Robotic Slit Lamp

Slit lamps are a common ophthalmic instrument used for examining the ocular anterior segment by projecting a rectangular beam of light onto the eye. Conventional slit lamp configurations require the patient to stabilize themselves using a chin rest and forehead band limiting access to patients who are mobility impaired. We have therefore developed a robotic slit lamp to allow for autonomous imaging of a slit on the eye of individuals without physical head stabilization.

We designed our custom slit lamp projection system in Zemax OpticStudio. Illumination was achieved through the use of a white LED. We utilize a fly’s homogizer consisting of a pair of rectangular microlens arrays and a Fourier lens to homogenize the beam. A rectangular aperture that determines the size of the slit follows the Fourier lens and is relayed out onto the image plane. We designed custom mechanics to mount the slit projection optics, slit imaging cameras, and pupil tracking cameras to a Universal Robots UR3e utilizing CAD modeling in Fusion360.

Development of an ophthalmic slit lamp module with dual color cameras for use with an autonomously aligning robotic armSlit lamps are a common ophthalmic instrument used for examining the ocular anterior segment by projecting a rectangular beam of light onto the eye. Conventional slit lamp configurations require the patient to stabilize themselves using a chin rest and forehead band limiting access to patients who are mobility impaired. We developed a slit lamp module for a robotic arm to allow for autonomous imaging of a slit on the eye of individuals without physical head stabilization at a working distance of 125 mm. Here we describe the optical performance of the custom slit lamp module and present autonomous aligned imaging of a corneal phantom mounted in a mannequin head.

iovs.arvojournals.org/article.aspx?articleid=2794945

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