Robotic tissue scanning with biophotonic probe

PURPOSE: Raman spectroscopy is an optical imaging technique used to characterize tissue via molecular analysis. The use of Raman spectroscopy for real-time intraoperative tissue classification requires fast analysis with minimal human intervention. In order to have accurate predictions and classifications, a large and reliable database of tissue classifications with spectra results is required. We have developed a system that can be used to generate an efficient scanning path for robotic scanning of tissues using Raman spectroscopy. METHODS: A camera mounted to a robotic controller is used to take an image of a tissue slide. The corners of the tissue slides within the sample image are identified, and the size of the slide is calculated. The image is cropped to fit the size of the slide and the image is manipulated to identify the tissue contour. A grid set to fit around the size of the tissue is calculated and a grid scanning pattern is generated. A masked image of the tissue contour is used to create a scanning pattern containing only the tissue. The tissue scanning pattern points are transformed to the robot controller coordinate system and used for robotic tissue scanning. The pattern is validated using spectroscopic scans of the tissue sample. The run time of the tissue scan pattern is compared to a region of interest scanning pattern encapsulating the tissue using the robotic controller. RESULTS: The average scanning time for the tissue scanning pattern compared to region of interest scanning reduced by 4 minutes and 58 seconds. CONCLUSION: This method reduced the number of points used for automated robotic scanning, and can be used to reduce scanning time and unusable data points to improve data collection efficiency.