CN105288865A - Skin laser treatment auxiliary robot and auxiliary method thereof - Google Patents
Skin laser treatment auxiliary robot and auxiliary method thereof Download PDFInfo
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- CN105288865A CN105288865A CN201510757714.1A CN201510757714A CN105288865A CN 105288865 A CN105288865 A CN 105288865A CN 201510757714 A CN201510757714 A CN 201510757714A CN 105288865 A CN105288865 A CN 105288865A
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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Abstract
The invention provides a skin laser treatment auxiliary robot and an auxiliary method thereof. The skin laser treatment auxiliary robot comprises an accurate positioning mobile robot, a therapeutic instrument laser probe, a visual identification and control system, a range finding device and a safety device. The therapeutic instrument laser probe is installed at the front end of the tail position of the mechanical arm of the accurate positioning mobile robot. The range finding device is installed at the side surface of the therapeutic instrument laser probe. The CMOS probe of the visual identification and control system is installed at the other side surface of the therapeutic instrument laser probe. The safety device is installed at the front end of the therapeutic instrument laser probe. The measured value outputted by the range finding device and the sensing signal outputted by the safety device are connected with the input end of the visual identification and control system. Output of the visual identification and control system is connected with and controls the accurate positioning mobile robot. Manual operation on a skin laser therapeutic instrument is replaced by the accurate positioning mobile robot so that the skin laser treatment auxiliary robot and the auxiliary method thereof have advantages of high degree of automation and accurate positioning and movement, and high-curative-effect, high-efficiency, safe and reliable skin laser treatment can be guaranteed.
Description
Technical field
The present invention relates to a kind of important treatment auxiliary robot of medical domain, be specifically related to a kind of skin laser treatment auxiliary robot and householder method thereof.
Background technology
Along with the popularization of skin laser treatment, laser beautifying technology, the medical treatment of dermatological laser project is carried out in the current whole nation, the mechanism that improves looks reaches 98.3 ten thousand.From technical merit, laser beautifying treatment is basic based on manual operations, at the bottom of automaticity, high to the dependency of laser therapy doctor.And doctor's number of every thousand people of China is only 0.79 of Japan, be only the half of Germany.People constantly increase this high-end technology demand of laser therapy, and corresponding high-quality laser therapy doctor extremely lacks, and it is extremely urgent that above-mentioned imbalance between supply and demand makes to research and develop a kind of laser therapy auxiliary robot that can substitute or improve man efficiency.
Medical Robot obtains exploitation and drops into rapidly clinical practice starting from the beginning of 21 century, is considered to the revolution in medical development history.Medical Robot integrates the novel crossed research field of the subjects such as medical science, biomechanics, mechanics, Mechanics of Machinery, computer graphics, computer vision, mathematical analysis, robot, have a wide range of applications on dual-use, and Medical Robot field is study hotspot wherein.The medical robotic system of viable commercial product comprises both at home and abroad: Leonardo da Vinci's surgical robot system, domestic highly skilled man surgical operation robot etc.The dexterity manipulation that surgeon provides through it, precise positioning and preoperative planning, can make sufferer surgical wound reduce, postoperative rapid recoverys orthobiosis etc., reaches accuracy and invasive two advantage greatly.Current Medical Robot's R&D direction is mainly auxiliary intracavity operation, and for the research and development of external Medical Robot, especially carries out the medical robotic system of therapeutic procedure, is still in the blank stage both at home and abroad.
Medical Robot has many technical advantages compared with Traditional Man technology, have become more meticulous, high speed, intellectuality, Wicresoft feature, can diagnostic symptom more accurately, scientific analysis pathology, reduces manual operation error.Meanwhile, environment resistant interference, overcome the aspects such as patient's function limit, compared with manual operation, there is unrivaled advantage.Therefore, Medical Robot China's sustain economic high speed development enter higher level in must substitute the traditional artificial technology of a part.
At present, really there is the problem being difficult to as follows overcome in the skin laser treatment based on manual operation:
In clinical practice, qualified laser therapy teacher often needs to possess theory study for many years and practice experience, just can guarantee the effect of laser therapy.In special situation (as: not good, tired, the emotion of light, periphery interference etc.), even if human operational error also easily appears in veteran laser doctor, severe patient can cause Endodontic failure, even disfeature.
