Autonomous robotic alignment and dynamic illumination control of an ophthalmic slit lamp for in vivo anterior segment imaging.

SIGNIFICANCE: The slit lamp is the gold standard ophthalmic instrument for examining the anterior segment of the eye. Slit lamps require the mechanical stabilization of patients to facilitate alignment and a specialized technician to operate. The growing demand for ophthalmic care and shortages of specialists highlight the need for alternative diagnostic technologies. AIM: We demonstrate an autonomously aligning, contactless slit lamp enabled by a vision-guided robot to acquire anterior segment images without mechanical patient stabilization. APPROACH: We integrate three subsystems mounted to a collaborative robot arm: a custom optical system for dynamic slit illumination, vision-based sensors, and color cameras. A hierarchical control strategy is employed to maintain alignment. Programmable illumination patterns are projected onto the cornea to replicate slit-lamp examination maneuvers. RESULTS: The device autonomously aligned to the eyes of in vivo human subjects, and we collected color images of the anterior segment during alignment. Dynamic slit illumination compensated for motion with a latency of 86 ms, allowing slit alignment to be maintained during imaging without mechanical stabilization. CONCLUSIONS: These results demonstrate the feasibility of autonomous, contactless slit-lamp imaging through the use of robotic alignment and dynamic illumination. Such advancements could expand access to anterior segment diagnostic imaging.

Duke Scholars

Author Mark Draelos  

Author Ryan McNabb Ophthalmology, Corneal Diseases

Author Anthony Nanlin Kuo Ophthalmology, Corneal Diseases