Scholars@Duke
Mark Draelos

Mark Draelos

Affiliate
Biomedical Engineering

Scholarly Works

An intelligent point-of-care photoacoustic and ultrasound dual-modality imaging system for Rheumatoid arthritis in fingers: Technical development and initial clinical test.

Journal article Photoacoustics · August 2026 Aiming at an intelligent point-of-care imaging technology for rheumatology clinics, a fully automatic 3D photoacoustic (PA) and ultrasound (US) dual-modality system driven by a robot and powered by deep learning (DL)-based image processing was developed. A ... Full text Cite

Very Preterm Infant Retinal Microanatomy at 36 Weeks' Postmenstrual Age and 2-Year Neurodevelopment.

Journal article JAMA Ophthalmol · June 4, 2026 IMPORTANCE: If noninvasive optical coherence tomography (OCT) retinal imaging could predict 2-year neurodevelopment of very preterm (VPT; <32 weeks' gestational age) infants in neonatal intensive care, it might help to guide management. OBJECTIVE: To evalu ... Full text Link to item Cite

Optical Coherence Tomography with Fluorescein Optical Clearing for Transscleral Image Guidance

Journal article International Journal of Translational Medicine · March 1, 2026 Background: Scattering of the sclera limits optical coherence tomography (OCT) imaging of deeper targets including lesions, malignancies, and other surgical targets. While existing applications of fluorescein dye are currently focused on fluorescence prope ... Full text Cite

Imaging Eyes in Motion: Dynamic Compensation with Robotic Optical Coherence Tomography

Conference International Symposium on Medical Robotics Ismr · January 1, 2026 Motion is a longstanding challenge faced in ophthalmic imaging. Patients undergoing Optical Coherence Tomography (OCT) eye exams rely on mechanical stabilization to suppress motion during high-quality imaging, which is a significant barrier for patients wi ... Full text Cite

Photoacoustic imaging combined with robotics: a review of current works.

Journal article Biomedical optics express · November 2025 Photoacoustic imaging (PAI) is a hybrid imaging modality that combines optical excitation with ultrasound (US) detection to achieve high-resolution, high-contrast imaging of biological tissues. As a non-ionizing and scalable imaging technique, PAI has been ... Full text Cite

Volumetric ultrasound and photoacoustic imaging of inflammatory arthritis in human finger joints via robotic arm powered arc scans.

Journal article Biomedical optics express · November 2025 Ultrasound (US) imaging is a standard clinical tool for assessment of soft tissue inflammation, particularly for imaging the peripheral joints of the hands and feet, which are usually the first to be affected by rheumatoid arthritis. Robotic US has recentl ... Full text Cite

Cost reduction and quality preservation with digital scanner interfaces for optical coherence tomography.

Journal article Journal of biomedical optics · November 2025 SignificanceOptical coherence tomography (OCT) systems are traditionally decomposed into engine and scanner components with an expensive and noise-prone analog interface to communicate the scan pattern between the two. Although simple and convenie ... Full text Cite

Optical Coherence Tomography with Fluorescein Optical Clearing for Transscleral Image Guidance.

Journal article bioRxiv · July 5, 2025 Optical coherence tomography (OCT) is a non-invasive, three-dimensional imaging modality demonstrated to yield a wealth of high-resolution structural and functional information in a variety of biomedical imaging applications. However, there is a significan ... Full text Link to item Cite

Robot Characters for Innovative Medical Eye Exams in Kids

Conference DIS 2025 Proceedings of the 2025 ACM Designing Interactive Systems Conference · July 4, 2025 We contribute to new design directions towards robots that can socially engage with pediatric patients while imaging their eyes reliably. Eye imaging is essential to diagnose and manage ocular diseases, but practically impossible to conduct due to children ... Full text Cite

Clinical Simulation with Mobile Robotic Optical Coherence Tomography System

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2025 Link to item Cite

Mobile Robotic Optical Coherence Tomography System for Ophthalmic Imaging in Clinical Environments.

Journal article Int Symp Med Robot · May 2025 Optical coherence tomography (OCT) is an indispensable imaging modality for the diagnosis and management of many common eye diseases. We previously presented a fixed-base robotic OCT system to enable automated imaging and alleviate the necessity for restri ... Full text Link to item Cite

Sensor-driven digital motion correction of robotically-aligned optical coherence tomography retinal volumes.

Journal article Biomed Opt Express · April 1, 2025 Optical coherence tomography (OCT) has revolutionized diagnostics in retinal ophthalmology. Traditional OCT requires minimal relative motion between the subject and scanner, which is difficult to achieve with handheld devices and/or non-stabilized subjects ... Full text Link to item Cite

Pupil wobble in point-scanning retinal optical coherence tomography systems.