In laser therapy, dermatological laser equipment major part commercial is at present hand-held, and laser doctor must manually in execution operation, and whole-course treatment must ensure that laser probe is vertical with the surface of target site skin, constant distance; Meanwhile, during unenhanced treatment, after single laser pulse is launched, laser probe will move with constant space, to guarantee not leave over treatment dead angle.Pure manual operations is difficult to avoid producing deviation, causes overmedication, deficiency or uneven first-class defect, affects laser therapy effect to a certain extent.
Another important problem is that the ergonomics parameter designing of dermatological laser equipment is improper; Or reach a certain specific indexes for laser, and another index be associated exceedes the limit of manual control.As: the laser pulse frequency of pulse laser equipment is up to more than 30HZ (too low frequency may cause treatment time to extend, and patient tolerance declines, patient's fatiguability), the displacement limits frequency only 3HZ of staff.If ensure accurate displacement, the displacement frequency of staff also will decline greatly.In this case, doctor often with custom, can only sacrifice certain aspect advantage of laser therapeutic equipment, carries out the treatment of " human intervention formula ".
Therefore, from above-mentioned some, current laser therapy is the treatment of empirical formula, is difficult to ensure the standardization of laser therapy, and treatment is depended on " maneuver ", " anticipation " and " estimation " for the treatment of doctor, and curative effect is difficult to guarantee.
Intelligent Medical Robot has efficiently, accurately, at a high speed, the inherent advantage such as anti-interference, parameter threshold is adjustable.Therefore, the exploitation of science also reasonably designs laser therapy machine people aid system, contributes to " bottleneck " difficult problem solving above-mentioned several long-standing problem laser therapy.
Summary of the invention
In view of prior art, the invention provides a kind of skin laser treatment auxiliary robot and householder method thereof, to realize that automaticity is high, accurate positioning, sport intellect, at a high speed, high curative effect, high efficiency skin laser treatment object.
The technical solution used in the present invention is as follows:
A kind of skin laser treatment auxiliary robot, comprises accurate positioning mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot.
In technique scheme, described accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot; The preferred planer-type mobile robot of the present invention.
In technique scheme, described visual identity and control system, comprise CMOS probe, image pick-up card and electronic computer, the image of CMOS probe acquires area for treatment and boundary position information, electronic computer processes the CMOS information gathered of popping one's head in and stores, and CMOS probe is connected with electronic computer by image pick-up card.
In technique scheme, one or more of described range unit employing laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system are used in combination.
In technique scheme, described safety device is one or both uses of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor.When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, information is passed to electronic computer by sensor, thus the urgency controlling accurate positioning mobile robot is stopped.
In technique scheme, described planer-type mobile robot adopts guide tracked connection with sick bed, and planer-type mobile robot be free to slide along guide rail, and planer-type mobile robot forms by XYZ axle mobile platform and around the mechanical arm that X-axis and Y-axis rotate; The action of mechanical arm is realized by five axes interpolation interlock by digital control technology; Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the rectilinear motion of XYZ axle mobile platform drives ball-screw by hybrid precision stepper motor, ball-screw drives XYZ axle mobile platform to realize again, the mechanical arm be connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor export by electronic computer and control.
