Adam Chromy

Robotic 3D scanner as an alternative to standard modalities of medical imaging

There are special medical cases, where standard medical imaging modalities are able to offer sufficient results, but not in the optimal way. It means, that desired results are produced with unnecessarily high expenses, with redundant informations or with needless demands on patient. This paper deals with one special case, where information useful for examination is the body surface only, inner sight into the body is needless. New specialized medical imaging device is developed for this situation.In the Introduction section, analysis of presently used medical imaging modalities is presented, which declares, that no available imaging device is best fitting for mentioned purposes. In the next section, development of the new specialized medical imaging device is presented, and its principles and functions are described. Then, the parameters of new device are compared with present ones. It brings significant advantages comparing to present imaging systems.

3D proximity laser scanner calibration

This paper deals with the calibration of scanner Velodyne HDL-64E that is used in field robotic applications. The aim of calibration is to improve the performance in advanced mapping algorithms such as robot evidence grids or octree. The proposed novel calibration method is founded on conditional adjustment for correlated measurements and using close range photogrammetry. The proposed calibration significantly improves scanner accuracy.

Multispectral 3D Surface Scanning System RoScan and its Application in Inflammation Monitoring and Quantification.

This paper presents experimental multispectral 3D surface scanning system RoScan, which is capable of capturing 3D models of a surface, containing a spatial representation of the object, colour of each point of the surface, its temperature and roughness. Such models are provided with accuracy up to ±0.12 mm and thermal resolution of 0.05◦C, what makes it suitable for 3D thermal body scanning in medicine. Basic principles, parameters, and functional capabilities are discussed, and developed tools for data analysis are presented. The RoScan system is suitable for early detection of inflamed regions and its objective quantification. It can be also used for evaluation of treatment suitability or for monitoring during a recovery process. To show this, the case study monitoring of inflammation related to eczema caused by an allergic reaction is presented. The inflammation development is studied using RoScan during eczema growth and after the application of two different external dermatologics – Protopic R

Intensity-Based Nonoverlapping Area Registration Supporting “Drop-Outs” in Terms of Model-Based Radiostereometric Analysis

A model-based radiostereometric analysis (MBRSA) is a method for precise measurement of prosthesis migration, which does not require marking the implant with tantalum beads. Instead, the prosthesis pose is typically recovered using a feature-based 2D-3D registration of its virtual model into a stereo pair of radiographs. In this study, we evaluate a novel intensity-based formulation of previously published nonoverlapping area (NOA) approach. The registration is capable of performing with both binary radiographic segmentations and nonsegmented X-ray images. In contrast with the feature-based version, it is capable of dealing with unreliable parts of prosthesis. As the straightforward formulation allows efficient acceleration using modern graphics adapters, it is possible to involve precise high-poly virtual models. Moreover, in case of binary segmentations, the nonoverlapping area is simply interpretable and useful for indicating the accuracy of the registration outcome. In silico and phantom evaluations were performed using a cementless Zweymüller femoral stem and its reverse engineered (RE) model. For initial pose estimates with difference from the ground-truth limited to ±4 mm and ±4°, respectively, the mean absolute translational error was not higher than 0.042 ± 0.035 mm. The error in rotation around the proximodistal axis was 0.181 ± 0.265°, and the error for the remaining axes was not higher than 0.035 ± 0.037°.

Three-dimensional Thermal Imaging in Medicine

The digital medical thermal imaging is valuable qualitative tool for detection of inflamed or necrotic areas, but it lacks the ability of quantification. The new 3D scanning system RoScan composed from robotic manipulator, laser scanner, color camera and thermal imager is presented, extending medical thermal imaging with possibility of quantification, allowing specific ROI selection and bringing higher thermal resolution in resulting outputs. It helps to solve the current problem of medical quantification, which permeates through the many medical sectors. The advantages of RoScan are demonstrated on sample experiment, which shows the benefits of proposed device.