Zhou Genggeng, Pan Haochi, Staudinger Samantha, Wang Yuchen, Liu Jiawei, Fleifil Salma, Jin Catherine, Valikodath Nita, McNabb Ryan P, Kuo Anthony N, Draelos Mark
Department of Robotics, University of Michigan, 2505 Hayward St, Ann Arbor, MI USA.
Department of Ophthalmology and Visual Sciences, University of Michigan Medical School, 1000 Wall Street, Ann Arbor, MI USA.
Int Symp Med Robot. 2025 May;2025:1-7. doi: 10.1109/ismr67322.2025.11025963. Epub 2025 Jun 13.
Optical coherence tomography (OCT) is an indispensable imaging modality for the diagnosis and management of many common eye diseases. We previously presented a fixed-base robotic OCT system to enable automated imaging and alleviate the necessity for restricted patient posture required by traditional clinical OCT. To adapt our system to diverse clinic environments, we introduce a mobile robotic OCT system designed for imaging patients in diverse clinical configurations. Our system includes a robot arm, a vertical motorized lift, and a wheeled cart housing essential components for the entire system, and is equipped with real-time motion planning algorithms for head movement tracking and obstacle avoidance during imaging sessions. We validate the system's workspace through robot kinematics and clinical simulation, evaluate dynamic tracking accuracy in real world experiments, and demonstrate obstacle avoidance capability in both simulation and real world. These features will allow us to perform OCT imaging in real clinical settings in the near future.
光学相干断层扫描（OCT）是诊断和管理许多常见眼科疾病不可或缺的成像方式。我们之前提出了一种固定基座的机器人OCT系统，以实现自动成像，并减轻传统临床OCT对患者姿势限制的要求。为了使我们的系统适应不同的临床环境，我们引入了一种移动机器人OCT系统，该系统设计用于对处于不同临床配置的患者进行成像。我们的系统包括一个机器人手臂、一个垂直电动升降机以及一个装有整个系统关键部件的轮式推车，并配备了实时运动规划算法，用于在成像过程中跟踪头部运动和避开障碍物。我们通过机器人运动学和临床模拟来验证系统的工作空间，在实际实验中评估动态跟踪精度，并在模拟和实际环境中展示避障能力。这些特性将使我们能够在不久的将来在实际临床环境中进行OCT成像。
