Measurement of motion detection of Wireless Capsule Endoscope inside large intestine

Wireless Capsule Endoscope (WCE) provides a noninvasive way to inspect the entire Gastrointestinal (GI) tract, including large intestine, where intestinal diseases most likely occur. As a critical component of capsule endoscopic examination, physicians need to know the precise position of the endoscopic capsule in order to identify the position of detected intestinal diseases. Knowing how the capsule moves inside the large intestine would greatly complement the existing wireless localization systems by providing the motion information. Since the most recently released WCE can take up to 6 frames per second, it´s possible to estimate the movement of the capsule by processing the successive image sequence. In this paper, a computer vision based approach without utilizing any external device is proposed to estimate the motion of WCE inside the large intestine. The proposed approach estimate the displacement and rotation of the capsule by calculating entropy and mutual information between frames using Fibonacci method. The obtained results of this approach show its stability and better performance over other existing approaches of motion measurements. Meanwhile, findings of this paper lay a foundation for motion pattern of WCEs inside the large intestine, which will benefit other medical applications.