CN105288865B - Skin laser treatment auxiliary robot and its householder method - Google Patents
Skin laser treatment auxiliary robot and its householder method Download PDFInfo
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- CN105288865B CN105288865B CN201510757714.1A CN201510757714A CN105288865B CN 105288865 B CN105288865 B CN 105288865B CN 201510757714 A CN201510757714 A CN 201510757714A CN 105288865 B CN105288865 B CN 105288865B
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- therapeutic equipment
- laser probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Abstract
A kind of skin laser treatment auxiliary robot and its householder method, including being accurately positioned moving machine robot, therapeutic equipment laser probe, visual identity and control system, range unit and safety device；The therapeutic equipment laser probe is installed on the mechanical arm end position front end for being accurately positioned mobile robot, range unit is installed on the side of therapeutic equipment laser probe, the CMOS of visual identity and control system, which pops one's head in, is installed on the another side of therapeutic equipment laser probe, and safety device is installed on therapeutic equipment laser probe front end；The measured value of range unit output and the transducing signal of safety device output are connected to the input terminal of visual identity and control system, and visual identity and the output of control system are connected and controlled and is accurately positioned mobile robot.The present invention is substituted manual operation skin laser treatment instrument, has high degree of automation, positioning is moved the advantages such as accurate, ensure that high curative effect, high efficiency, safe and reliable skin laser treatment by being accurately positioned mobile robot.
Description
Technical field
The present invention relates to a kind of important treatment auxiliary robots of medical domain, and in particular to a kind of skin laser treatment is auxiliary
Help robot and its householder method.
Background technology
With the popularization of skin laser treatment, laser beautifying technology, the medical treatment of the dermatological laser project of whole nation development at present, U.S.
Hold up to 98.3 ten thousand, mechanism.From technical merit, laser beautifying is treated substantially based on manual operations, the degree of automation
Bottom, it is high to the dependence of laser therapy doctor.And doctor's number of every thousand people in China is only the 0.79 of Japan, is only Germany
Half.People are continuously increased this high-end technology demand of laser therapy, and corresponding high-quality laser therapy doctor is very scarce
Weary, above-mentioned imbalance between supply and demand so that researching and developing a kind of laser therapy auxiliary robot that can substitute or improve man efficiency compels in eyebrow
Eyelash.
Medical Robot is developed and puts into clinical practice rapidly and started from the beginning of 21 century, it is considered to be history of medical development
On revolution.Medical Robot collects medicine, biomethanics, mechanics, Mechanics of Machinery, computer graphics, computer and regards
The novel crossed research field that the subjects such as feel, mathematical analysis, robot are integrated has extensive on dual-use
Application prospect, and Medical Robot field is research hotspot therein.The medical robotic system of the domestic and international commercialization that succeeded
Including：Leonardo da Vinci's surgical robot system, domestic highly skilled man surgical operation robot etc..Surgeon penetrates the dexterity that it is provided
Manipulation, precise positioning and preoperative planning can cause the reduction of sufferer wound, postoperative rapid recovery normal life etc., reach
To two big advantage of accuracy and minimal invasive.Medical Robot's R＆D direction predominantly aids in intracavity operation at present, and for external
The research and development of Medical Robot especially carry out the medical robotic system of therapeutic procedure, are still in blank stage both at home and abroad.
Medical Robot compared with traditional artificial technology there are many technical advantage, have become more meticulous, high speed, intelligence,
The characteristics of minimally invasiveization, more accurately diagnostic symptom, scientific analysis pathology can reduce manual operation error.Meanwhile environment resistant is done
It disturbs, overcome patient's function limit etc. that there is unrivaled advantage compared with manual operation.Therefore, Medical Robot passes through in China
Ji grows continuously and fast must substitute a part of traditional artificial technology when entering higher level.
