Publication
DCT-Based Robotic-Assisted Photoacoustic Tomography for Vascular Longitudinal and Reproducible Monitoring in Human
A novel DCT-based frequency domain visual servoing algorithm for robotic-assisted photoacoustic tomography, enabling long-term reproducible vascular monitoring.
This paper proposes the first DCT-based frequency domain visual servoing algorithm for photoacoustic imaging, addressing the challenges of low frame rate and high noise in PAT systems.
Key Contributions:
- Proposed DCT-based frequency domain visual servoing algorithm
- Achieved 88.7% data dimension reduction using DCT energy concentration property
- Derived interaction matrix from frequency domain features to 6-DOF robot motion
Results:
- Completed automatic tracking of high-interference images within 112 cycles
- Achieved 98.7% image similarity
- 18.84% speed improvement compared to traditional DVS methods
(*equal contribution)
Mengdi Shi*, Chuan Chen*, Yuhan Chen, Guangquan Zhou, Yongjian Zhao, Yang Chen. (2025). "DCT-Based Robotic-Assisted Photoacoustic Tomography for Vascular Longitudinal and Reproducible Monitoring in Human." IEEE Transactions on Robotics.