Journal article Opt Lett · March 15, 2025 Optical coherence tomography (OCT) systems utilize 2D scanning methods to acquire reflectance-based volumetric images of samples, such as the human retina, with micrometer-scale depth resolution. A common method for performing this scanning at high speeds ... Full text Link to item Cite

Robotics and optical coherence tomography: current works and future perspectives [Invited].

Journal article Biomed Opt Express · February 1, 2025 Optical coherence tomography (OCT) is an interferometric technique for micron-level imaging in biological and non-biological contexts. As a non-invasive, non-ionizing, and video-rate imaging modality, OCT is widely used in biomedical and clinical applicati ... Full text Link to item Cite

New Directions for Ophthalmic OCT - Handhelds, Surgery, and Robotics.

Journal article Transl Vis Sci Technol · January 2, 2025 The introduction of optical coherence tomography (OCT) in the 1990s revolutionized diagnostic ophthalmic imaging. Initially, OCT's role was primarily in the adult ambulatory ophthalmic clinics. Subsequent advances in handheld form factors, integration into ... Full text Link to item Cite

Dynamics-aware deep predictive adaptive scanning optical coherence tomography.

Journal article Biomedical optics express · January 2025 Conventional scanned optical coherence tomography (OCT) suffers from the frame rate/resolution tradeoff, whereby increasing image resolution leads to decreases in the maximum achievable frame rate. To overcome this limitation, we propose two variants of ma ... Full text Cite

Reducing Cost but not Quality with Digital Scanner Interfaces for Optical Coherence Tomography

Conference Progress in Biomedical Optics and Imaging Proceedings of SPIE · January 1, 2025 Optical coherence tomography (OCT) systems are traditionally decomposed into engine and scanner components with an expensive and noise-prone analog interface to communicate the scan pattern between the two. Although simple and convenient, analog signals ar ... Full text Cite

Adaptive Self-sealing Soft Robotic Face Mask (SRFM) with Particle Jamming

Conference 2025 IEEE 8th International Conference on Soft Robotics Robosoft 2025 · January 1, 2025 The bag valve mask (BVM) is an essential and ubiquitous healthcare tool for ventilatory support of patients in all manner of settings, from routine operating procedures to first responder cardiopulmonary resuscitation. Despite its prevalence, the BVM is di ... Full text Cite

Geometry-Aware Volumetric Data Stitching Using Local Surface Mapping and Robot Optical Coherence Tomography

Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2025 Optical coherence tomography (OCT) has been widely used for high-fidelity biological tissue scanning but is traditionally limited to small lateral fields of view that preclude large-area scanning. To overcome this problem, we propose an integration of an O ... Full text Cite

Reinforcing Learning Objectives through Hands-on Labs for University of Michigan’s ROB204: Introduction to Human-Robot Systems

Conference ASEE Annual Conference and Exposition Conference Proceedings · January 1, 2025 The University of Michigan Robotics program focuses on robotics as an embodied intelligence, where robots must sense, reason, act, and work with people to improve quality of life and productivity equitably across society. ROB 204 is an introductory course ... Cite

Dual-Arm Teleoperated Robotic Microsurgery System with Live Volumetric OCT Image Feedback

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2025 In microsurgery, surgeons frequently encounter challenges due to the need for exceptional precision and dexterity, the lack of depth perception for micro-scale surgical maneuvers, and the inevitable effects of fatigue and hand tremor. In surgical robotics, ... Full text Cite

In vivo megahertz A-scan rate ophthalmic robotically aligned optical coherence tomography

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2024 Link to item Cite

Real-time tracked intraoperative OCT using synthetically trained machine learning models

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2024 Link to item Cite

Robot integrated dual-view color ophthalmic slit lamp system

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2024 Link to item Cite

Active Motion Cancellation for Robotic Optical Coherence Tomography of Moving Eyes: A Nystagmus Phantom Study.

Journal article ... International Symposium on Medical Robotics. International Symposium on Medical Robotics · June 2024 Optical coherence tomography (OCT) is a preferred imaging technology in ophthalmology for diagnosis and management of eye disease. Standard-of-care clinical OCT systems require patients to sit upright, brace their head against the instrument, and fix their ... Full text Cite

Predictive scan aiming for optical coherence tomography imaging during simulated nystagmus

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2024 Link to item Cite

Low-latency surgical scene imaging with scene prediction and dynamics -aware scans

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2024 Link to item Cite

Longitudinal Choroidal Development in Preterm Infants.

