Contents

Autonomous Ophthalmic OCT in Humans with Robotic Scanner

We developed an autonomous robotic system that acquires optically-stabilized optical coherence tomography (OCT) volumes over a large workspace. The system combines coarse-resolution face tracking with fine-resolution pupil tracking to bring the OCT scanner to the subject and attenuate residual motion artifact. We have successfully and safely imaged the eyes of over 40 human subjects (with institutional review board approval) and obtained results comparable to current clinical systems. This approach to OCT imaging may expand access to screening for chronic, progressive eye diseases, including diabetic retinopathy, age-related macular degeneration, and glaucoma.

• P. Ortiz, M. Draelos, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically-aligned optical coherence tomography with gaze tracking for image montaging of the retina. In IEEE International Conference on Robotics and Automation (ICRA), 3783–3789. May 2022. 43% acceptance rate. doi:10.1109/ICRA46639.2022.9812428.

• P. Ortiz, M. Draelos, C. Viehland, R. Qian, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically aligned optical coherence tomography with 5 degree of freedom eye tracking for subject motion and gaze compensation. Biomedical Optics Express, 12(12):7361–7376, Dec 2021. doi:10.1364/BOE.443537.

• M. Draelos, P. Ortiz, R. Qian, C. Viehland, R. McNabb, K. Hauser, A. N. Kuo, and J. A. Izatt. Contactless optical coherence tomography of the eyes of freestanding individuals with a robotic scanner. Nature Biomedical Engineering, 5(7):726–736, July 2021. doi:10.1038/s41551-021-00753-6.

• M. Draelos, P. Ortiz, R. Qian, B. Keller, K. Hauser, A. Kuo, and J. Izatt. Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner. In IEEE International Conference on Robotics and Automation (ICRA), 8897–8903. May 2019. 44% acceptance rate. doi:10.1109/ICRA.2019.8793524.

Videos

These videos provide a technical overview and demonstrate a real-life autonomous imaging session.

News

• National Eye Institute: NEI-funded technology promises to broaden access to retinal scanning

• Duke Ophthalmology: Robotic Optical Coherence Tomography System Demonstrates Potential to Improve Patient Care

• https://emag.medicalexpo.com/making-vital-eye-examinations-accessible-through-robotics/

References

1. M. Draelos, P. Ortiz, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Repeatable retinal imaging independent of posture and head pose with robotically-aligned optical coherence tomography. In SPIE Photonics West. 2023. Submitted.

2. R. P. McNabb, Y. Tian, A.-H. Dhalla, P. Ortiz, M. Draelos, J. A. Izatt, and A. N. Kuo. Interchangeable imaging platform for ophthalmic robotically aligned optical coherence tomography. In SPIE Photonics West. 2023. Submitted.

3. A. Narawane, M. Draelos, P. Ortiz, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically-aligned optical coherence tomography angiography with multiple illumination angles for enhanced vessel visualization. In SPIE Photonics West. 2023. Submitted.

4. P. Ortiz, A. Narawane, R. P. McNabb, A. N. Kuo, J. A. Izatt, and M. Draelos. Sensor-driven digital motion correction of robotically aligned optical coherence tomography retinal volumes. In SPIE Photonics West. 2023. Accepted.

5. M. Draelos, P. Ortiz, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Head orientation-independent optical coherence tomography with a robotically-aligned scanner. In Investigative Ophthalmology & Visual Science, volume 63, 4454. June 2022.

6. R. P. McNabb, A. Song, K.-M. Roh, P. Ortiz, M. Draelos, S. Schuman, G. J. Jaffe, J. A. Izatt, and A. N. Kuo. Autonomous robotically aligned OCT enables remote, telehealth retinal imaging and angiography. In Investigative Ophthalmology & Visual Science, volume 63, 4453. June 2022.

7. A. Narawane, P. Ortiz, M. Draelos, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Automated visualization of Henle's fiber layer and outer nuclear layer in retinal volumes using robotically-aligned optical coherence tomography. In Investigative Ophthalmology & Visual Science, volume 63, 3514. June 2022.

8. P. Ortiz, M. Draelos, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically aligned OCT enables synthetically increased field-of-view on automatically acquired retinal images. In Investigative Ophthalmology & Visual Science, volume 63, 4098. June 2022.

9. P. Ortiz, M. Draelos, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically-aligned optical coherence tomography with gaze tracking for image montaging of the retina. In IEEE International Conference on Robotics and Automation (ICRA), 3783–3789. May 2022. 43% acceptance rate. doi:10.1109/ICRA46639.2022.9812428.

10. R. P. McNabb, A. Song, K. M. Roh, J. Lusk, P. Ortiz, M. Draelos, S. Schuman, G. Jaffe, J. A. Izatt, and A. N. Kuo. Autonomous robotic alignment enables remote, telehealth OCT and OCTA retinal imaging. In SPIE Photonics West, number 11941-49. January 2022.

11. A. Narawane, P. Ortiz, M. Draelos, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Automated volumetric retinal imaging with complete visualization of Henleś fiber layer using robotically aligned optical coherence tomography. In SPIE Photonics West, number 11941-46. January 2022.

