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Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors

Pipe, Tony; Winstone, Benjamin; Melhuish, Chris; Pipe, Anthony G; Callaway, Mark; Dogramadzi, Sanja

Toward Bio-Inspired Tactile Sensing Capsule Endoscopy for Detection of Submucosal Tumors Thumbnail


Tony Pipe

Benjamin Winstone

Chris Melhuish
Professor of Robotics & Autonomous Systems

Mark Callaway


© 2016 IEEE. Here, we present a method for lump characterization using a bio-inspired remote tactile sensing capsule endoscopy system. While current capsule endoscopy utilizes cameras to diagnose lesions on the surface of the gastrointestinal tract lumen, this proposal uses remote palpation to stimulate a bio-inspired tactile sensing surface that deforms under the impression of both hard and soft raised objects. Current capsule endoscopy utilizes cameras to visually diagnose lesions on the surface of the gastrointestinal tract. Our approach introduces remote palpation by deploying a bio-inspired tactile sensor that deforms when pressed against soft or hard lumps. This can enhance visual inspection of lesions and provide more information about the structure of the lesions. Using classifier systems, we have shown that lumps of different sizes, shapes, and hardnesses can be distinguished in a synthetic test environment. This is a promising early start toward achieving a remote palpation system used inside the GI tract that will utilize the clinician's sense of touch.

Journal Article Type Article
Acceptance Date Oct 25, 2016
Online Publication Date Nov 10, 2016
Publication Date Feb 1, 2017
Deposit Date Jan 3, 2017
Publicly Available Date Jan 3, 2017
Journal IEEE Sensors Journal
Print ISSN 1530-437X
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 17
Issue 3
Pages 848-857
Keywords tactile sensing, capsule endoscopy, remote palpation, tumour classification
Public URL
Publisher URL
Additional Information Additional Information : © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Contract Date Jan 3, 2017


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