A householder method for skin laser treatment auxiliary robot, comprising:
1) described skin laser treatment auxiliary robot, comprises accurate positioning mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot;
2) described accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot, the preferred planer-type mobile robot of the present invention, planer-type mobile robot and sick bed adopt guide tracked connection, and planer-type mobile robot can be free to slide along guide rail; Manually by naked eyes, Primary Location is carried out to area for treatment, then planer-type mobile robot is moved to relevant position, be of value to raising location efficiency;
3) planer-type mobile robot configuration visual identity and control system, comprise CMOS probe, image pick-up card, electronic computer; Wherein CMOS probe is placed in the side of therapeutic instrument laser probe, image and the boundary position information of CMOS probe for obtaining region to be treated, and electronic computer processes for the information gathered of popping one's head in CMOS and stores; CMOS probe is connected with computer by image pick-up card;
4) boundary information in region to be treated is accurately obtained, visual identity and control system are based on gradation of image freedom of information curved surface image reconstruction technique, according to the image of CMOS probe acquires, the curved surface treating area for treatment carries out reconstructed tissue, obtains the positional information of arbitrfary point on the exact boundry information in region to be treated and curved surface; Visual identity and control system treat the accurate extraction of the boundary information of area for treatment, effectively avoid the injury of laser irradiation to health;
5) overlap to make the light path of laser probe to vow with the method for target site to be treated, to ensure good therapeutic effect; Visual identity and control system, obtain the positional information of point to be treated and at adjacent different 2 by CMOS probe, vow positional information, and this method of autostore vows positional information by electronic computer process acquisition point of care and adjacent 2 methods forming slight flat; Computer controls the motion of accurate positioning mobile robot by five-axle linkage control card, drives the motion of therapeutic instrument laser probe, the light path of therapeutic instrument laser probe is vowed with this method and overlaps;
6) laser largely depends on the distance of therapeutic instrument laser probe and point of care to the effect of skin treating.In order to ensure good therapeutic effect, laser probe and the constant distance of point of care need be maintained;
7) obtained the surface information in the region to be treated reconstructed by visual identity and control system and treat requirement, the movement locus of initial setting therapeutic instrument laser probe; Simultaneously according to the range information of range unit the real time measure laser probe with point of care, do out position adjustment in time; Described range unit can select at least one diastimeter to find range to same position to improve range accuracy, gets its meansigma methods as measured value; The present invention preferably two phase laser distance measurement instrument finds range, and gets both meansigma methodss as final measured value;
8) in order to improve the safety of skin laser treatment instrument auxiliary robot, safety device is set in therapeutic instrument laser probe front end; Described safety device is one or both used in combination of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor, and when it touches human body skin and there is certain contact pressure, if this pressure exceedes limit value, information is passed to computer by it, thus the urgency controlling accurate positioning mobile robot is stopped; Equipment and therapeutic instrument laser probe can be effectively avoided to cause unexpected injury to human body in motor process;
9) as another kind of multi-degree-of-freemechanical mechanical arm formula mobile robot, by specific algorithm, the movement locus of the end actuating unit of multi-degree-of-freemechanical mechanical arm formula mobile robot is planned, driven the motion of therapeutic instrument laser probe by end actuating unit; Mechanical arm initiating terminal and bearing adopt guide rail to be connected;
10) carrying out in skin treating process, if patient have many places different parts need treatment, at least two multi-degree-of-freemechanical mechanical arm formula mobile robots can be adopted to treat it simultaneously, effectively improve therapeutic efficiency.
Skin laser treatment auxiliary robot of the present invention, the motion of therapeutic instrument laser probe is driven by accurate positioning mobile robot, replace manual operation skin laser treatment instrument, have automaticity high, locate, the advantage such as accurate of moving, be of value to and reduce hand labor intensity and manual operation error.Adopt visual identity and control system to replace eye recognition, and treat area for treatment and carry out image reconstruction, be conducive to the Boundary Recognition precision improving region to be treated, and ensure that the light path of laser probe is vowed with the method for point of care as far as possible and overlap; Thus both can avoid the injury of laser irradiation to healthy skin, in turn ensure that the curative effect of skin laser treatment.The range unit the real time measure therapeutic instrument laser probe of skin laser treatment auxiliary robot and the distance of point of care, and Real-time Feedback is to the control system of planer-type mobile robot, make it to do out position adjustment in time, the constant distance of maintaining treatment instrument laser probe and point of care; Ensure laser therapy effect further.Skin laser treatment auxiliary robot is provided with safety sensor devices, avoids equipment and therapeutic instrument laser probe causes unexpected injury to human body.
It should be understood that skin laser treatment auxiliary robot of the present invention has versatility, can be used as the auxiliary robot of other laser therapeutic apparatus simultaneously.
Beneficial effect of the present invention:
1, skin laser treatment auxiliary robot of the present invention, by accurate positioning mobile robot as carrier, drive the motion of skin laser treatment instrument laser probe, instead of manual hand manipulation, effectively improve the Accuracy and high efficiency of laser probe motion, decrease labor intensity simultaneously.
2, skin laser treatment auxiliary robot of the present invention is configured with visual identity and control system and range unit, ensures the verticality of laser probe and point to be treated and constant distance to be conducive to raising therapeutic effect.In addition, visual identity control system identifies the boundary information of lesion region automatically, is conducive to improving the accuracy of identification to diseased tissue area and efficiency, is conducive to the probability that reduction laser irradiation healthy skin damages.
