High speed technique for automatic guidance of microrobotics in endoscopic procedures

This paper presents a novel technique in locating centre of mass of lumen region in endoscopic images. The computation of the centre of mass is weighted by the pixels´ intensity-level within a defined window. The proposed technique involves a unique iterative intensity threshold operation to eradicate most of the unwanted background information leaving behind post-thresholded images where the lumen region predominates. An intelligent windowing operation is thereafter applied to the post-thresholded images to facilitate in the accurate determination of centre of mass of lumen region. Simulations demonstrate that the proposed technique is capable of rapid convergence in determining centre of mass of lumen region and thereby justifying its use in real-time micro-robotic guidance based endoscopic procedures.