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

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.