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Mobile Robotic Optical Coherence Tomography System for Ophthalmic Imaging in Clinical Environments.

Genggeng Zhou1, Haochi Pan1, Samantha Staudinger1

  • 1Department of Robotics, University of Michigan, 2505 Hayward St, Ann Arbor, MI USA.

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Summary

A new mobile robotic Optical Coherence Tomography (OCT) system offers automated eye imaging in diverse clinical settings. This adaptable system enhances patient comfort and accessibility for routine eye disease diagnosis and management.

Keywords:
motion planningoptical coherence tomography

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Area of Science:

  • Ophthalmology
  • Robotics
  • Medical Imaging

Background:

  • Optical coherence tomography (OCT) is crucial for diagnosing and managing eye diseases.
  • Traditional OCT requires specific patient postures, limiting its application.
  • Previous work introduced a fixed-base robotic OCT system.

Purpose of the Study:

  • To develop a mobile robotic OCT system for versatile clinical environments.
  • To enable automated OCT imaging adaptable to various patient and clinic configurations.
  • To improve accessibility and patient comfort during eye imaging procedures.

Main Methods:

  • Integration of a robot arm, motorized lift, and wheeled cart.
  • Implementation of real-time motion planning for head tracking and obstacle avoidance.
  • Validation of workspace via robot kinematics and clinical simulation.
  • Evaluation of dynamic tracking accuracy and obstacle avoidance in real-world experiments.

Main Results:

  • The mobile robotic OCT system demonstrates a validated workspace.
  • Accurate dynamic tracking of patient head movements was achieved.
  • Successful obstacle avoidance was confirmed in both simulated and real-world scenarios.
  • The system is prepared for deployment in clinical settings.

Conclusions:

  • The mobile robotic OCT system offers a flexible and automated solution for eye imaging.
  • This technology enhances adaptability to diverse clinical settings and patient needs.
  • The system paves the way for broader adoption of OCT in routine eye care.