OCTN: Neural OCT Representations for Robot-Guided Precision Intervention

Ravi Prakash; Ryan P. McNabb; Patrick J. Codd; Shan Lin

cs.ROSep 6, 2026

OCTN: Neural OCT Representations for Robot-Guided Precision Intervention

Authors: Ravi Prakash, Ryan P. McNabb, Patrick J. Codd, Shan Lin

Organizations: Duke University, Durham, NC 27705 USA · Arizona State University, Phoenix, AZ 85287 USA

Abstract

Optical coherence tomography (OCT) offers compact, contactless, micron-scale imaging suitable for intraoperative guidance, but native OCT volumes are discretely sampled, anisotropic, and currently inefficient for downstream geometric reasoning and robot integration. We present OCTN (pronounced "octane"), an implicit neural representation framework that converts volumetric OCT scans into a continuous, differentiable, and spatially faithful tissue-intensity field. OCTN uses a two-stage hybrid training strategy that combines supervision from acquired voxels with inter-slice interpolations, preserving B-scan fidelity while improving continuity in sparsely sampled regions. For versatility, we first show that OCTN enables fast volumetric reasoning by storing the learned tissue representation natively on the GPU, supporting intensity-based spatial queries with up to 43x speedup over conventional CPU processing. We then demonstrate OCTN-enabled OCT-guided robotic laser surgery where the continuous tissue representation supports implicit surface discovery and surface-constrained path planning via multiple optimization strategies, including Newton- and SGD-based optimization. Next, OCTN enables reconstruction of dense volumetric structure from sparsely acquired B-scans, while reducing acquisition time by 4x and preserving clinically relevant structures. Across the newly generated Duke TissueOCT dataset and public OCT datasets, OCTN achieves robust, high-fidelity reconstruction with PSNR > 30 dB and training time < 10 s, while preserving surface consistency within 10 $μ$ m Chamfer distance relative to baseline reconstruction. The TissueOCT dataset and code are publicly available at raprakashvi.github.io/octn

Figures & tables

Fig. 1: System overview. a) OCTN maps discrete, anisotropic OCT voxels to a continuous tissue-intensity field using on-grid samples and off-grid inter-slice supervision. Its multiresolution hash-grid and MLP enable fast training, arbitrary spatial queries, and $4\times$ sparse acquisition. b) OCTN supports smooth, surface-aware robotic laser path planning. c) OCTN balances sparse C-scan reconstruction, image fidelity, fast 3D querying, and surface constraints. d) Its GPU-native representation enables threshold-based tissue queries with up to $43\times$ faster spatial reasoning.

Fig. 2: OCTN Framework and sparse reconstruction . a ) OCTN converts an anisotropically sampled OCT C-scan, $V_{\mathrm{Original}}$ , into a continuous neural volumetric representation. Volume is mapped to a canonical coordinate domain $[-1,1]^{3}$ , and an INR $f_{\theta}(x,y,z)\rightarrow I$ is trained using a two-stage strategy. Stage I combines acquired discrete voxels with interpolated inter-slice in ratio ( $\alpha$ ) to encourage off-grid continuity, while Stage II performs discrete-only refinement. The learned field can be queried at arbitrary resolution, enabling dense surface extraction and continuous volume rendering. b ) Sparse reconstruction protocol shown for $SF=2$ . The subsampled training volume, $V_{\mathrm{Train}}$ , is used to train OCTN, and held-out B-scans form $V_{\mathrm{GT}}$ for evaluation. OCTN predictions, $V_{\mathrm{Pred}}$ , are compared with ground truth and with trilinear interpolation (baseline) to quantify reconstruction quality at unobserved slice locations.

Tissue	Volumes
Porcine muscle, high SNR	5
Porcine muscle, low SNR	11
Chicken breast	12
Bovine tissue	11
Porcine muscle with dye	7
Total	46

TABLE I: Duke TissueOCT sample distribution.

Fig. 3: Intensity-based volumetric query. a) Baseline and OCTN tissue volumes across intensity ranges, with better agreement under reduced speckle. b) End-to-end runtime shows $2\times$ – $3\times$ OCTN speedup. c) Query-only runtime shows larger gains at higher voxel counts.

Fig. 4: OCTN-enabled path planning. a) Porcine tissue MIP with a $\mathbf{3\,mm\times 3\,mm}$ raster pattern; waypoints are colored by surface depth. b) Tissue surface with optimized raster paths. SGD enforces smoothness and reduces jerk, unlike Baseline and Newton. Methods are compared by c) path generation time, d) surface-hit rate within $5\%$ of target $\tau$ , and e) depth smoothness energy $\Sigma(\Delta^{2}y_{i})^{2}$ ( $\mathbf{mm^{2}}$ ).

Band	Chamfer (mm) $\downarrow$	Hausdorff (mm) $\downarrow$
$[0.2,0.4)$	$0.0423$	$1.572$
$[0.4,0.6)$	$0.0264$	$1.451$
$[0.6,1.0]$	$0.0158$	$0.963$

TABLE II: Volumetric query accuracy across OCT intensity bands.

