The EYESIGHT Robotic Eye Examination System for Non-Mydriatic Indirect Retinal Imaging on Unconstrained Individuals

This paper presents an automated, contactless posterior eye examination system that can perform non-mydriatic retinal examinations at safe distances from unconstrained individuals. The system operates in a dimly lit room, tracking the patient’s face and anatomy using infrared cameras, collecting screening-quality visible light images using flash photography when the patient’s pupil is aligned. The sensor system is mounted on a robot arm, which tracks the center of the patient’s head motion, locks onto the pupil, and captures images of the retina. The behavior control system completes an examination of both eyes and ensures that images are captured with minimal artifact. Feasibility studies on a phantom and users from the research team indicate that the system completes screening-quality bilateral retinal imaging in under 2 minutes.