1
|
Lotz S, Göb M, Böttger S, Ha-Wissel L, Hundt J, Ernst F, Huber R. Large area robotically assisted optical coherence tomography (LARA-OCT). BIOMEDICAL OPTICS EXPRESS 2024; 15:3993-4009. [PMID: 38867778 PMCID: PMC11166428 DOI: 10.1364/boe.525524] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/08/2024] [Revised: 05/16/2024] [Accepted: 05/16/2024] [Indexed: 06/14/2024]
Abstract
We demonstrate large-area robotically assisted optical coherence tomography (LARA-OCT), utilizing a seven-degree-of-freedom robotic arm in conjunction with a 3.3 MHz swept-source OCT to raster scan samples of arbitrary shape. By combining multiple fields of view (FOV), LARA-OCT can probe a much larger area than conventional OCT. Also, nonplanar and curved surfaces like skin on arms and legs can be probed. The lenses in the LARA-OCT scanner with their normal FOV can have fewer aberrations and less complex optics compared to a single wide field design. This may be especially critical for high resolution scans. We directly use our fast MHz-OCT for tracking and stitching, making additional machine vision systems like cameras, positioning, tracking or navigation devices obsolete. This also eliminates the need for complex coordinate system registration between OCT and the machine vision system. We implemented a real time probe-to-surface control that maintains the probe alignment orthogonal to the sample by only using surface information from the OCT images. We present OCT data sets with volume sizes of 140 × 170 × 20 mm3, captured in 2.5 minutes.
Collapse
Affiliation(s)
- Simon Lotz
- Institute of Biomedical Optics, Universität zu Lübeck, Peter-Monnik-Weg 4, 23562 Lübeck, Germany
| | - Madita Göb
- Institute of Biomedical Optics, Universität zu Lübeck, Peter-Monnik-Weg 4, 23562 Lübeck, Germany
| | - Sven Böttger
- Institute for Robotic and Cognitive Systems, Universität zu Lübeck, Ratzeburger Allee 160, 23562 Lübeck, Germany
- qtec Services GmbH, Niels-Bohr-Ring 3-5, 23568 Lübeck, Germany
| | - Linh Ha-Wissel
- Lübeck Institute of Experimental Dermatology, Universität zu Lübeck, Ratzeburger Allee 160, 23562 Lübeck, Germany
- Department of Dermatology, Allergology, Venerology, University Hospital of Schleswig-Holstein, Ratzeburger Allee 160, 23538 Lübeck, Germany
| | - Jennifer Hundt
- Lübeck Institute of Experimental Dermatology, Universität zu Lübeck, Ratzeburger Allee 160, 23562 Lübeck, Germany
| | - Floris Ernst
- Institute for Robotic and Cognitive Systems, Universität zu Lübeck, Ratzeburger Allee 160, 23562 Lübeck, Germany
| | - Robert Huber
- Institute of Biomedical Optics, Universität zu Lübeck, Peter-Monnik-Weg 4, 23562 Lübeck, Germany
- Medizinisches Laserzentrum Lübeck GmbH, Peter-Monnik-Weg 4, 23562 Lübeck, Germany
| |
Collapse
|
2
|
Draelos M, Ortiz P, Narawane A, McNabb RP, Kuo AN, Izatt JA. Robotic Optical Coherence Tomography of Human Subjects with Posture-Invariant Head and Eye Alignment in Six Degrees of Freedom. ... INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS. INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS 2023; 2023:10.1109/ismr57123.2023.10130250. [PMID: 39092148 PMCID: PMC11293772 DOI: 10.1109/ismr57123.2023.10130250] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/04/2024]
Abstract
Ophthalmic optical coherence tomography (OCT) has achieved remarkable clinical success but remains sequestered in ophthalmology specialty offices. Recently introduced robotic OCT systems seek to expand patient access but fall short of their full potential due to significant imaging workspace and motion planning restrictions. Here, we present a next-generation robotic OCT system capable of imaging in any head orientation or posture that is mechanically reachable. This system overcomes prior restrictions by eliminating fixed-base tracking components, extending robot reach, and planning alignment in six degrees of freedom. With this robotic system, we show repeatable subject imaging independent of posture (standing, seated, reclined, and supine) under widely varying head orientations for multiple human subjects. For each subject, we obtained a consistent view of the retina, including the fovea, retinal vasculature, and edge of the optic nerve head. We believe this robotic approach can extend OCT as an eye disease screening, diagnosis, and monitoring tool to previously unreached patient populations.
Collapse
Affiliation(s)
- Mark Draelos
- Departments of Robotics and Ophthalmology, University of Michigan, 2505 Hayward St, Ann Arbor, MI USA
| | - Pablo Ortiz
- Department of Biomedical Engineering, Duke University, 101 Science Dr, Durham, NC USA
| | - Amit Narawane
- Department of Biomedical Engineering, Duke University, 101 Science Dr, Durham, NC USA
| | - Ryan P McNabb
- Department of Ophthalmology, Duke University Medical Center, 2351 Erwin Rd, Durham, NC USA
| | - Anthony N Kuo
- Department of Ophthalmology, Duke University Medical Center, 2351 Erwin Rd, Durham, NC USA
- Department of Biomedical Engineering, Duke University, 101 Science Dr, Durham, NC USA
| | - Joseph A Izatt
- Department of Biomedical Engineering, Duke University, 101 Science Dr, Durham, NC USA
- Department of Ophthalmology, Duke University Medical Center, 2351 Erwin Rd, Durham, NC USA
| |
Collapse
|
3
|
McNabb R, Ortiz P, Roh KM, Song A, Draelos M, Schuman S, Jaffe G, Lad E, Izatt J, Kuo A. Contactless, autonomous robotic alignment of optical coherence tomography for in vivo evaluation of diseased retinas. RESEARCH SQUARE 2023:rs.3.rs-2371365. [PMID: 36711930 PMCID: PMC9882601 DOI: 10.21203/rs.3.rs-2371365/v1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 01/11/2023]
Abstract
During the COVID-19 pandemic, an emphasis was placed on contactless, physical distancing and improved telehealth; contrariwise, standard-of-care ophthalmic imaging of patients required present, trained personnel. Here, we introduce contactless, autonomous robotic alignment of optical coherence tomography (RAOCT) for in vivo imaging of retinal disease and compare measured retinal thickness and diagnostic readability to technician operated clinical OCT. In a powered study, we found no statistically significant difference in retinal thickness in both healthy and diseased retinas (p > 0.7) or across a variety of demographics (gender, race, and age) between RAOCT and clinical OCT. In a secondary study, a retina specialist labeled a given volume as normal/abnormal. Compared to the clinical diagnostic label, sensitivity/specificity for RAOCT were equal or improved over clinical OCT. Contactless, autonomous RAOCT, that improves upon current clinical OCT, could play a role in both ophthalmic care and non-ophthalmic settings that would benefit from improved eye care.
Collapse
|