12. P. Ortiz, M. Draelos, A. Narawane, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically aligned optical coherence tomography with gaze tracking and retinal image montaging. In SPIE Photonics West – Digital Forum, number 11948-13. January 2022.

13. E. Y. Choi, A. Song, K.-M. Roh, P. Ortiz, M. Draelos, S. Chandramouli, J. A. Izatt, A. T. Limkakeng, R. P. McNabb, and A. N. Kuo. Remote fundus imaging of patients in the emergency department using robotically aligned OCT. In Women in Ophthalmology. 2021.

14. P. Ortiz, M. Draelos, C. Viehland, R. Qian, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Robotically aligned optical coherence tomography with 5 degree of freedom eye tracking for subject motion and gaze compensation. Biomedical Optics Express, 12(12):7361–7376, Dec 2021. doi:10.1364/BOE.443537.

15. M. Draelos, P. Ortiz, C. Viehland, R. P. McNabb, A. N. Kuo, and J. A. Izatt. Autonomous optical coherence tomography imaging of eyes of freestanding human subjects. In IEEE International Symposium on Medical Robotics. November 2021.

16. M. Draelos, P. Ortiz, R. Qian, C. Viehland, R. McNabb, K. Hauser, A. N. Kuo, and J. A. Izatt. Contactless optical coherence tomography of the eyes of freestanding individuals with a robotic scanner. Nature Biomedical Engineering, 5(7):726–736, July 2021. doi:10.1038/s41551-021-00753-6.

17. R. P. McNabb, P. Ortiz, K.-M. Roh, M. Draelos, S. G. Schuman, G. J. Jaffe, E. M. Lad, J. A. Izatt, and A. N. Kuo. Robotically aligned OCT enables physically distanced imaging and relevant measurements in a retina clinic population. In Investigative Ophthalmology & Visual Science, volume 62, 2457. June 2021.

18. P. Ortiz, M. Draelos, R. McNabb, A. Kuo, and J. Izatt. Autofocusing and autoaligning robotic optical coherence tomography. In Investigative Ophthalmology & Visual Science, volume 62, 2555. June 2021.

19. A. Song, P. Ortiz, M. Draelos, S. G. Schuman, G. J. Jaffe, S. Farsiu, J. A. Izatt, R. P. McNabb, and A. N. Kuo. Combining artificial intelligence and robotics: A semi-automated optical coherence tomography-based approach for posterior eye disease screening. In Investigative Ophthalmology & Visual Science, volume 62, 120. June 2021.

20. P. Ortiz, M. Draelos, R. P. McNabb, A. M. Narawane, C. Viehland, A. N. Kuo, and J. A. Izatt. Autoaligning and autofocusing robotic optical coherence tomography of the retina for subject motion, gaze, and defocus compensation. In SPIE Photonics West, volume 11630, 116300H. March 2021.

21. A. Song, P. Ortiz, M. Draelos, S. G. Schuman, G. J. Jaffe, S. Farsiu, J. A. Izatt, R. P. McNabb, and A. N. Kuo. Combining artificial intelligence and robotics: A novel fully automated optical coherence tomography-based approach for eye disease screening. In Journal of Clinical and Translational Science, volume 5, 122. March 2021.

22. R. McNabb, P. Ortiz, M. Draelos, J. Izatt, and A. Kuo. Robotically assisted optical coherence tomography for socially distanced clinical ophthalmic imaging. In SPIE Photonics West, volume 11623, 116231E. February 2021.

23. R. P. McNabb, P. Ortiz, M. Draelos, and J. A. Izatt. Robotically aligned OCT imaging with clinically relevant fields of view on the retina. In Investigative Ophthalmology & Visual Science, volume 61, 3252. June 2020.

24. P. Ortiz, M. Draelos, R. P. McNabb, R. Qian, C. Viehland, A. N. Kuo, and J. A. Izatt. Robotically aligned OCT for subject eye translation and rotation compensation. In Investigative Ophthalmology & Visual Science, volume 61, 2575. June 2020.

25. P. Ortiz, M. Draelos, R. McNabb, A. Kuo, and J. Izatt. Robotically-aligned optical coherence tomography with 5-degree of freedom eye tracking for subject motion and gaze compensation. In SPIE Photonics West. February 2020.

26. M. Draelos, P. Ortiz, R. Qian, C. Viehland, K. Hauser, A. Kuo, and J. Izatt. Robotically aligned OCT scanner for automated patient tracking retinal imaging. In Investigative Ophthalmology & Visual Science, volume 60, 1268. July 2019.

27. M. Draelos, P. Ortiz, R. Qian, B. Keller, K. Hauser, A. Kuo, and J. Izatt. Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner. In IEEE International Conference on Robotics and Automation (ICRA), 8897–8903. May 2019. 44% acceptance rate. doi:10.1109/ICRA.2019.8793524.

28. M. Draelos, P. Ortiz, R. Qian, C. Viehland, B. Keller, T. DuBose, A. Kuo, and J. Izatt. Robotically-aligned optical coherence tomography for automatic imaging of stationary and moving eyes. In SPIE Photonics West. Feb 2019.

29. M. Draelos, J. Izatt, A. Kuo, P. Ortiz, and R. McNabb. Robotically-aligned optical coherence tomography for automatic imaging of stationary and moving eyes. US Patent Application 17/413,996.

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