System Calibration and Pose Optimization for Robotic-arm-assisted Optical Coherence Tomography

Chuanchao Wu, Xiaochen Li, Yong Huang*, Junyu Liu, Zhengyu Qiao, Qun Hao, Shicheng Zheng*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Optical coherence tomography OCT is a high-resolution non-invasive 3D imaging modality, which has been widely used for biomedical research and clinical studies The robotic-arm-assisted OCT system has the advantages of multiple degrees of freedom and high precision and stability during the imaging process, which can be used to assist doctors in quantitative assessment of vascular status. In this work, we propose a method for system calibration and the pose optimization of the OCT probe to ensure that the probe is in the optimal imaging pose. The system calibration is implemented with the corresponding pixel domain to spatial domain conversion coefficients and Tsai-Lenz method. The pose optimization of the OCT probe can be optimized with image processing. The Laplacian random walk algorithm was used to obtain the skin phantom surface contour to calculating the normal vector p of the skin phantom surface. Meanwhile, the contour of vessel phantom was segmented with the convolutional neural network method. The radius vector b of vessel phantom was obtained with the segmented results. There are two vectors that determine the attitude of the probe. Vp denotes the unit vector parallel to the optical axis while Ve denotes the unit vector parallel to the B-scan direction. When the OCT probe is in the optimal imaging pose, the vector Vp should be parallel to the p and the vector Ve should be parallel to the b . We demonstrate an experiment with vessel phantom and skin phantom. It is expected that robotic-arm-assisted OCT imaging can ensure precise data acquisition process assisting the intraoperative decision-making.

Original languageEnglish
Title of host publication2021 International Conference on Optical Instruments and Technology
Subtitle of host publicationOptical Systems, Optoelectronic Instruments, Novel Display, and Imaging Technology
EditorsJuan Liu, Baohua Jia, Liangcai Cao, Xincheng Yao, Yongtian Wang, Takanori Nomura
PublisherSPIE
ISBN (Electronic)9781510655591
DOIs
Publication statusPublished - 2022
Event2021 International Conference on Optical Instruments and Technology: Optical Systems, Optoelectronic Instruments, Novel Display, and Imaging Technology - Virtual, Online, China
Duration: 8 Apr 202210 Apr 2022

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume12277
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Conference

Conference2021 International Conference on Optical Instruments and Technology: Optical Systems, Optoelectronic Instruments, Novel Display, and Imaging Technology
Country/TerritoryChina
CityVirtual, Online
Period8/04/2210/04/22

Keywords

  • Optical Coherence Tomography
  • Pose Optimization
  • Robotic Arm
  • System Calibration

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Cite this

Wu, C., Li, X., Huang, Y., Liu, J., Qiao, Z., Hao, Q., & Zheng, S. (2022). System Calibration and Pose Optimization for Robotic-arm-assisted Optical Coherence Tomography. In J. Liu, B. Jia, L. Cao, X. Yao, Y. Wang, & T. Nomura (Eds.), 2021 International Conference on Optical Instruments and Technology: Optical Systems, Optoelectronic Instruments, Novel Display, and Imaging Technology Article 122770M (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 12277). SPIE. https://doi.org/10.1117/12.2612003