Robotic OCT Scanner with Optical Tracking for Motion Compensation

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Solution Overview

Problem

Current Optical Coherence Tomography (OCT) systems are limited by their large size, need for mechanical head stabilization, and requirement for trained operators, restricting their use to cooperative patients in controlled environments.

Innovation Solution

A robotic system that includes a scanner configured to image the eye, a mechanism to move the scanner, and tracking cameras to monitor the subject and target feature, allowing for autonomous alignment and motion compensation without the need for mechanical stabilization or trained operators.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If mechanical head stabilization (chinrests or forehead straps) is used for eye alignment and motion suppression, then imaging stability is improved, but patient comfort and ease of operation deteriorate

Engineering Contradiction:

Improveimaging stabilityVSAvoidpatient comfort

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The patent replaces mechanical head stabilization systems (chinrests, forehead straps) with an optical tracking system that uses cameras to monitor eye position and a robotic arm to dynamically reposition the scanner. This substitution eliminates the need for mechanical constraints on the patient's head while maintaining imaging stability through active motion compensation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If self-alignment components are added to tabletop scanners, then operator skill requirements are reduced, but device size and weight increase

Engineering Contradiction:

Improveoperator skill requirementsVSAvoidscanner weight

Core Design Contradiction:

Ease of operationVSWeight of stationary object

Solution Approach 1:

The patent replaces bulky self-alignment mechanical components with a lighter robotic positioning system combined with optical tracking cameras. The robotic arm provides precise scanner repositioning while the cameras enable automated eye tracking, achieving self-alignment functionality with reduced weight compared to traditional mechanical self-alignment systems.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Area of stationary object

If handheld OCT scanners are used to reduce size and improve portability, then workspace requirements are reduced, but alignment precision and image quality deteriorate

Engineering Contradiction:

Improveworkspace requirementsVSAvoidalignment precision

Core Design Contradiction:

Area of stationary objectVSMeasurement precision

Solution Approach 1:

The patent transforms the handheld scanner from a static portable device into a dynamic system with active motion compensation. The robotic arm enables the scanner to dynamically reposition itself in real-time based on tracked eye movements, maintaining alignment precision despite the reduced workspace and portable form factor.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent implements a feedback loop where tracking cameras continuously monitor eye position, the controller processes this information, and the robotic arm adjusts scanner position accordingly. This closed-loop feedback system maintains alignment precision in the portable handheld configuration that would otherwise be impossible to achieve.

Inventive Principle:

Principle #23Feedback

4Adaptability or versatility

If automated alignment components are added to make scanners handheld, then portability is improved, but the scanner becomes more unwieldy and complex

Engineering Contradiction:

ImproveportabilityVSAvoidscanner complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent integrates multiple functions into unified components: the robotic arm serves both as a positioning mechanism and a support structure for mounting the scanner, while the tracking cameras serve dual purposes of eye tracking and alignment monitoring. This multi-functionality reduces overall system complexity despite the portable design.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12310661B2Systems and methods for imaging a target feature of a subject based on tracked positions of the subject and the target feature

Publication Date: 2025.05.27 DUKE UNIV

AI summary

Systems and methods for imaging a target feature of a subject based on the tracked positions of the subject and the target feature are disclosed. According to an aspect, a system includes a scanner configured to image a target feature of a subject. The system includes a mechanism configured to move the scanner. Further, the system includes a subject tracker configured to track positioning of the subject. The system includes a feature tracker configured to track positioning of the target feature. A controller is configured to control the mechanism to move the feature tracker to a position such that the feature tracker is operable to track a position of the target feature. The controller controls the mechanism to move the scanner to a position such that the scanner is operable to image the target feature based on the tracked position of the target feature by the feature tracker.