Abstract
Chronic wounds, or wounds that are not healing properly, are a worldwide health problem that affect the global economy and population. Alongside with aging of the population, increasing obesity and diabetes patients, we can assume that costs of chronic wound healing will be even higher. Wound assessment should be fast and accurate in order to reduce the possible complications, and therefore shorten the wound healing process. Contact methods often used by medical experts have drawbacks that are easily overcome by non-contact methods like image analysis, where wound analysis is fully or partially automated. This paper describes an automatic wound recording system build upon 7 DoF robot arm with attached RGB-D camera and high precision 3D scanner. The developed system presents a novel NBV algorithm that utilizes surface-based approach based on surface point density and discontinuity detection. The system was evaluated on multiple wounds located on medical models as well as on real patents recorded in clinical medical center.
Highlights
Chronic wounds, or wounds that are not healing properly, are a worldwide health problem that affect the global economy and population
Alignment stage aims to create a coherent 3D point cloud by integrating all recordings, made up to this point in time, into one global point cloud which integrating all recordings, made up to this point in time, into one global point cloud which will be analyzed for possibility of finding best view and in the end be used for creation will be analyzed for possibility of finding best view and in the end be used for creaof final point cloud
Hypothesis generation stage produces a list of possible hypotheses for the next best view (NBV), which are evaluated based on the number of surface deficiencies that can be seen from those poses in order to eliminate them, as well as the distance from the current recording position in order to minimize the distance traveled by robot during the whole recording procedure
Summary
Chronic wounds heal very slowly, and the healing process may further be prolonged if an ineffective treatment is used. Chronic wound analysis methods can be divided into contact and non-contact methods Contact methods such as manual planimetry using rulers, transparency tracing, color dye injection, and alginate molds, are considered traditional and have been used mostly in the past [1,2]. Part of can the occlude wound other can occlude other parts from whencertain viewed from certain di When reconstructing such wounds as a 3D model, the recording process complex and requiring number of stages and a multitude of recording positions. DoF parts of the recorded wound surface The development of such automated syste (Degrees of Freedom) robot arm and high precision is theprecision topic and3D the main is the to a 7 DoF (Degrees of aFreedom) robot 3D armscanner and a high scanner scientific contribution of this paper.
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