At present, the skin laser treatment based on manual operation is implicitly present in is difficult to overcome the problems, such as follows：
In clinical practice, qualified laser therapy teacher generally requires to possess theory study for many years and practice operation warp
It tests, just can ensure that the effect of laser therapy.In special situation（Such as：Light is bad, tired, mood, periphery interference etc.）Under, i.e.,
Veteran laser doctor is made also to be susceptible to human operational error, severe patient can cause treatment failure, even it disfeatures.
In laser therapy, commercial dermatological laser equipment is largely hand-held at present, and laser doctor grasps in execution
Must manually in work, whole-course treatment must assure that laser probe is vertical with the surface of target site skin, constant distance；It is meanwhile flat
When sweeping treatment, after single laser pulse transmitting, laser probe will be moved with constant space, to ensure not leave treatment dead angle.It is pure
Manual operations is difficult to avoid that generation deviation, causes to treat the defects of excessive, insufficient or inhomogenous, influences laser to a certain extent
Therapeutic effect.
The problem of another is important is that the ergonomics parameter designing of dermatological laser equipment is improper；Or reach for laser
A certain specific indexes, and another associated index is more than the limit artificially controlled.Such as：The laser pulse of pulse laser equipment
Frequency is up to more than 30HZ（Too low frequency may cause treatment time to extend, and patient tolerance declines, and patient is easily tired
Labor）, the displacement limits frequency of human hand only 3HZ.If ensureing accurate displacement, the displacement frequency of human hand will be also greatly reduced.
In this case, doctor with custom, can only often sacrifice certain aspect advantage of laser therapeutic equipment, to carry out " human intervention
The treatment of formula ".
Therefore, from above-mentioned from the point of view of some, current laser therapy is the treatment of empirical formula, it is difficult to ensure the rule of laser therapy
Plasticity, treatment depend on treatment doctor " gimmick ", " anticipation " and " estimation ", curative effect it is difficult to ensure that.
The inherent advantages such as intelligent Medical Robot has efficient, accurate, high speed, anti-interference, parameter threshold is adjustable.Cause
This, the exploitation of science simultaneously reasonably designs laser therapy machine people's auxiliary system, helps to solve above-mentioned several long-standing problems
" bottleneck " problem of laser therapy.
The content of the invention
In view of the prior art, the present invention provides a kind of skin laser treatment auxiliary robot and its householder method, to realize
High degree of automation, accurate positioning, sport intellect, high speed, high curative effect, efficient skin laser treatment purpose.
The technical solution adopted by the present invention is as follows：
A kind of skin laser treatment auxiliary robot, including being accurately positioned mobile robot, therapeutic equipment laser probe, vision
Identification and control system, range unit and safety device；The therapeutic equipment laser probe, which is installed on, is accurately positioned mobile machine
The mechanical arm end position front end of people, range unit are installed on the side of therapeutic equipment laser probe, visual identity and control system
CMOS, which pops one's head in, is installed on the another side of therapeutic equipment laser probe, and safety device is installed on the front end of therapeutic equipment laser probe；It surveys
The transducing signal of measured value and safety device output away from device output is connected to the input terminal of visual identity and control system,
And the output terminal of visual identity and control system connects and controls and is accurately positioned mobile robot.
In above-mentioned technical proposal, described is accurately positioned mobile robot using multi-degree-of-freemechanical mechanical arm formula mobile robot
Or planer-type mobile robot；Preferably planer-type mobile robot of the invention.
In above-mentioned technical proposal, the visual identity and control system, including CMOS probes, image pick-up card and electrometer
Calculation machine, the image and boundary position information of CMOS probe acquisition treatment region, the electronic computer letter gathered to CMOS probes
Breath is handled and stored, and CMOS probes are connected by image pick-up card with electronic computer.
In above-mentioned technical proposal, the range unit is using laser range finder, ultrasonic range finder, capacitance distance measuring
Instrument, the one or more of infrared range-measurement system are used in mixed way.
