Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner

Mark Draelos, Pablo Ortiz, Ruobing Qian, Brenton Keller, Kris Hauser, Anthony Kuo, Joseph Izatt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Optical coherence tomography (OCT) has found great success in ophthalmology where it plays a key role in screening and diagnostics. Clinical ophthalmic OCT systems are typically deployed as tabletop instruments that require chinrest stabilization and trained ophthalmic photographers to operate. These requirements preclude OCT diagnostics in bedbound or unconscious patients who cannot use a chinrest, and restrict OCT screening to ophthalmology offices. We present a robotically-aligned OCT scanner capable of automatic eye imaging without chinrests. The scanner features eye tracking from fixed-base RGB-D cameras for coarse and stereo pupil cameras for fine alignment, as well as galvanometer aiming for fast lateral tracking, reference arm adjustment for fast axial tracking, and a commercial robot arm for slow lateral and axial tracking. We demonstrate the system's performance autonomously aligning with stationary eyes, pursuing moving eyes, and tracking eyes undergoing physiologic motion. The system demonstrates sub-millimeter eye tracking accuracy, 12 μm lateral pupil tracking accuracy, 83.2 ms stabilization time following step disturbance, and 9.7 Hz tracking bandwidth.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8897-8903
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

Keywords

  • Image stabilization
  • Medical robotics
  • Optical coherence tomography

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Draelos, M., Ortiz, P., Qian, R., Keller, B., Hauser, K., Kuo, A., & Izatt, J. (2019). Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 8897-8903). [8793524] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793524