Fig. 5: Sparse volume reconstruction. a) Qualitative B-scan comparison across $SF$ for OCTN and interpolation. Red boxes and white arrows mark interpolation-induced surface artifacts visible in $8\times$ and beyond. b) Global PSNR at native resolution $\left[256,512,512\right]$ . c) Held-out B-scan performance reported as mean $\pm 1\sigma$ over each volume. d) Chamfer distance (CD) quantifies reconstruction quality and spatial-feature preservation.

Dataset	Index	Global	ROI	ROI	$\boldsymbol{\Delta}$ ROI	$\mathbf{SNR_{GT}}$ $\uparrow$	$\mathbf{SNR_{Pred}}$ $\uparrow$	EPI $\sim 1$
		PSNR $\uparrow$ / SSIM $\uparrow$		PSNR $\uparrow$ / SSIM $\uparrow$	PSNR $\uparrow$ / SSIM $\uparrow$	(dB)	(dB)
Srinivasan	24	44.64 / 0.996	R1	44.81 / 0.997	+0.17 / +0.001	9.42	9.41	0.998
			R2	43.39 / 0.992	-1.25 / -0.004	3.32	3.32	0.977
			R3	43.60 / 0.999	-1.04 / +0.003	6.62	6.62	0.992
Harvard	100	45.05 / 0.995	R1	45.24 / 0.997	+0.19 / +0.002	4.87	4.86	0.990
			R2	46.09 / 0.999	+1.04 / +0.004	8.47	8.48	1.000

TABLE III: Global and local reconstruction performance across representative datasets.

\Delta m=m_{\mathrm{ROI}}-m_{\mathrm{global}}

Fig. 6: B-scan reconstruction : OCTN performance over Srinivasan [ 35 ] , Harvard GDP [ 36 ] , Noor Eye [ 37 ] , and variants of proposed TissueOCT data. For local metric estimation, regions marked as noise are shown in red, and signal in white, with results in Table III .

Fig. 7: OCTN performance across datasets. a) Training loss and PSNR, showing two-stage training reaches $>30$ dB PSNR within seconds. PSNR is computed on 16 uniformly spaced B-scans from 10 random volumes. b) Global PSNR and SSIM distributions. c) Speckle-noise reduction improves PSNR and SSIM as seen in TissueOCT (left) and Srinivasan (right) volumes.

Fig. 8: Porcine tissue ablation demonstration. a) RATS robotic laser platform integrating OCT and a laser scalpel. b) En face MIP of porcine with target region marked in red. c) Post-ablation tissue showing localized coagulation and discoloration, with corresponding d) thermal image. e) Smoothness comparison, showing SGD achieves the lowest smoothness energy in the physical experiment.

Strategy	$\boldsymbol{\alpha}$	Volume PSNR/SSIM $\uparrow$	128.5 PSNR/SSIM $\uparrow$
Discrete only	$0.00$	$35.26{\pm}1.44$ / $\mathbf{0.87{\pm}0.03}$	$22.86{\pm}3.19$ / $0.506{\pm}0.192$
OCTN, proposed	$\mathbf{0.20}$	$\mathbf{35.35{\pm}2.87}$ / $0.83{\pm}0.06$	$27.19{\pm}3.12$ / $0.667{\pm}0.160$
Low-interp.	$0.40$	$34.93{\pm}3.30$ / $0.81{\pm}0.08$	$28.04{\pm}3.00$ / $0.698{\pm}0.144$
Moderate-interp.	$0.60$	$34.32{\pm}3.50$ / $0.79{\pm}0.09$	$28.55{\pm}2.89$ / $0.713{\pm}0.134$
High-interp.	$0.80$	$33.62{\pm}3.48$ / $0.80{\pm}0.03$	$\mathbf{28.79{\pm}2.85}$ / $\mathbf{0.723{\pm}0.128}$
Interp. only	$1.00$	$32.74{\pm}3.34$ / $0.75{\pm}0.10$	$28.20{\pm}2.63$ / $0.716{\pm}0.120$

TABLE IV: Ablation of OCTN two-stage training on TissueOCT. Metrics are reported for the full volume and fractional B-scan 128.5.

Dataset	Method	PSNR $\uparrow$	SSIM $\uparrow$
Srinivasan [ 35 ]	CuNeRF	$12.98\pm 0.96$	$0.38\pm 0.09$
	OCTN	$\mathbf{41.99\pm 5.33}$	$\mathbf{0.97\pm 0.025}$
Harvard GDP [ 36 ]	CuNeRF	$24.70\pm 0.78$	$0.48\pm 0.06$
	OCTN	$\mathbf{44.55\pm 1.23}$	$\mathbf{0.99\pm 0.01}$
Noor Eye [ 37 ]	CuNeRF	$19.62\pm 1.95$	$0.30\pm 0.038$
	OCTN	$\mathbf{45.95\pm 1.27}$	$\mathbf{0.99\pm 0.00}$

TABLE V: Comparison of OCTN and CuNeRF [ 23 ] (

n=3

\sim 171

s/2.5k steps versus

\sim 394

min/250k steps.

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