3, the present invention is configured with safety device, and avoid in the operation process of skin laser treatment auxiliary robot, its parts damage human body.
Accompanying drawing explanation
Fig. 1 is planer-type mobile robot structural representation;
Fig. 2 is therapeutic instrument laser probe schematic diagram;
Fig. 3 is multi-degree-of-freemechanical mechanical arm formula mobile robot structural representation;
Fig. 4 is skin laser treatment auxiliary robot workflow diagram of the present invention;
Fig. 5 is skin laser treatment auxiliary robot and sick bed connection diagram;
Fig. 6 is skin laser treatment auxiliary robot working state schematic representation.
Accompanying drawing mark illustrates:
1-motor, 2-base, 3-guide pillar, 4-ball-screw, 5-guide rail tailstock, 61-switch, 62-range unit, 63-therapeutic instrument laser probe, 64-safety device, 65-CMOS pops one's head in, 7-planer-type mobile robot, 81-pedestal, 82-guide rail slide unit, 83-mechanical arm, 84-CMOS pops one's head in, 85-therapeutic instrument laser probe, 86-diastimeter, 9-sick bed.
Detailed description of the invention
See Fig. 1 ~ Fig. 6, skin laser treatment auxiliary robot of the present invention, comprises accurate positioning mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on therapeutic instrument laser probe front end; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot.
Above-mentioned accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot; The preferred planer-type mobile robot of the present invention.
Above-mentioned visual identity and control system, comprise CMOS probe, image pick-up card and electronic computer, the image of CMOS probe acquires area for treatment and boundary position information, electronic computer processes the CMOS information gathered of popping one's head in and stores, and CMOS probe is connected with electronic computer by image pick-up card.
One or more of above-mentioned range unit employing laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system are used in combination.
Above-mentioned safety device is one or both uses of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor.When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, information is passed to electronic computer by sensor, thus the urgency controlling accurate positioning mobile robot is stopped.
Above-mentioned planer-type mobile robot adopts guide tracked connection with sick bed, and planer-type mobile robot be free to slide along guide rail, and planer-type mobile robot forms by XYZ axle mobile platform and around the mechanical arm that X-axis and Y-axis rotate; The action of mechanical arm is realized by five axes interpolation interlock by digital control technology; Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the rectilinear motion of XYZ axle mobile platform drives ball-screw by hybrid precision stepper motor, ball-screw drives XYZ axle mobile platform to realize again, the mechanical arm be connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor export by electronic computer and control.
A householder method for skin laser treatment auxiliary robot, comprising:
1) described skin laser treatment auxiliary robot, comprises accurately location moving machine robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot;
2) described accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot, the preferred planer-type mobile robot of the present invention, planer-type mobile robot and sick bed adopt guide tracked connection, and planer-type mobile robot can be free to slide along guide rail; Manually by naked eyes, Primary Location is carried out to area for treatment, then planer-type mobile robot is moved to relevant position, be of value to raising location efficiency;
3) planer-type mobile robot configuration visual identity and control system, comprise CMOS probe, image pick-up card, electronic computer; Wherein CMOS probe is placed in the side of therapeutic instrument laser probe, image and the boundary position information of CMOS probe for obtaining region to be treated, and electronic computer processes for the information gathered of popping one's head in CMOS and stores; CMOS probe is connected with computer by image pick-up card;
4) accurately zone boundary information to be treated is obtained, visual identity and control system are based on gradation of image freedom of information curved surface image reconstruction technique, according to the image of CMOS probe acquires, the curved surface treating area for treatment carries out reconstructed tissue, obtains the positional information of arbitrfary point on the exact boundry information in region to be treated and curved surface; Visual identity and control system treat the accurate extraction of the boundary information of area for treatment, effectively avoid the injury of laser irradiation to health;