In above-mentioned technical proposal, the safety device is capacitance type sensor, the one or two of piezoresistive transducer
It uses；Preferably piezoresistive transducer of the invention is as safety device sensor.When capacitance type sensor or piezoresistive transducer connect
Contact human skin and there are during certain contact, sensor is passed the information on to electronic computer, accurate fixed so as to control
The emergency stop of variable mobile robot.
In above-mentioned technical proposal, the planer-type mobile robot is with sick bed using guide tracked connection, planer-type movement
Robot is free to slide along guide rail, and planer-type mobile robot is by XYZ axis mobile platform and the machinery rotated around X-axis and Y-axis
Arm forms；The action of mechanical arm is linked by five axes interpolation by digital control technology and realized；The XYZ axis mobile platform energy edge
X, Y, Z axis movement, XYZ axis mobile platform is made of pedestal, slide unit, ball-screw, guide post, stepper motor, and the movement of XYZ axis is flat
The linear motion of platform drives XYZ axis mobile platform Lai real again by hybrid precision stepper motor driving ball-screw, ball-screw
Existing, the mechanical arm being connected on XYZ axis mobile platforms is rotated around X-axis and Y-axis by driving stepper motor, above-mentioned hybrid precision
Stepper motor and stepper motor are exported by electronic computer to be controlled.
A kind of householder method of skin laser treatment auxiliary robot, including：
1）The skin laser treatment auxiliary robot, including being accurately positioned mobile robot, therapeutic equipment laser probe, regarding
Feel identification and control system, range unit and safety device；The therapeutic equipment laser probe, which is installed on, is accurately positioned moving machine
The mechanical arm end position front end of device people, range unit are installed on the side of therapeutic equipment laser probe, visual identity and control system
CMOS, which pops one's head in, is installed on the another side of therapeutic equipment laser probe, and safety device is installed on the front end of therapeutic equipment laser probe；It surveys
The transducing signal of measured value and safety device output away from device output is connected to the input terminal of visual identity and control system,
And the output terminal of visual identity and control system connects and controls and is accurately positioned mobile robot；
2）The mobile robot that is accurately positioned is using multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type moving machine
Device people, the present invention preferably planer-type mobile robot, with sick bed using guide tracked connection, planer-type moves planer-type mobile robot
Mobile robot can be free to slide along guide rail；Primary Location manually is carried out to treatment region by naked eyes, then moves planer-type
Mobile robot is moved to corresponding position, is beneficial to improve location efficiency；
3）The visual identity of planer-type mobile robot configuration and control system, including CMOS probes, image pick-up card, electricity
Sub- computer；Wherein CMOS, which pops one's head in, is placed in the side of therapeutic equipment laser probe, and CMOS pops one's head in obtain the figure in region to be treated
Picture and boundary position information, electronic computer are used for the information gathered to CMOS probes and are handled and stored；CMOS pops one's head in
It is connected by image pick-up card with computer；
4）The boundary information in region to be treated is accurately obtained, visual identity is based on gradation of image freedom of information with control system
Curved surface image reconstruction technique, according to the image of CMOS probe acquisitions, the curved surface for treating treatment region carries out reconstructed tissue, is treated
The location information of arbitrary point in the exact boundry information and curved surface for the treatment of region；Visual identity treats treatment region with control system
Boundary information accurate extraction, be effectively prevented from laser irradiation to health injury；
5）In order to enable the light path of laser probe is overlapped with the method arrow of target site to be treated, to ensure preferable treatment effect
Fruit；Visual identity and control system are popped one's head in by CMOS and obtain point to be treated and adjacent different 2 points of location information, pass through electricity
Sub- computer disposal obtains treatment site and the method arrow location information of adjacent 2 points composition slight flats, and stores the method vector potential automatically
Confidence ceases；Computer controls card control to be accurately positioned the movement of mobile robot by five-axle linkage, and therapeutic equipment laser is driven to visit
