usually associated with adverse reactions such as nervousness, nausea, vomiting, choking cough, and pain. Severe discomfort, such as vomiting, coughing, or body movement, may lead to aggravation of a pre-existing condition or even interruption of examination or treatment, especially in some critically ill patients with physiological dysfunction (e.g., cardiovascular or respiratory disease). The optimal methods for inducing analgesia and sedation in endoscopy are areas of ongoing debate; nevertheless, determining an appropriate regimen of sedation and analgesia is important.
AIM To evaluate the effects of propofol combined with dezocine, sufentanil, or fentanyl in painless gastroscopy and colonoscopy.
METHODS Four hundred patients were randomly assigned to one of four groups for anesthesia: intravenous dezocine, sufentanil, fentanyl, or saline. Propofol was administered intravenously for induction and maintenance of anesthesia.
RESULTS The dosage of propofol in the dezocine group was significantly lower than those in other groups (P < 0.01). Bispectral index and Steward score (0-6 points, an unresponsive, immobile patient whose airway requires maintenance to a fully recovered patient) after eye opening in the dezocine group were significantly higher than those in other groups (P < 0.01). Awakening time and postoperative pain score (0-10 points, no pain to unbearable pain) in the dezocine group were significantly lower than those in other groups (P < 0.01). Mean arterial pressure and pulse oxygen saturation in the dezocine group were significantly more stable at various time points (before dosing, disappearance of eyelash reflex, and wakeup) than those in other groups (P < 0.01). The rates of hypopnea, jaw thrust, body movements, and usage of vasoactive drugs in the dezocine group were significantly lower than those in other groups (P < 0.01). Additionally, the rates of reflex coughing, nausea, and vomiting were not statistically different between the four groups (P > 0.05).
CONCLUSION The combination of propofol and dezocine can decrease propofol dosage, reduce the risk for the development of inhibitory effects on the respiratory and cardiovascular systems, increase analgesic effect, decrease body movement, shorten awakening time, and improve awakening quality.
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Affiliation(s)
- Xue-Ting Li
- Department of Anaesthesiology, The Fourth Affiliated Hospital, Harbin Medical University, Harbin 150001, Heilongjiang Province, China
| | - Chao-Qun Ma
- Department of Neurosurgery, Harbin 242 Hospital, Harbin 150066, Heilongjiang Province, China
| | - Si-Hua Qi
- Department of Anaesthesiology, The Fourth Affiliated Hospital, Harbin Medical University, Harbin 150001, Heilongjiang Province, China
| | - Li-Min Zhang
- Department of Anaesthesiology, The Fourth Affiliated Hospital, Harbin Medical University, Harbin 150001, Heilongjiang Province, China
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Speed Improvement in Image Stitching for Panoramic Dynamic Images during Minimally Invasive Surgery. JOURNAL OF HEALTHCARE ENGINEERING 2018; 2018:3654210. [PMID: 30631411 PMCID: PMC6304838 DOI: 10.1155/2018/3654210] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/06/2018] [Revised: 10/09/2018] [Accepted: 10/25/2018] [Indexed: 12/25/2022]
Abstract
Minimally invasive surgery (MIS) minimizes the surgical incisions that need to be made and hence reduces the physical trauma involved during the surgical process. The ultimate goal is to reduce postoperative pain and blood loss as well as to limit the scarring area and hence accelerate recovery. It is therefore of great interest to both the surgeon and the patient. However, a major problem with MIS is that the field of vision of the surgeon is very narrow. We had previously developed and tested an MIS panoramic endoscope (MISPE) that provides the surgeon with a broader field of view. However, one issue with the MISPE was its low rate of video stitching. Therefore, in this paper, we propose using the region of interest in combination with the downsizing technique to improve the image-stitching performance of the MISPE. Experimental results confirm that, by using the proposed method, the image size can be increased by more than 160%, with the image resolution also improving. For instance, we could achieve performance improvements of 10× (CPU) and 23× (GPU) as compared to that of the original method.
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15
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Cogal O, Leblebici Y. An Insect Eye Inspired Miniaturized Multi-Camera System for Endoscopic Imaging. IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS 2017; 11:212-224. [PMID: 27249836 DOI: 10.1109/tbcas.2016.2547388] [Citation(s) in RCA: 19] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/21/2023]
Abstract
In this work, we present a miniaturized high definition vision system inspired by insect eyes, with a distributed illumination method, which can work in dark environments for proximity imaging applications such as endoscopy. Our approach is based on modeling biological systems with off-the-shelf miniaturized cameras combined with digital circuit design for real time image processing. We built a 5 mm radius hemispherical compound eye, imaging a 180°×180° degrees field of view while providing more than 1.1 megapixels (emulated ommatidias) as real-time video with an inter-ommatidial angle ∆ϕ = 0.5° at 18 mm radial distance. We made an FPGA implementation of the image processing system which is capable of generating 25 fps video with 1080 × 1080 pixel resolution at a 120 MHz processing clock frequency. When compared to similar size insect eye mimicking systems in literature, the system proposed in this paper features 1000 × resolution increase. To the best of our knowledge, this is the first time that a compound eye with built-in illumination idea is reported. We are offering our miniaturized imaging system for endoscopic applications like colonoscopy or laparoscopic surgery where there is a need for large field of view high definition imagery. For that purpose we tested our system inside a human colon model. We also present the resulting images and videos from the human colon model in this paper.
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16
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Hu W, Zhang X, Wang B, Liu J, Duan H, Dai N, Si J. Homographic Patch Feature Transform: A Robustness Registration for Gastroscopic Surgery. PLoS One 2016; 11:e0153202. [PMID: 27054567 PMCID: PMC4824530 DOI: 10.1371/journal.pone.0153202] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/23/2015] [Accepted: 03/24/2016] [Indexed: 11/25/2022] Open
Abstract
Image registration is a key component of computer assistance in image guided surgery, and it is a challenging topic in endoscopic environments. In this study, we present a method for image registration named Homographic Patch Feature Transform (HPFT) to match gastroscopic images. HPFT can be used for tracking lesions and augmenting reality applications during gastroscopy. Furthermore, an overall evaluation scheme is proposed to validate the precision, robustness and uniformity of the registration results, which provides a standard for rejection of false matching pairs from corresponding results. Finally, HPFT is applied for processing in vivo gastroscopic data. The experimental results show that HPFT has stable performance in gastroscopic applications.
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Affiliation(s)
- Weiling Hu
- Department of Gastroenterology Sir Run Run Shaw Hospital, Zhejiang University, Hangzhou, China
- Institute of Gastroenterology, Zhejiang University, Hangzhou, China
| | - Xu Zhang
- College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
- Key Laboratory of Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou, China
| | - Bin Wang
- College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
- Key Laboratory of Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou, China
| | - Jiquan Liu
- College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
- Key Laboratory of Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou, China
- * E-mail: liujq@ zju.edu.cn (JL); (JS)
| | - Huilong Duan
- College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou, China
- Key Laboratory of Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou, China
| | - Ning Dai
- Department of Gastroenterology Sir Run Run Shaw Hospital, Zhejiang University, Hangzhou, China
- Institute of Gastroenterology, Zhejiang University, Hangzhou, China
| | - Jianmin Si
- Department of Gastroenterology Sir Run Run Shaw Hospital, Zhejiang University, Hangzhou, China
- Institute of Gastroenterology, Zhejiang University, Hangzhou, China
- * E-mail: liujq@ zju.edu.cn (JL); (JS)
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