| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 105 === Compared with traditional endoscopy, capsule endoscopy is more comfortable, without anesthesia and can observe the entire large intestine. It has been viewed as a quite attractive approach for digestive tract examination in endoscopy field. However, compared with the traditional endoscopy of active controlling, capsule endoscopy cannot be manipulated and it just only can passively move by its gravity and the peristalsis of the digestive system, which may cause the losses of lots of important pictures around the lesions. Therefore, how to make capsule endoscopy more controllable has become a big issue to many research groups all over the world. Among the many approaches, manipulating capsule endoscopy with magnetic field outside the human body is the most promising method.After comparison between the results of each research group, controlling the capsule with a magnetic handheld controller is the most direct and most effective approach to controlling the capsule endoscopy, but an excess weight of the handheld controller is a big disadvantage. Therefore, our team hopes to develop a Magnetic Field Navigator Platform (MFN Platform) based on the previous study of magneto-controlled endoscopy, magnetic localization, and computer vision. The MFN Platform is a system integration interface, which includes mechanism instead of a doctor holding a traction magnet for manipulation. The software part is integrated joystick signal input, video signal input, the control signal output, etc. The integration of computer vision system and magnet localization system, which help the doctor understand the intestinal and edge of intestinal internal space. The system will create a friendly operating environment for the doctor, and also save experimental process data to provide postoperative review and academic research. In the thesis, we use the result of the operation of our team for analysis. We will invite doctors and other professional team involved in the experimental operation in the future.
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