Head movement so that the light path of therapeutic equipment laser probe is overlapped with method arrow；
6）Laser is largely dependent on the effect of skin treating the distance of therapeutic equipment laser probe and treatment site.In order to
Ensure preferable therapeutic effect, laser probe and treatment site constant distance need to be maintained；
7）The surface information and treatment that the region to be treated of reconstruct is obtained by visual identity and control system require, tentatively
Set the movement locus of therapeutic equipment laser probe；Believed simultaneously according to the distance of range unit the real time measure laser probe and treatment site
Breath, does out position adjustment in time；The range unit can select at least one rangefinder to same to improve range accuracy
Position carries out ranging, takes its average value as measured value；The present invention preferably two phase laser distance measurement instrument carry out ranging, take two
Person's average value is as final measured value；
8）In order to improve the security of skin laser treatment instrument auxiliary robot, set and pacify in therapeutic equipment laser probe front end
Full device；The safety device is capacitance type sensor, the one or two kinds of of piezoresistive transducer are used in mixed way；The present invention is excellent
Piezoresistive transducer is selected as safety device sensor, when it touches human skin and there are during certain contact, if
The pressure is more than limit value, it is passed the information on to computer, so as to control the emergency stop for being accurately positioned mobile robot；Can have
Effect equipment and therapeutic equipment laser probe is avoided to cause unexpected injury to human body during the motion；
9）As another multi-degree-of-freemechanical mechanical arm formula mobile robot, by specific algorithm, to multi freedom degree mechanical
The movement locus of the end executive device of arm-type mobile robot is planned, therapeutic equipment laser is driven by end executive device
The movement of probe；Mechanical arm initiating terminal is connected with bearing using guide rail；
10）During skin treating is carried out, if patient has many places different parts to need to treat, it can be used more than at least two
Degree-of-freedom manipulator formula mobile robot is carried out at the same time it treatment, effectively improve therapeutic efficiency.
The skin laser treatment auxiliary robot of the present invention drives therapeutic equipment laser to visit by being accurately positioned mobile robot
Head movement, substitute manual operation skin laser treatment instrument, have high degree of automation, positioning, movement precisely etc. advantages, be beneficial to
Reduce hand labor intensity and manual operation error.Eye recognition is replaced using visual identity and control system, and to be treated
Region carries out image reconstruction, is conducive to improve the Boundary Recognition precision in region to be treated and ensures laser probe as far as possible
Light path is overlapped with the method arrow for the treatment of site；So as to can both irradiate the injury to healthy skin to avoid laser, in turn ensure that skin swashs
The effect of light treatment.The range unit the real time measure therapeutic equipment laser probe of skin laser treatment auxiliary robot and treatment site
Distance, and Real-time Feedback is allowed to make out position adjustment in time, maintaining treatment instrument swashs to the control system of planer-type mobile robot
The constant distance of light probe and treatment site；Laser therapy effect is further ensured.Skin laser treatment auxiliary robot is set
Safety sensor devices, avoid equipment and therapeutic equipment laser probe cause unexpected injury to human body.
It should be understood that the skin laser treatment auxiliary robot of the present invention has versatility, at the same time as other
The auxiliary robot of laser therapeutic apparantus.
Advantageous effect of the present invention：
1st, skin laser treatment auxiliary robot of the invention, is used as carrier by being accurately positioned mobile robot, drives
The movement of skin laser treatment instrument laser probe instead of manual hand manipulation, is effectively improved the standard that laser probe moves
True property and high efficiency, while reduce labor intensity.
2nd, skin laser treatment auxiliary robot of the invention is configured with visual identity and control system and range unit, protects
The up rightness and constant distance of card laser probe and point to be treated, be conducive to improve therapeutic effect.In addition, visual identity controls
The boundary information of system automatic identification lesion region is conducive to improve the accuracy of identification and efficiency to diseased tissue area, favorably
In the probability that reduction laser irradiation healthy skin damages.
