Draelos Mark, Ortiz Pablo, Narawane Amit, McNabb Ryan P, Kuo Anthony N, Izatt Joseph A
Departments of Robotics and Ophthalmology, University of Michigan, 2505 Hayward St, Ann Arbor, MI USA.
Department of Biomedical Engineering, Duke University, 101 Science Dr, Durham, NC USA.
Int Symp Med Robot. 2023 Apr;2023. doi: 10.1109/ismr57123.2023.10130250. Epub 2023 May 25.
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.
眼科光学相干断层扫描（OCT）已取得显著的临床成功，但仍局限于眼科专科诊室。最近推出的机器人OCT系统试图扩大患者的可及性，但由于显著的成像工作空间和运动规划限制，未能充分发挥其潜力。在此，我们展示了一种下一代机器人OCT系统，该系统能够在任何机械可达的头部方向或姿势下进行成像。该系统通过消除固定基座跟踪组件、扩展机器人的可达范围以及在六个自由度上规划对齐，克服了先前的限制。借助这个机器人系统，我们展示了在多种头部方向下，对于多个人类受试者，无论其姿势（站立、坐着、斜躺和仰卧）如何，都能进行可重复的受试者成像。对于每个受试者，我们都获得了一致的视网膜视图，包括中央凹、视网膜血管和视神经乳头边缘。我们相信这种机器人方法可以将OCT作为一种眼病筛查、诊断和监测工具扩展到以前无法触及的患者群体。
