六维机器人OCT扫描曲面组织
6D Robotic OCT Scanning of Curved Tissue Surfaces
AI总结：
本文提出六维手眼标定方法，用于机器人OCT探头扫描曲面组织，解决传统翻译扫描的局限性，提高扫描一致性和重复性。
摘要：
光学相干断层扫描（OCT）是一种非侵入性的体积分层成像技术，具有高空间和时间分辨率。为了成像较大的组织结构，OCT探头需要移动以扫描相应区域。对于手持扫描，获取OCT体积的拼接需要重叠以进行图像配准。对于机器人扫描和拼接，典型的方法是限制运动为平移，因为这避免了全手眼标定，而大多数OCT探头的小视野使全手眼标定复杂化。然而，当需要扫描曲面组织时，通过配准或平移扫描进行拼接受到限制。我们提出一个标记用于机器人OCT探头的全六维手眼标定。我们显示标定结果在变换估计上具有高度重复性。此外，我们评估了两个假体表面的机器人扫描，以证明所提标定允许一致扫描大曲面组织。由于所提方法不依赖图像配准，因此不遭受沿扫描路径可能的误差累积。我们还展示了与传统3D平移机器人扫描的改进比较。
英文摘要：
Optical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. For imaging larger tissue structures, OCT probes need to be moved to scan the respective area. For handheld scanning, stitching of the acquired OCT volumes requires overlap to register the images. For robotic scanning and stitching, a typical approach is to restrict the motion to translations, as this avoids a full hand-eye calibration, which is complicated by the small field of view of most OCT probes. However, stitching by registration or by translational scanning are limited when curved tissue surfaces need to be scanned. We propose a marker for full six-dimensional hand-eye calibration of a robot mounted OCT probe. We show that the calibration results in highly repeatable estimates of the transformation. Moreover, we evaluate robotic scanning of two phantom surfaces to demonstrate that the proposed calibration allows for consistent scanning of large, curved tissue surfaces. As the proposed approach is not relying on image registration, it does not suffer from a potential accumulation of errors along a scan path. We also illustrate the improvement compared to conventional 3D-translational robotic scanning.
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