3rd, the present invention is configured with safety device, in the operation process for avoiding skin laser treatment auxiliary robot, component
Human body is damaged.
Description of the drawings
Fig. 1 is planer-type mobile robot structure diagram；
Fig. 2 is therapeutic equipment laser probe schematic diagram；
Fig. 3 is multi-degree-of-freemechanical mechanical arm formula mobile robot structure diagram；
Fig. 4 is skin laser treatment auxiliary robot work flow 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.
Attached drawing marks explanation：
1- stepper motors, 2- pedestals, 3- guide posts, 4- ball-screws, 5- guide rail tailstocks, 61- switches, 62- range units,
63- therapeutic equipment laser probes, 64- safety devices, 65-CMOS probes, 7- planer-type mobile robots, 81- pedestals, 82- guide rails
Slide unit, 83- mechanical arms, 84-CMOS probes, 85- therapeutic equipment laser probes, 86- rangefinders, 9- sick beds.
Specific embodiment
Referring to Fig. 1 ~ Fig. 6, skin laser treatment auxiliary robot of the invention, including being accurately positioned mobile robot, controlling
Treat instrument laser probe, visual identity and control system, range unit and safety device；The therapeutic equipment laser probe is installed on
The mechanical arm end position front end of mobile robot is accurately positioned, range unit is installed on the side of therapeutic equipment laser probe, and vision is known
The another side of therapeutic equipment laser probe is not installed on the CMOS of control system probes, safety device is installed on therapeutic equipment laser
Probe distal end；The measured value of range unit output and the transducing signal of safety device output are connected to visual identity and are with control
The input terminal of system, and the output terminal of visual identity and control system connects and controls and is accurately positioned mobile robot.
The above-mentioned mobile robot that is accurately positioned is using multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type movement machine
People；Preferably planer-type mobile robot of the invention.
Above-mentioned visual identity and control system, including CMOS probes, image pick-up card and electronic computer, CMOS probes are adopted
Collect the image and boundary position information for the treatment of region, the electronic computer information gathered to CMOS probes is handled and deposited
Storage, CMOS probes are connected by image pick-up card with electronic computer.
Above-mentioned range unit is using laser range finder, ultrasonic range finder, capacitance distance measuring instrument, one kind of infrared range-measurement system
Or it a variety of is used in mixed way.
Above-mentioned safety device is capacitance type sensor, one or two kinds of uses of piezoresistive transducer；Preferred pressure of the invention
Resistive sensor is as safety device sensor.When capacitance type sensor or piezoresistive transducer touch human skin and exist
During certain contact, sensor is passed the information on to electronic computer, so as to control the emergency stop for being accurately positioned mobile robot.
Above-mentioned planer-type mobile robot uses guide tracked connection with sick bed, and planer-type mobile robot is free along guide rail
It slides, planer-type mobile robot is formed by XYZ axis mobile platform and around the mechanical arm that X-axis and Y-axis rotate；The action of mechanical arm
It is linked and realized by five axes interpolation by digital control technology；The XYZ axis mobile platform can be moved along X, Y, Z axis, XYZ axis
Mobile platform is made of pedestal, slide unit, ball-screw, guide post, stepper motor, and the linear motion of XYZ axis mobile platforms is by mixing
Formula precision stepper motor driving ball-screw, ball-screw drive XYZ axis mobile platform to realize again, are connected to the movement of XYZ axis
Mechanical arm on platform is rotated around X-axis and Y-axis by driving stepper motor, above-mentioned hybrid precision stepper motor and stepper motor
It is exported and controlled by electronic computer.