5) overlap to make the light path of laser probe to vow with the method for target site to be treated, to ensure good therapeutic effect; Visual identity and control system, obtain the positional information of point to be treated and at adjacent different 2 by CMOS probe, vow positional information, and this method of autostore vows positional information by electronic computer process acquisition point of care and adjacent 2 methods forming slight flat; Computer controls the motion of accurate positioning mobile robot by five-axle linkage control card, drives the motion of therapeutic instrument laser probe, the light path of therapeutic instrument laser probe is vowed with this method and overlaps;
6) laser largely depends on the distance of therapeutic instrument laser probe and point of care to the effect of skin treating.In order to ensure good therapeutic effect, laser probe and the constant distance of point of care need be maintained;
7) obtained the surface information in the region to be treated reconstructed by visual identity and control system and treat requirement, the movement locus of initial setting therapeutic instrument laser probe; Simultaneously according to the range information of range unit the real time measure laser probe with point of care, do out position adjustment in time; Described range unit can select at least one diastimeter to find range to same position to improve range accuracy, gets its meansigma methods as measured value; The present invention preferably two phase laser distance measurement instrument finds range, and gets both meansigma methodss as final measured value;
8) in order to improve the safety of skin laser treatment instrument auxiliary robot, safety device is set in therapeutic instrument laser probe front end; Described safety device is one or both used in combination of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor, and when it touches human body skin and there is certain contact pressure, if this pressure exceedes limit value, information is passed to computer by it, thus the urgency controlling accurate positioning mobile robot is stopped; Equipment and therapeutic instrument laser probe can be effectively avoided to cause unexpected injury to human body in motor process;
9) as another kind of multi-degree-of-freemechanical mechanical arm formula mobile robot, by specific algorithm, the movement locus of the end actuating unit of multi-degree-of-freemechanical mechanical arm formula mobile robot is planned, driven the motion of therapeutic instrument laser probe by end actuating unit; Mechanical arm initiating terminal and bearing adopt guide rail to be connected;
10) carrying out in skin treating process, if patient have many places different parts need treatment, at least two multi-degree-of-freemechanical mechanical arm formula mobile robots can be adopted to treat it simultaneously, effectively improve therapeutic efficiency.
Claims (7)
1. a skin laser treatment auxiliary robot, is characterized in that, comprises accurate positioning mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot.
2. skin laser treatment auxiliary robot according to claim 1, is characterized in that, described accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot; The preferred planer-type mobile robot of the present invention.
3. skin laser treatment auxiliary robot according to claim 1, it is characterized in that, described visual identity and control system, comprise CMOS probe, image pick-up card and electronic computer, the image of CMOS probe acquires area for treatment and boundary position information, electronic computer processes the CMOS information gathered of popping one's head in and stores, and CMOS probe is connected with electronic computer by image pick-up card.
4. skin laser treatment auxiliary robot according to claim 1, is characterized in that, one or more of described range unit employing laser range finder, ultrasonic range finder, capacitance distance measuring instrument, infrared range-measurement system are used in combination.
5. skin laser treatment auxiliary robot according to claim 1, is characterized in that, described safety device is one or both uses of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor; When capacitance type sensor or piezoresistive transducer touch human body skin and there is certain contact pressure, information is passed to electronic computer by sensor, thus the urgency controlling accurate positioning mobile robot is stopped.
6. skin laser treatment auxiliary robot according to claim 1, it is characterized in that, described planer-type mobile robot adopts guide tracked connection with sick bed, planer-type mobile robot be free to slide along guide rail, and planer-type mobile robot forms by XYZ axle mobile platform and around the mechanical arm that X-axis and Y-axis rotate; The action of mechanical arm is realized by five axes interpolation interlock by digital control technology; Described XYZ axle mobile platform can move along X, Y, Z axis, XYZ axle mobile platform is made up of base, slide unit, ball-screw, guide pillar, motor, the rectilinear motion of XYZ axle mobile platform drives ball-screw by hybrid precision stepper motor, ball-screw drives XYZ axle mobile platform to realize again, the mechanical arm be connected on XYZ axle mobile platform rotates by step motor drive around X-axis and Y-axis, and above-mentioned hybrid precision stepper motor and motor export by electronic computer and control.
