Estimation of Handling Flexible Cystoscope Using Neural Network

—A Vessel Enhancement and Extraction of Features Based on Changes of Handling the Cystoscope—

Abstract

This paper presents a system for estimating handling of a flexible cystoscope in bladder checkup. In the checkup, all the seven parts of the bladder wall can be observed with a flexible cystoscope. However, since the shape and color of the parts are depended on participants and five of the parts have same shape and color, it is difficult to grasp the location that the cystoscope is projecting. For the reason, it is often happened that urologists can not confirm that all the parts were observed. Since urologists conduct the checkup by handling the cystoscope and watching movement of the location that the cystoscope is projecting, reproducing the checkup by a computer would recognize oversights. And then, the proposed method extracts movement of the location and estimates the handling by the neural network. The experimental results of the estimations for 9 videos recorded in the checkup have shown a possibility of reproducing the checkup.