A kind of householder method of skin laser treatment auxiliary robot, including：
1）The skin laser treatment auxiliary robot, including be accurately positioned moving machine robot, therapeutic equipment laser probe,
Visual identity and control system, range unit and safety device；The therapeutic equipment laser probe, which is installed on, is accurately positioned movement
The mechanical arm end position front end of robot, range unit are installed on the side of therapeutic equipment laser probe, visual identity and control system
CMOS probes be installed on the another side of therapeutic equipment laser probe, safety device is installed on the front end of therapeutic equipment laser probe；
The measured value of range unit output and the transducing signal of safety device output are connected to visual identity and the input of control system
End, and the output terminal of visual identity and control system connects and controls and is accurately positioned mobile robot；
2）The mobile robot that is accurately positioned is using multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type moving machine
Device people, the present invention preferably planer-type mobile robot, with sick bed using guide tracked connection, planer-type moves planer-type mobile robot
Mobile robot can be free to slide along guide rail；Primary Location manually is carried out to treatment region by naked eyes, then moves planer-type
Mobile robot is moved to corresponding position, is beneficial to improve location efficiency；
3）The visual identity of planer-type mobile robot configuration and control system, including CMOS probes, image pick-up card, electricity
Sub- computer；Wherein CMOS, which pops one's head in, is placed in the side of therapeutic equipment laser probe, and CMOS pops one's head in obtain the figure in region to be treated
Picture and boundary position information, electronic computer are used for the information gathered to CMOS probes and are handled and stored；CMOS pops one's head in
It is connected by image pick-up card with computer；
4）Zone boundary information to be treated is accurately obtained, visual identity is based on gradation of image freedom of information with control system
Curved surface image reconstruction technique, according to the image of CMOS probe acquisitions, the curved surface for treating treatment region carries out reconstructed tissue, is treated
The location information of arbitrary point in the exact boundry information and curved surface for the treatment of region；Visual identity treats treatment region with control system
Boundary information accurate extraction, be effectively prevented from laser irradiation to health injury；
5）In order to enable the light path of laser probe is overlapped with the method arrow of target site to be treated, to ensure preferable treatment effect
Fruit；Visual identity and control system are popped one's head in by CMOS and obtain point to be treated and adjacent different 2 points of location information, pass through electricity
Sub- computer disposal obtains treatment site and the method arrow location information of adjacent 2 points composition slight flats, and stores the method vector potential automatically
Confidence ceases；Computer controls card control to be accurately positioned the movement of mobile robot by five-axle linkage, and therapeutic equipment laser is driven to visit
Head movement so that the light path of therapeutic equipment laser probe is overlapped with method arrow；
6）Laser is largely dependent on the effect of skin treating the distance of therapeutic equipment laser probe and treatment site.In order to
Ensure preferable therapeutic effect, laser probe and treatment site constant distance need to be maintained；
7）The surface information and treatment that the region to be treated of reconstruct is obtained by visual identity and control system require, tentatively
Set the movement locus of therapeutic equipment laser probe；Believed simultaneously according to the distance of range unit the real time measure laser probe and treatment site
Breath, does out position adjustment in time；The range unit can select at least one rangefinder to same to improve range accuracy
Position carries out ranging, takes its average value as measured value；The present invention preferably two phase laser distance measurement instrument carry out ranging, take two
Person's average value is as final measured value；
8）In order to improve the security of skin laser treatment instrument auxiliary robot, set and pacify in therapeutic equipment laser probe front end
Full device；The safety device is capacitance type sensor, the one or two kinds of of piezoresistive transducer are used in mixed way；The present invention is excellent
Piezoresistive transducer is selected as safety device sensor, when it touches human skin and there are during certain contact, if
The pressure is more than limit value, it is passed the information on to computer, so as to control the emergency stop for being accurately positioned mobile robot；Can have
Effect equipment and therapeutic equipment laser probe is avoided to cause unexpected injury to human body during the motion；
9）As another multi-degree-of-freemechanical mechanical arm formula mobile robot, by specific algorithm, to multi freedom degree mechanical
The movement locus of the end executive device of arm-type mobile robot is planned, therapeutic equipment laser is driven by end executive device
The movement of probe；Mechanical arm initiating terminal is connected with bearing using guide rail；
10）During skin treating is carried out, if patient has many places different parts to need to treat, it can be used more than at least two
Degree-of-freedom manipulator formula mobile robot is carried out at the same time it treatment, effectively improve therapeutic efficiency.
