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. Author manuscript; available in PMC: 2021 May 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2020 Apr 16;2(2):176–187. doi: 10.1109/TMRB.2020.2988312

Fig. 7.

Fig. 7.

(a) Illustration of the failure case for Algorithm 1. Assuming the pCLE probe is currently in-focus. As the probe moves in the direction of the arrow, the image score will decrease due to the larger probe-to-tissue distance, without the probe movement in the axial direction. The safety feature implemented will move the probe away from the tissue. (b)(c)(d) Example of the fitted model, where (c) is the projected view of XZ plane and (d) is the projected view of YZ plane; Green surface: fitted local polynomial model of the retina. Red points: scanning path during the registration process. Blue points: sampled points where images are in-focus.