title: A non-invasive navigation system for retargeting gastroscopic lesions.
abstract: Biopsy is a traditional endoscopic surveillance of premalignant gastric lesions, and endoscopic tattooing is used for marking the biopsy's location. However, the tattooing has several disadvantages. For example, the procedure is an invasive operation and may not be durable due to the diffusion. Moreover, it is procedurally cumbersome with an associated risk of technical failure. In this study, a computer aided endoscopic navigation system (CAEN system) was developed for a non-invasive biopsy procedure. The CAEN system consists of a new, designed six degree of freedom (6-DOF) tracking endoscope device and a computer simulated work station. During the procedure, the endoscopist uses the tip of the tracking endoscope to touch the lesion. Then, the lesion's location is recorded in the work station, which then guides the endoscopist in retargeting the lesions in the follow-ups. The clinical experimental results demonstrate that the accuracy at the angularis is 5.2 ± 2.8 mm, at the antral lesser curvature is 7.2 ± 2.0 mm, at the antral greater curvature is 6.3 ± 3.1 mm, at the antral posterior wall is 8.2 ± 1.6 mm, and at the antral anterior wall is 7.9 ± 1.3 mm. The mean accuracy is 7.5 mm, and the P-value is 0.023, which is likely suitable for clinical practice. Furthermore, the proposed CAEN system requires less procedural time than the tattooing.
authors.affiliation: College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China Key Laboratory for Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou 310027, China.
authors.forename: Jiquan
authors.initials: J
authors.lastname: Liu
authors.affiliation: College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China Key Laboratory for Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou 310027, China.
authors.forename: Bin
authors.initials: B
authors.lastname: Wang
authors.affiliation: Department of Gastroenterology, Sir Run Run Shaw Hospital, Zhejiang University, Hangzhou 310016, China.
authors.forename: Weiling
authors.initials: W
authors.lastname: Hu
authors.affiliation: College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China Key Laboratory for Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou 310027, China.
authors.forename: Yun
authors.initials: Y
authors.lastname: Zong
authors.affiliation: Department of Gastroenterology, Sir Run Run Shaw Hospital, Zhejiang University, Hangzhou 310016, China.
authors.forename: Jianmin
authors.initials: J
authors.lastname: Si
authors.affiliation: College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China Key Laboratory for Biomedical Engineering, Ministry of Education, Zhejiang University, Hangzhou 310027, China.
authors.forename: Huilong
authors.initials: H
authors.lastname: Duan
mesh_terms: D000328:Adult; D000368:Aged; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005260:Female; D005773:Gastroscopy / Q000295:instrumentation* / Q000379:methods; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000295:instrumentation* / Q000379:methods; D008297:Male; D008875:Middle Aged; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D013274:Stomach Neoplasms / Q000473:pathology* / Q000601:surgery*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014584:User-Computer Interface
keywords: 6-DOF endoscope device; Endoscopic biopsy marking; computer simulated work station; hand-eye calibration; non-invasive procedure