Claims (5)
1. a kind of skin laser treatment auxiliary robot is known including being accurately positioned mobile robot, therapeutic equipment laser probe, vision
Not with control system, range unit and safety device；The therapeutic equipment laser probe, which is installed on, is accurately positioned mobile robot
Mechanical arm end position front end, range unit is installed on the CMOS of the side of therapeutic equipment laser probe, visual identity and control system
Probe is installed on the another side of therapeutic equipment laser probe, and safety device is installed on the front end of therapeutic equipment laser probe；Ranging fills
It puts the measured value of output and the transducing signal of safety device output is connected to the input terminal of visual identity and control system, and regard
Feel that identification is connected and controls with the output terminal of control system and be accurately positioned mobile robot；Described is accurately positioned mobile robot
Using multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot；It is characterized in that, the planer-type movement
Robot is with sick bed using guide tracked connection, and planer-type mobile robot is free to slide along guide rail, planer-type mobile robot
It is formed by XYZ axis mobile platform and around the mechanical arm that X-axis and Y-axis rotate；The action of mechanical arm is by digital control technology by five
Axis interpolation linkage is realized；The XYZ axis mobile platform can be moved along X, Y, Z axis, XYZ axis mobile platform by pedestal, slide unit,
Ball-screw, guide post, stepper motor composition, the linear motion of XYZ axis mobile platforms is driven by hybrid precision stepper motor to be rolled
Ballscrew, ball-screw drive XYZ axis mobile platform to realize again, be connected to mechanical arm on XYZ axis mobile platforms around X-axis and
Y-axis rotation is exported by driving stepper motor, above-mentioned hybrid precision stepper motor and stepper motor by electronic computer to be controlled
System.
2. skin laser treatment auxiliary robot according to claim 1, which is characterized in that the visual identity and control
System, including CMOS probes, image pick-up card and electronic computer, the image and boundary position of CMOS probe acquisition treatment region
Information, pop one's head in CMOS gathered information of electronic computer are handled and stored, CMOS probes by image pick-up card with
Electronic computer is connected.
3. skin laser treatment auxiliary robot according to claim 1, which is characterized in that the range unit uses
Laser range finder, ultrasonic range finder, capacitance distance measuring instrument, the one or more of infrared range-measurement system are used in mixed way.
4. skin laser treatment auxiliary robot according to claim 1, which is characterized in that the safety device is electricity
One or two kinds of uses of capacity sensor, piezoresistive transducer；When capacitance type sensor or piezoresistive transducer touch people
Body skin and there are during contact, sensor is passed the information on to electronic computer, and mobile machine is accurately positioned so as to control
The emergency stop of people.