Journal article Ophthalmol Sci · 2024 PURPOSE: To characterize changes in subfoveal choroidal thickness in preterm infants from 30 to 60 weeks' postmenstrual age (PMA). DESIGN: The prospective, observational Study of Eye Imaging in Preterm infantS (BabySTEPS) enrolled infants eligible for reti ... Full text Link to item Cite

Efficient Anterior Chamber Cell Phantom Tracking Using Adaptive Scanning OCT

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2023 Link to item Cite

Real-time dual sample imaging using Vortex open-source OCT software library

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2023 Link to item Cite

Robotic Optical Coherence Tomography Retinal Imaging for Emergency Department Patients: A Pilot Study for Emergency Physicians' Diagnostic Performance.

Journal article Ann Emerg Med · April 2023 STUDY OBJECTIVE: To evaluate the diagnostic performance of emergency physicians' interpretation of robotically acquired retinal optical coherence tomography images for detecting posterior eye abnormalities in patients seen in the emergency department (ED). ... Full text Link to item Cite

Robotic Optical Coherence Tomography of Human Subjects with Posture-Invariant Head and Eye Alignment in Six Degrees of Freedom.

Conference Int Symp Med Robot · April 2023 Ophthalmic optical coherence tomography (OCT) has achieved remarkable clinical success but remains sequestered in ophthalmology specialty offices. Recently introduced robotic OCT systems seek to expand patient access but fall short of their full potential ... Full text Link to item Cite

Time-Optimal Spiral Trajectories with Closed-Form Solutions.

Journal article IEEE robotics and automation letters · April 2023 The Archimedean spiral is space-filling plane curve that is found in applications ranging from coverage path planning for robot exploration to scan pattern generation for medical imaging. The constant linear velocity (CLV) parameterization of this spiral i ... Full text Cite

Adaptive point-scan imaging beyond the frame rate-resolution limit with scene-reactive scan trajectories.

Journal article Optica · November 20, 2022 Point-scanned imaging modalities, such as optical coherence tomography (OCT), are subject to frame rate limits governed by image resolution, sampling rate, and scanner dynamics. For scenes with dynamic features on static backgrounds, adaptive scanning esca ... Full text Link to item Cite

Optical coherence tomography refraction and optical path length correction for image-guided corneal surgery.

Journal article Biomed Opt Express · September 1, 2022 Optical coherence tomography (OCT) may be useful for guidance of ocular microsurgeries such as deep anterior lamellar keratoplasty (DALK), a form of corneal transplantation that requires delicate insertion of a needle into the stroma to approximately 90% o ... Full text Link to item Cite

Real-time wide-field spectral-scanning FMCW coherent 3D imaging and velocimetry

Journal article Optics Letters · August 15, 2022 We present a real-time spectral-scanning frequencymodulated continuous wave (FMCW) 3D imaging and velocimetry system that can produce 3D depth maps at 33 Hz, with 48°×68° field of view (FOV) and 32.8-cm depth range. Each depth map consists of 507×500 pixel ... Full text Cite

Autonomous Robotically Aligned OCT Enables Remote, Telehealth Retinal Imaging and Angiography

Conference Investigative Ophthalmology and Visual Science · June 1, 2022 Link to item Cite

Data-Driven Modelling and Control for Robot Needle Insertion in Deep Anterior Lamellar Keratoplasty.

Journal article IEEE Robot Autom Lett · April 2022 Deep anterior lamellar keratoplasty (DALK) is a technique for cornea transplantation which is associated with reduced patient morbidity. DALK has been explored as a potential application of robot microsurgery because the small scales, fine control requirem ... Full text Link to item Cite

Robotically-Aligned Optical Coherence Tomography with Gaze Tracking for Live Image Montaging of the Retina

Conference Proceedings IEEE International Conference on Robotics and Automation · January 1, 2022 Optical coherence tomography (OCT) has revolutionized diagnostics in ophthalmology. However, it requires pa-tient cooperation to fixate on multiple targets and stabilize their head utilizing both chin and forehead rests. Patient cooperation is particularly ... Full text Cite

Real-time wide-FOV spectral-scanning FMCW 3D imaging and velocimetry

Conference Optics Infobase Conference Papers · January 1, 2022 We present a novel spectral-scanning FMCW 3D imaging and velocimetry system that can produce 3D depth maps of 507 × 500 pixels at 33 Hz, with 48° × 68° FOV and 32.8 cm depth range. ... Cite

Robotically aligned optical coherence tomography with 5 degree of freedom eye tracking for subject motion and gaze compensation.

Journal article Biomed Opt Express · December 1, 2021 Optical coherence tomography (OCT) has revolutionized diagnostics in ophthalmology. However, OCT requires a trained operator and patient cooperation to carefully align a scanner with the subject's eye and orient it in such a way that it images a desired re ... Full text Link to item Cite

Contactless optical coherence tomography of the eyes of freestanding individuals with a robotic scanner.

