Center tracking for healthy and diseased cardia

Dear editor, Autonomous gastrointestinal robots are the future form of traditional manually operated endoscopes for reducing adverse events,such as perforation of the gastrointestinal tract[1-3].Cardia center detection is a key task for gas-trointestinal robots to autonomously enter the stomach to fulfill inspection and therapeutic operations.However,none of the existing studies addresses the problem of finding the center of the cardia,i.e.,an image guidance task serving the gastrointestinal robots for passing the cardia.