Wu, Ying-ChuYing-ChuWuHsiang-Chieh LeeYU-TEN JUSHU-CHIEN HUANGCHENG-WEI CHEN2025-09-042025-09-042025https://scholars.lib.ntu.edu.tw/handle/123456789/731763https://www.scopus.com/record/display.uri?eid=2-s2.0-105010920060&origin=resultslistThis article presents a real-time RGB-D imaging system for robot-assisted remote microsurgery, integrating advanced optics, mechatronics, and dynamic control theory. The system combines a swept-source optical coherence tomography (SS-OCT) probe with a micro RGB camera, exploiting the SS-OCT’s high depth resolution and fast scan rate to generate accurate depth maps co-registered with the camera’s color data. A dual-axis galvanometer scanner, controlled by a fractional-order repetitive control algorithm with a data-driven inverse filter, enables real-time imaging at 30 fps with dynamically adjustable scan areas. Experimental evaluations highlight the system’s exceptional depth-sensing capabilities, including sub-millimeter resolution, precise depth mapping, and smooth dynamic scanning. In addition, the system enhances visual guidance during robotic microsurgery, as validated in teleoperated vessel ligation on a phantom and a cadaveric porcine model. © 1996-2012 IEEE.enData-driven galvanometer controlfractional-order repetitive controlRGB-D imagingrobotic microsurgeryswept-source optical coherence tomography (SS-OCT)teleoperation[SDGs]SDG3journal article10.1109/TMECH.2025.3583784