Journal article Nat Biomed Eng · July 2021 Clinical systems for optical coherence tomography (OCT) are used routinely to diagnose and monitor patients with a range of ocular diseases. They are large tabletop instruments operated by trained staff, and require mechanical stabilization of the head of ... Full text Link to item Cite

Autofocusing and Autoaligning Robotic Optical Coherence Tomography

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2021 Link to item Cite

Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration.

Journal article IEEE Trans Robot · August 2020 Ophthalmic microsurgery is technically difficult because the scale of required surgical tool manipulations challenge the limits of the surgeon's visual acuity, sensory perception, and physical dexterity. Intraoperative optical coherence tomography (OCT) im ... Full text Link to item Cite

Optical Coherence Tomography Guided Robotic Needle Insertion for Deep Anterior Lamellar Keratoplasty.

Journal article IEEE Trans Biomed Eng · July 2020 OBJECTIVE: Deep anterior lamellar keratoplasty (DALK) significantly reduces the post-transplantation morbidity in patients eligible for partial-thickness cornea grafts. The popular "big bubble" technique for DALK is so challenging, however, that a signific ... Full text Link to item Cite

Robotically Aligned OCT Imaging with Clinically Relevant Fields of View on the Retina

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 2020 Link to item Cite

Automatic optical coherence tomography imaging of stationary and moving eyes with a robotically-aligned scanner

Conference Proceedings IEEE International Conference on Robotics and Automation · May 1, 2019 Optical coherence tomography (OCT) has found great success in ophthalmology where it plays a key role in screening and diagnostics. Clinical ophthalmic OCT systems are typically deployed as tabletop instruments that require chinrest stabilization and train ... Full text Cite

Real-Time Image-Guided Cooperative Robotic Assist Device for Deep Anterior Lamellar Keratoplasty

Conference Proceedings IEEE International Conference on Robotics and Automation · September 10, 2018 Deep anterior lamellar keratoplasty (DALK) is a promising technique for corneal transplantation that avoids the chronic immunosuppression comorbidities and graft rejection risk associated with penetrating keratoplasty (PKP), the standard procedure. In DALK ... Full text Cite

OCT-Guided Cooperative Robotic Deep Anterior Lamellar Keratoplasty

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · July 1, 2018 Link to item Cite

Real- time Corneal Segmentation and 3D Needle Tracking in Intrasurgical OCT

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · July 1, 2018 Link to item Cite

Real-time corneal segmentation and 3D needle tracking in intrasurgical OCT.

Journal article Biomed Opt Express · June 1, 2018 Ophthalmic procedures demand precise surgical instrument control in depth, yet standard operating microscopes supply limited depth perception. Current commercial microscope-integrated optical coherence tomography partially meets this need with manually-pos ... Full text Link to item Cite

Real-time visualization and interaction with static and live optical coherence tomography volumes in immersive virtual reality.

Journal article Biomed Opt Express · June 1, 2018 Virtual reality (VR) head-mounted displays are an attractive technology for viewing intrasurgical optical coherence tomography (OCT) volumes because they liberate surgeons from microscope oculars. We demonstrate real-time, interactive viewing of OCT volume ... Full text Link to item Cite

Teleoperating robots from arbitrary viewpoints in surgical contexts

Conference IEEE International Conference on Intelligent Robots and Systems · December 13, 2017 Intraoperative 3D imaging has great potential for enhancing surgical visualization. This is especially so in ophthalmic surgery where live volumetric imaging from optical coherence tomography systems recently incorporated into surgical microscopes has free ... Full text Cite

Immersive Virtual Reality for Live Volumetric Optical Coherence Tomography

Conference INVESTIGATIVE OPHTHALMOLOGY & VISUAL SCIENCE · June 1, 2017 Link to item Cite

Review of intraoperative optical coherence tomography: technology and applications [Invited].

Journal article Biomed Opt Express · March 1, 2017 During microsurgery, en face imaging of the surgical field through the operating microscope limits the surgeon's depth perception and visualization of instruments and sub-surface anatomy. Surgical procedures outside microsurgery, such as breast tumor resec ... Full text Link to item Cite

Low-cost Gaze and Pulse Analysis using RealSense.

Journal article EAI Endorsed Trans. Ambient Syst. · 2016 Full text Cite

Intel realsense= real low cost gaze

Conference Image Processing (ICIP), 2015 IEEE International Conference on · 2015 Featured Publication Cite

Low-cost Gaze and Pulse Analysis using RealSense

Conference Proceedings of the 5th EAI International Conference on Wireless Mobile Communication and Healthcare · 2015 Cite

Received signal strength based bearing-only robot navigation in a sensor network field

Conference 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2014 Cite

Symmetry as a basis for perceptual fusion

Conference Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on · 2012 Cite

The Kinect up close: Adaptations for short-range imaging

Conference Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on · 2012 Featured Publication Cite