用于自动化全身皮肤镜成像的多机器人扫描仪
Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging
- University of Girona（赫罗纳大学）
- Coronis Computing S.L.（Coronis Computing 公司）
- Optotune Switzerland AG（Optotune 瑞士公司）
- Hospital Clínic de Barcelona（巴塞罗那临床医院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种基于四台UR10机械臂的全身皮肤镜成像扫描仪，通过视图规划与碰撞检测实现自动非接触成像，在多数临床特征上优于Vectra，分辨率接近接触式皮肤镜。
AI中文摘要：
本文概述了用于构建全身成像扫描仪的规格和设计方法，该扫描仪利用安装在四台UR10机械臂末端执行器上的相机，能够在皮肤镜水平上捕获皮肤病变图像。该系统配备了一种视图规划算法，能够适当选择最佳相机位置以获取痣的图像；一个高层控制器，使机械臂能够同时工作；以及一个碰撞检测器，当机械臂与物体或人接触时，会使其停止。我们通过真实患者的全身扫描来评估该系统，将获取的图像与接触式皮肤镜检查和现有的全身摄影系统（Vectra）在临床相关病变特征方面进行比较，并使用USAF 1951分辨率靶标量化真实光学分辨能力，结果显示我们的扫描仪最小可分辨特征尺寸为22.1微米，而接触式皮肤镜检查为8.8微米。结果表明，该扫描仪在大多数临床相关特征上持续优于Vectra，并且在评估的大多数特征上达到了与接触式皮肤镜检查相当的性能。通过自动、非接触地获取皮肤镜质量图像，且无需单独的手动皮肤镜检查，该扫描仪缩小了全身摄影与手持式皮肤镜检查之间的部分差距，表明其未来有望整合到筛查工作流程中。
英文摘要：
This paper outlines the specifications and design approach used to construct a full body imaging scanner capable of capturing skin lesions at a dermatoscopic level using cameras mounted on the end-effectors of four UR10 manipulators. The system possesses a view-planning algorithm capable of appropriately selecting the best camera position to acquire images of moles, a high-level controller to allow the manipulators to work simultaneously and a collision-detector that halts the manipulators when they make contact with an object or a person. We evaluate the system through real-patient full-body scans, comparing acquired images against contact dermoscopy and an existing total-body photography system (Vectra) across clinically relevant lesion features, and quantify true optical resolving power using a USAF 1951 resolution target, yielding a smallest resolvable feature size of 22.1 microns for our scanner compared to 8.8 microns for contact dermoscopy. Results show the scanner consistently outperforms Vectra across most clinically relevant features and achieves comparable performance to contact dermoscopy for the majority of features assessed. By acquiring dermatoscopic-quality images automatically and without contact, and without requiring a separate manual dermoscopic examination, the scanner closes part of the gap between total-body photography and handheld dermoscopy, suggesting potential for future integration into screening workflows.
