2D/3D Wound Segmentation and Measurement Based on a Robot-Driven Reconstruction System

Chronic wounds, are a worldwide health problem affecting populations and economies as a whole. With the increase in age-related diseases, obesity, and diabetes, the costs of chronic wound healing will further increase. Wound assessment should be fast and accurate in order to reduce possible complications and thus shorten the wound healing process. This paper describes an automatic wound segmentation based on a wound recording system built upon a 7-DoF robot arm with an attached RGB-D camera and high-precision 3D scanner. The developed system represents a novel combination of 2D and 3D segmentation, where the 2D segmentation is based on the MobileNetV2 classifier and the 3D component is based on the active contour model, which works on the 3D mesh to further refine the wound contour. The end output is the 3D model of only the wound surface without the surrounding healthy skin and geometric parameters in the form of perimeter, area, and volume.