The RoScan is a novel, high-accuracy multispectral surface scanning system producing colored 3D models that include a thermal layer. (1) Background: at present, medicine still exhibits a lack of objective diagnostic methods. As many diseases involve thermal changes, thermography may appear to be a convenient technique for the given purpose; however, there are three limiting problems: exact localization, resolution vs. range, and impossibility of quantification. (2) Methods: the basic principles and benefits of the system are described. The procedures rely on a robotic manipulator with multiple sensors to create a multispectral 3D model. Importantly, the structure is robust, scene-independent, and features quantifiable measurement uncertainty; thus, all of the above problems of medical thermography are resolved. (3) Results: the benefits were demonstrated by several pilot case studies: medicament efficacy assessment in dermatology, objective recovery progress assessment in traumatology, applied force quantification in forensic sciences, exact localization of the cause of pain in physiotherapy, objective assessment of atopic dermatitis, and soft tissue volumetric measurements. (4) Conclusion: the RoScan addresses medical quantification, which embodies a frequent problem in several medical sectors, and can deliver new, objective information to improve the quality of healthcare and to eliminate false diagnoses.

• Keywords
• 3D thermography, high-accuracy 3D scanning, multimodal imaging, multispectral imaging, robotic 3D scanning,
• MeSH
• Dermatitis, Atopic diagnosis   MeSH
• Humans MeSH
• Pain Measurement MeSH
• Robotics * MeSH
• Forensic Sciences MeSH
• Thermography * MeSH
• Imaging, Three-Dimensional * MeSH
• Check Tag
• Humans MeSH
• Publication type
• Journal Article MeSH

OBJECTIVES: At present, medical thermal imaging is still considered a mere qualitative tool enabling us to distinguish between but lacking the ability to quantify the physiological and nonphysiological states of the body. Such a capability would, however, facilitate solving the problem of medical quantification, whose presence currently manifests itself within the entire healthcare system. METHODS: A generally applicable method to enhance captured 3D spatial data carrying temperature-related information is presented; in this context, all equations required for other data fusions are derived. The method can be utilized for high-density point clouds or detailed meshes at a high resolution but is conveniently usable in large objects with sparse points. RESULTS: The benefits of the approach are experimentally demonstrated on 3D thermal scans of injured subjects. We obtained diagnostic information inaccessible via traditional methods. CONCLUSION: Using a 3D model and thermal image data fusion allows the quantification of inflammation, facilitating more precise injury and illness diagnostics or monitoring. The technique offers a wide application potential in medicine and multiple technological domains, including electrical and mechanical engineering.

• MeSH
• Algorithms MeSH
• Humans MeSH
• Thermography instrumentation   MeSH
• Inflammation diagnostic imaging   MeSH
• Imaging, Three-Dimensional instrumentation   MeSH
• Check Tag
• Humans MeSH
• Publication type
• Journal Article MeSH
• Research Support, Non-U.S. Gov't MeSH