Polyp Shape Recovery from Single Endoscope Image using Medical Suture

Hiroyasu Usami1, *, Yuji Iwahori1, *, Aili Wang2, M. K. Bhuyan3, Naotaka Ogasawara4, Kunio Kasugai4
1 Department of Computer Science, Chubu University, Kasugai, 487-8501, Japan
2 Department of Communication Engineering, Harbin University of Science and Technology, Harbin, 150080, China
3 Department of Electronics & Electrical Engineering, IIT Guwahati, Guwahati, 781039, India
4 Department of Gastroenterology, Aichi Medical University, Nagakute, 480-1195, Japan

Article Metrics

CrossRef Citations:
Total Statistics:

Full-Text HTML Views: 450
Abstract HTML Views: 391
PDF Downloads: 207
ePub Downloads: 192
Total Views/Downloads: 1240
Unique Statistics:

Full-Text HTML Views: 289
Abstract HTML Views: 199
PDF Downloads: 136
ePub Downloads: 119
Total Views/Downloads: 743

© 2019 Usami et al..

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: ( This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to these authors at the Department of Computer Science, Chubu University, Kasugai, 487-8501, Japan; Tel: +81(568)51-1111;



Polyp shapes play an important role in colorectal diagnosis. However, endoscopy images are usually composed of nonrigid objects such as a polyp. Hence, it is challenging for polyp shape recovery. It is demanded to establish a support system of the colorectal diagnosis system based on polyp shape.


Shape from Shading (SFS) is one valuable approach based on photoclinometry for polyp shape recovery. SFS and endoscope image are compatible on the first sight, but there are constraints for applying SFS to endoscope image. Those approaches need some parameters like a depth from the endoscope lens to the surface, and surface reflectance factor . Furthermore, those approaches assume the whole surface which has the same value of for the Lambertian surface.


This paper contributes to mitigating constraint for applying SFS to the endoscope image based on a cue from the medical structure. An extracted medical suture is used to estimate parameters, and a method of polyp shape recovery method is proposed using both geometric and photometric constraint equations. Notably, the proposed method realizes polyp shape recovery from a single endoscope image.


From experiments it was confirmed that the approximate polyp model shape was recovered and the proposed method recovered absolute size and shape of polyp using medical suture information and obtained parameters from a single endoscope image.


This paper proposed a polyp shape recovery method which mitigated the constraint for applying SFS to the endoscope image using the medical suture. Notably, the proposed method realized polyp shape recovery from a single endoscope image without generating uniform Lambertian reflectance.

Keywords: Shape from shading, Lambertian surface, Specular removal, RANSAC, Medical endoscope, Colorectal diagnosis.