7. a householder method for skin laser treatment auxiliary robot, is characterized in that, comprising:
1) described skin laser treatment auxiliary robot, comprises accurate positioning mobile robot, therapeutic instrument laser probe, visual identity and control system, range unit and safety device; Described therapeutic instrument laser probe is installed on the front end, position, mechanical arm end of accurate positioning mobile robot, range unit is installed on the side of therapeutic instrument laser probe, the CMOS of visual identity and control system pops one's head in and is installed on the another side of therapeutic instrument laser probe, and safety device is installed on the front end of therapeutic instrument laser probe; The measured value that range unit exports and the transducing signal that safety device exports all are connected to the input of visual identity and control system, and visual identity is connected with the outfan of control system and controls accurate positioning mobile robot;
2) described accurate positioning mobile robot adopts multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot, the preferred planer-type mobile robot of the present invention, planer-type mobile robot and sick bed adopt guide tracked connection, and planer-type mobile robot can be free to slide along guide rail; Manually by naked eyes, Primary Location is carried out to area for treatment, then planer-type mobile robot is moved to relevant position;
3) planer-type mobile robot configuration visual identity and control system, comprise CMOS probe, image pick-up card, electronic computer; Wherein CMOS probe is placed in the side of therapeutic instrument laser probe, image and the boundary position information of CMOS probe for obtaining region to be treated, and electronic computer processes for the information gathered of popping one's head in CMOS and stores; CMOS probe is connected with computer by image pick-up card;
4) boundary information in region to be treated is accurately obtained, visual identity and control system are based on gradation of image freedom of information curved surface image reconstruction technique, according to the image of CMOS probe acquires, the curved surface treating area for treatment carries out reconstructed tissue, obtains the positional information of arbitrfary point on the exact boundry information in region to be treated and curved surface; Visual identity and control system treat the accurate extraction of the boundary information of area for treatment;
5) overlap to make the light path of laser probe to vow with the method for target site to be treated, to ensure good therapeutic effect; Visual identity and control system, obtain the positional information of point to be treated and at adjacent different 2 by CMOS probe, vow positional information, and this method of autostore vows positional information by electronic computer process acquisition point of care and adjacent 2 methods forming slight flat; Computer controls the motion of accurate positioning mobile robot by five-axle linkage control card, drives the motion of therapeutic instrument laser probe, the light path of therapeutic instrument laser probe is vowed with this method and overlaps;
6) laser largely depends on the distance of therapeutic instrument laser probe and point of care to the effect of skin treating, in order to ensure good therapeutic effect, need maintain laser probe and the constant distance of point of care;
7) obtained the surface information in the region to be treated reconstructed by visual identity and control system and treat requirement, the movement locus of initial setting therapeutic instrument laser probe; Simultaneously according to the range information of range unit the real time measure laser probe with point of care, do out position adjustment in time; Described range unit can select at least one diastimeter to find range to same position to improve range accuracy, gets its meansigma methods as measured value; The present invention preferably two phase laser distance measurement instrument finds range, and gets both meansigma methodss as final measured value;
8) in order to improve the safety of skin laser treatment instrument auxiliary robot, safety device is set in therapeutic instrument laser probe front end; Described safety device is one or both used in combination of capacitance type sensor, piezoresistive transducer; The preferred piezoresistive transducer of the present invention is as safety device sensor, and when it touches human body skin and there is certain contact pressure, if this pressure exceedes limit value, information is passed to computer by it, thus the urgency controlling accurate positioning mobile robot is stopped; Equipment and therapeutic instrument laser probe can be effectively avoided to cause unexpected injury to human body in motor process;
9) as another kind of multi-degree-of-freemechanical mechanical arm formula mobile robot, by specific algorithm, the movement locus of the end actuating unit of multi-degree-of-freemechanical mechanical arm formula mobile robot is planned, driven the motion of therapeutic instrument laser probe by end actuating unit; Mechanical arm initiating terminal and bearing adopt guide rail to be connected;
10) carrying out in skin treating process, if patient have many places different parts need treatment, at least two multi-degree-of-freemechanical mechanical arm formula mobile robots can be adopted to treat it simultaneously, effectively improve therapeutic efficiency.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510757714.1A CN105288865B (en) | 2015-11-10 | 2015-11-10 | Skin laser treatment auxiliary robot and its householder method |
| PCT/CN2015/097793 WO2017080016A1 (en) | 2015-11-10 | 2015-12-18 | Skin laser treatment assistant robot and assistance method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510757714.1A CN105288865B (en) | 2015-11-10 | 2015-11-10 | Skin laser treatment auxiliary robot and its householder method |
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| Publication Number | Publication Date |
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| CN105288865A true CN105288865A (en) | 2016-02-03 |
| CN105288865B CN105288865B (en) | 2018-05-18 |
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| CN201510757714.1A Active CN105288865B (en) | 2015-11-10 | 2015-11-10 | Skin laser treatment auxiliary robot and its householder method |
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