Autoaligning and autofocusing robotic optical coherence tomography of the retina for subject motion, gaze, and defocus compensation

Optical coherence tomography (OCT) has revolutionized diagnostics in ophthalmology. Traditionally, OCT requires an operator and patient cooperation to compensate refraction error as well as align the scanner with the subject’s eye. We have developed a robot-mounted OCT scanner that automatically focuses and aligns with the subjects’ eye by compensating motion, gaze, and refraction error. The system utilizes a combination of face and pupil tracking cameras to align while focusing through digital control of a tunable lens. We demonstrate our system by self-aligning with human eyes subject to physiological motion and gaze change as well as correcting defocus of a phantom eye.