Autonomous robotic alignment and dynamic illumination control of an ophthalmic slit lamp for in vivo anterior segment
Morgan McCloud1, Nipun Hewage2, Joseph A Izatt1,2
1Duke University, Department of Biomedical Engineering, Durham, North Carolina, United States.
Significance:
The slit lamp is the gold standard ophthalmic instrument for examining the anterior segment of the eye. Slit lamps require the mechanical stabilization of patients to facilitate alignment and a specialized technician to operate. The growing demand for ophthalmic care and shortages of specialists highlight the need for alternative diagnostic technologies.
Aim:
We demonstrate an autonomously aligning, contactless slit lamp enabled by a vision-guided robot to acquire anterior segment images without mechanical patient stabilization.
Approach:
We integrate three subsystems mounted to a collaborative robot arm: a custom optical system for dynamic slit illumination, vision-based sensors, and color cameras. A hierarchical control strategy is employed to maintain alignment. Programmable illumination patterns are projected onto the cornea to replicate slit-lamp examination maneuvers.
Results:
The device autonomously aligned to the eyes of in vivo human subjects, and we collected color images of the anterior segment during alignment. Dynamic slit illumination compensated for motion with a latency of 86 ms, allowing slit alignment to be maintained during imaging without mechanical stabilization.
Conclusions:
These results demonstrate the feasibility of autonomous, contactless slit-lamp imaging through the use of robotic alignment and dynamic illumination. Such advancements could expand access to anterior segment diagnostic imaging.
