WP3: Optical 3D mapping of the lumen and diagnostic imaging


The aim of this work package is to implement a multi camera vision–based 3D mapping methodology for reconstructing the entire internal anatomy of the deformable colonic lumen. A multi–camera system will be integrated onto the soft–tethered colonoscope and 3D reconstruction algorithms will be developed and tailored to provide the underpinning information for the diagnostic capabilities of the EndoVESPA platform. Multiple cameras will be used to enable time instantaneous 3D reconstruction of parts of the inner colon without deformation and after hardware and software integration of the cameras onto the colonoscopic system (Task 3.1 - Multi–camera EndoVESPA hardware and software integration), a 3D mapping algorithm will be implemented (Task 3.2 - Optical 3D lumen mapping and reconstruction) to link 3D colon segments into a full organ map and used for: i) identifying uninspected areas of the colonic wall for a subsequent diagnosis (outcome: 100% of colonic wall inspected – real benefit in colonoscopy); ii) defining the dimension of pathological areas (e.g., polyps or lesions); and iii) calculating the distance travelled by the capsule inside the lumen in order to re–locate detected pathological or potentially pathological areas identified in tomographic imaging. A dedicated optical / illumination system (i.e., specific photometric technology, such as NBI or fluorescence, or image-based enhancement using processing) will be developed and integrated for enhancing the diagnostic capabilities and discrimination of luminal structures and function (Task 3.3 - Optical image enhancement). Finally, a smart sensing catheter will be embedded with miniaturized force sensors on the tip of the EndoVESPA instrument (Task 3.4 – Smart sensing tool for tissue morphology, stiffness and texture evaluation). The catheter will be developed and tested for tissue diagnosis based on force biopsy / diagnosis and we will additionally investigate the possibility of delivering diagnostic agents of dyes which can assist the image enhancement methods in (Task 3.3). To meet these objectives, the work package is divided into the following aims and objectives:

multi–camera system configuration with hardware and software integration;

3D lumen mapping based on multiple–cameras and movement of the EndoVESPA capsule;

optical imaging using integrated illumination sources;

smart sensing tool for tissue stiffness evaluation, linked to optical imaging and observed motion fields.

Task 3.1 – Multi–camera EndoVESPA hardware and software integration (UCL, SSSA)
Task 3.2 – Optical 3D lumen mapping and reconstruction (UCL, SSSA)
Task 3.3 – Optical image enhancement (UCL, SSSA)
Task 3.4 – Smart sensing tool for tissue morphology, stiffness and texture evaluation (SSSA, UCL)

UCL will be the WP leader