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Robotically Controlled Terahertz Probe for In Vivo Skin Evaluation: Imaging with the PicoBot.

Jacob J Young1,2, Agrima Agarwal1, Benjamin G Page1

  • 1Physics, University of Warwick, Gibbet Hill Campus, CV4 7AL Coventry, Warwickshire UK.

Journal of Infrared, Millimeter and Terahertz Waves
|June 2, 2025
PubMed
Summary

This study enhances the PicoBot terahertz (THz) system for in vivo skin imaging. Improved robotic control and image analysis enable reliable skin cancer margin detection and evaluation.

Keywords:
ImagingIn vivoSkin cancerSkin evaluationTerahertz

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Area of Science:

  • Biomedical Engineering
  • Medical Imaging
  • Terahertz Technology

Background:

  • Terahertz (THz) imaging offers non-ionizing, high-resolution subsurface imaging.
  • Current THz systems are often limited to single-point measurements, hindering comprehensive skin evaluation.
  • Clinical translation of THz skin imaging requires enhanced system robustness and repeatability.

Purpose of the Study:

  • To significantly upgrade the PicoBot system for in vivo skin imaging capabilities.
  • To develop a robotic control system ensuring consistent probe-to-skin contact pressure.
  • To implement an image analysis pipeline for noise reduction and improved scan repeatability.

Main Methods:

  • Integration of a robotic arm with force-sensitive feedback control into the THz sensing system.
  • Development of a novel image processing pipeline for enhanced data quality.
  • System validation through in vivo skin imaging, focusing on consistent contact and repeatability.

Main Results:

  • The modified PicoBot system successfully performs in vivo skin imaging, moving beyond single-point measurements.
  • Consistent contact pressure was maintained during imaging using the robotic arm with force feedback.
  • The image analysis pipeline demonstrated noise reduction and improved scan repeatability.

Conclusions:

  • The enhanced PicoBot system represents a significant advancement for clinical THz skin imaging.
  • The system's improvements facilitate reliable intra- and inter-subject comparisons for skin evaluation.
  • This progress is crucial for the future application of THz imaging in detecting skin cancer margins.