Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging

Valerio Franchi; Rafael Garcia; Nuno Gracias; Ricard Campos; Josep Quintana; Sandra González-Villà; Mark Ventura; Nuria Ferrera; Clément Lenoir; Josep Malvehy

arXiv · 2609.10169

Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging

Valerio Franchi·Rafael Garcia·Nuno Gracias·Ricard Campos·Josep Quintana·Sandra González-Villà·Mark Ventura·Nuria Ferrera·Clément Lenoir·Josep Malvehy

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Abstract

This paper outlines the specifications and design approach used to construct a full body imaging scanner capable of capturing skin lesions at a dermatoscopic level using cameras mounted on the end-effectors of four UR10 manipulators. The system possesses a view-planning algorithm capable of appropriately selecting the best camera position to acquire images of moles, a high-level controller to allow the manipulators to work simultaneously and a collision-detector that halts the manipulators when they make contact with an object or a person. We evaluate the system through real-patient full-body scans, comparing acquired images against contact dermoscopy and an existing total-body photography system (Vectra) across clinically relevant lesion features, and quantify true optical resolving power using a USAF 1951 resolution target, yielding a smallest resolvable feature size of 22.1 microns for our scanner compared to 8.8 microns for contact dermoscopy. Results show the scanner consistently outperforms Vectra across most clinically relevant features and achieves comparable performance to contact dermoscopy for the majority of features assessed. By acquiring dermatoscopic-quality images automatically and without contact, and without requiring a separate manual dermoscopic examination, the scanner closes part of the gap between total-body photography and handheld dermoscopy, suggesting potential for future integration into screening workflows.

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Valerio Franchi, Rafael Garcia, Nuno Gracias, Ricard Campos, Josep Quintana, Sandra González-Villà, Mark Ventura, Nuria Ferrera, Clément Lenoir, Josep Malvehy. 2026-09-10. Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging. https://arxiv.org/abs/2609.10169

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