用6维标定实现机器人精准扫描弯曲组织的OCT成像。
6D Robotic OCT Scanning of Curved Tissue Surfaces
- 通过6维手眼标定解决机器人探头定位问题。
- 在两个仿体表面实现可重复的连续扫描。
- 避免图像拼接误差，适合大曲面组织成像。
光学相干断层扫描（OCT）是一种高时空分辨率的非侵入式三维成像技术。对于较大组织结构的成像，需移动探头扫描目标区域。手持扫描依赖重叠区域进行图像拼接，而传统机器人扫描通常仅限于平移运动，以规避复杂的六维手眼标定问题，这在扫描曲面时受限。本文提出一种用于机器人搭载OCT探头的全六维手眼标定方法，实验表明该方法可实现高度可重复的变换估计。我们在两个仿体表面验证了该方法在大曲面组织上的一致性扫描能力。由于不依赖图像配准，该方法避免了扫描路径上的误差累积。与传统的3D平移式机器人扫描相比，显著提升了扫描质量。
原文摘要 · Abstract (English)
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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