5. a kind of householder method of skin laser treatment auxiliary robot, which is characterized in that including：
1）The skin laser treatment auxiliary robot is known including being accurately positioned mobile robot, therapeutic equipment laser probe, vision
Not with control system, range unit and safety device；The therapeutic equipment laser probe, which is installed on, is accurately positioned mobile robot
Mechanical arm end position front end, range unit is installed on the CMOS of the side of therapeutic equipment laser probe, visual identity and control system
Probe is installed on the another side of therapeutic equipment laser probe, and safety device is installed on the front end of therapeutic equipment laser probe；Ranging fills
It puts the measured value of output and the transducing signal of safety device output is connected to the input terminal of visual identity and control system, and regard
Feel that identification is connected and controls with the output terminal of control system and be accurately positioned mobile robot；
2）The mobile robot that is accurately positioned uses multi-degree-of-freemechanical mechanical arm formula mobile robot or planer-type mobile robot,
Planer-type mobile robot uses guide tracked connection with sick bed, and planer-type mobile robot is free to slide along guide rail；It is manually logical
It crosses naked eyes and Primary Location is carried out to treatment region, planer-type mobile robot is then moved to corresponding position；
3）The visual identity of planer-type mobile robot configuration and control system, including CMOS probes, image pick-up card, electrometer
Calculation machine；Wherein CMOS, which pops one's head in, is placed in the side of therapeutic equipment laser probe, CMOS probes for obtain the image in region to be treated and
Boundary position information, electronic computer are used for the information gathered to CMOS probes and are handled and stored；CMOS probes pass through
Image pick-up card is connected with computer；
4）The boundary information in region to be treated is accurately obtained, visual identity is based on gradation of image freedom of information curved surface with control system
Image reconstruction technique, according to the image of CMOS probe acquisitions, the curved surface for treating treatment region carries out reconstructed tissue, obtains to be treated
The location information of arbitrary point in the exact boundry information and curved surface in region；The side for the treatment of region is treated in visual identity with control system
The accurate extraction of boundary's information；
5）In order to enable the light path of laser probe is overlapped with the method arrow of target site to be treated, to ensure therapeutic effect；Visual identity
With control system, popped one's head in by CMOS and obtain point to be treated and adjacent different 2 points of location information, at electronic computer
Reason obtains treatment site and the method arrow location information of adjacent 2 points composition slight flats, and stores method arrow location information automatically；Meter
Calculation machine controls card control to be accurately positioned the movement of mobile robot by five-axle linkage, drives the movement of therapeutic equipment laser probe, makes
The light path for obtaining therapeutic equipment laser probe is overlapped with method arrow；
6）Laser depends on the effect of skin treating the distance of therapeutic equipment laser probe and treatment site, in order to ensure treatment effect
Fruit need to maintain laser probe and treatment site constant distance；
7）The surface information and treatment that the region to be treated of reconstruct is obtained by visual identity and control system require, initial setting
The movement locus of therapeutic equipment laser probe；Simultaneously according to range unit the real time measure laser probe and the range information for the treatment of site,
Do out position adjustment in time；The range unit selects at least one rangefinder to carry out same position to improve range accuracy
Ranging takes its average value as measured value；
8）In order to improve the security of skin laser treatment instrument auxiliary robot, safety is set in therapeutic equipment laser probe front end
Device；The safety device is capacitance type sensor, the one or two kinds of of piezoresistive transducer are used in mixed way；Pressure resistance type senses
When device is as safety device sensor, human skin is touched and there are contact, if the pressure is more than limit value, it will
Information is transferred to computer, so as to control the emergency stop for being accurately positioned mobile robot；It is effectively prevented from equipment and therapeutic equipment laser
Probe causes unexpected injury to human body during the motion；
9）As another multi-degree-of-freemechanical mechanical arm formula mobile robot, to the end of multi-degree-of-freemechanical mechanical arm formula mobile robot
The movement locus of executive device is planned, the movement of therapeutic equipment laser probe is driven by end executive device；Mechanical arm rises
Beginning is connected with bearing using guide rail；
10）During skin treating is carried out, if patient has many places different parts to need to treat, using at least two multiple degrees of freedoms
Mechanical arm type mobile robot is carried out at the same time it treatment, effectively improve therapeutic efficiency.
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| 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 |
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| CN201510757714.1A CN105288865B (en) | 2015-11-10 | 2015-11-10 | Skin laser treatment auxiliary robot and its householder method |
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| CN105288865A CN105288865A (en) | 2016-02-03 |
| CN105288865B true CN105288865B (en) | 2018-05-18 |
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| KR101927492B1 (en) | 2017-06-13 | 2018-12-10 | 주식회사 루트로닉 | The spring arm of treatment apparatus using laser and the apparatus of treating medical having that |
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