Feasibility of robotic-assisted optical coherence tomography with extended scanning area for pre-transplant kidney monitoring

Xihan Ma; Mousa Moradi; Haithem Mustafa; Martin Hunter; Yu Chen; Haichong K. Zhang

doi:10.1117/12.2612677

16 April 2022 Feasibility of robotic-assisted optical coherence tomography with extended scanning area for pre-transplant kidney monitoring

Xihan Ma, Mousa Moradi, Haithem Mustafa, Martin Hunter, Yu Chen, Haichong K. Zhang

Author Affiliations +

Proceedings Volume 11948, Optical Coherence Tomography and Coherence Domain Optical Methods in Biomedicine XXVI; 1194803 (2022) https://doi.org/10.1117/12.2612677
Event: SPIE BiOS, 2022, San Francisco, California, United States

Abstract

Optical coherence tomography (OCT) is a medical imaging modality that can be used to quantify microstructural parameters of human kidneys in the cross-sectional view for kidney transplant surgeries to identify the organ’s health status. Existing desktop OCT devices suffer from limited scan area; therefore, it is difficult to evaluate the entire kidney. We explore the feasibility of combining the OCT system with a 7 degree-of-freedom robotic manipulator to leverage the robot’s large workspace and high localization accuracy for wider scan area and precise tracking of the OCT probe. With the proposed robotic-OCT procedure, the tissue sample can be detected using an RGB-depth camera for OCT scan path generation and scanned with online probe height optimization. A feasibility study was carried out by scanning an ex-vivo porcine kidney with the robotic-OCT system. Results show that over 38% of the tissue can be scanned. The tissue surface anatomy can be correctly reflected in 3D OCT image stitching; The online probe height optimization is able to maintain a constant distance between the probe and the tissue surface.

Conference Presentation

Citation Download Citation

Xihan Ma, Mousa Moradi, Haithem Mustafa, Martin Hunter, Yu Chen, and Haichong K. Zhang "Feasibility of robotic-assisted optical coherence tomography with extended scanning area for pre-transplant kidney monitoring", Proc. SPIE 11948, Optical Coherence Tomography and Coherence Domain Optical Methods in Biomedicine XXVI, 1194803 (16 April 2022); https://doi.org/10.1117/12.2612677

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