Deep Reinforcement Learning-Based Control for Stomach Coverage Scanning of Wireless Capsule Endoscopy

05/18/2023
by   Yameng Zhang, et al.
IEEE
The Chinese University of Hong Kong
0

Due to its non-invasive and painless characteristics, wireless capsule endoscopy has become the new gold standard for assessing gastrointestinal disorders. Omissions, however, could occur throughout the examination since controlling capsule endoscope can be challenging. In this work, we control the magnetic capsule endoscope for the coverage scanning task in the stomach based on reinforcement learning so that the capsule can comprehensively scan every corner of the stomach. We apply a well-made virtual platform named VR-Caps to simulate the process of stomach coverage scanning with a capsule endoscope model. We utilize and compare two deep reinforcement learning algorithms, the Proximal Policy Optimization (PPO) and Soft Actor-Critic (SAC) algorithms, to train the permanent magnetic agent, which actuates the capsule endoscope directly via magnetic fields and then optimizes the scanning efficiency of stomach coverage. We analyze the pros and cons of the two algorithms with different hyperparameters and achieve a coverage rate of 98.04 area within 150.37 seconds.

READ FULL TEXT

page 1

page 5

08/16/2021

Learning Friction Model for Tethered Capsule Robot

With the potential applications of capsule robots in medical endoscopy, ...
01/14/2022

Smart Magnetic Microrobots Learn to Swim with Deep Reinforcement Learning

Swimming microrobots are increasingly developed with complex materials a...
09/10/2018

A Magnetically-Triggered Soft Capsule for On-Demand Mucus Collection

In this work, we present a soft capsule for mucus collection in human in...
12/28/2018

State representation learning with recurrent capsule networks

Unsupervised learning of compact and relevant state representations has ...
04/25/2022

Adaptive actuation of magnetic soft robots using deep reinforcement learning

Magnetic soft robots have attracted growing interest due to their unique...
02/08/2020

Capsule Network Performance with Autonomous Navigation

Capsule Networks (CapsNets) have been proposed as an alternative to Conv...

Please sign up or login with your details

Forgot password? Click here to reset