CN114711959A - Skin surgery laser nursing device and system - Google Patents
Skin surgery laser nursing device and system Download PDFInfo
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- CN114711959A CN114711959A CN202210433502.8A CN202210433502A CN114711959A CN 114711959 A CN114711959 A CN 114711959A CN 202210433502 A CN202210433502 A CN 202210433502A CN 114711959 A CN114711959 A CN 114711959A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 19
- 210000003491 skin Anatomy 0.000 claims abstract description 282
- 108091008708 free nerve endings Proteins 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 210000002615 epidermis Anatomy 0.000 claims abstract description 10
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- 239000011148 porous material Substances 0.000 claims description 15
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- 238000004088 simulation Methods 0.000 claims description 12
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- 238000013532 laser treatment Methods 0.000 claims description 9
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- 208000002193 Pain Diseases 0.000 description 7
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- 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 discloses a laser nursing device and system for skin surgery, and relates to the technical field of skin nursing. The invention relates to a laser nursing device for skin surgery, which comprises: the laser generating mechanism is used for generating a laser spot array; the limb fixing mechanism is used for fixing the limb of the patient and keeping the relative stability of the position and the shape of the surface of the skin; the epidermis image acquisition mechanism is used for acquiring an image of the skin surface; wherein, the position distribution of the free nerve endings in the skin is obtained according to the image of the surface of the skin; the skin area to be treated is defined, the laser generating mechanism is controlled to form a laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and the laser spot array is kept away from the free nerve endings. The invention controls the laser dot array generated by the laser generating device, and solves the problem that the body of a patient is adversely affected by using a large amount of analgesic.
Description
Technical Field
The invention belongs to the technical field of skin postoperative care, and particularly relates to a laser nursing device and system for skin surgery.
Background
After the skin is burnt and healed, the tissues of the dermis layer grow out of order to form scars, and in order to improve the self-repairing capacity of scar tissues of an organism after severe burn, the existing micro-stripping type fractional skin changing therapy uses the micro-beam energy of carbon dioxide laser to vaporize partial subcutaneous tissues and form a plurality of small holes in the skin. The carbon dioxide laser stimulates the skin to produce new, healthier collagen to promote healing. This procedure helps repair scar tissue, making its texture and thickness normal. However, the pain nerve in the skin is not avoided in the above process, so that the patient needs an analgesia pump to continuously pump a large dose of analgesic during the treatment process, and the body of the patient is adversely affected.
Disclosure of Invention
The invention aims to provide a laser nursing device and a laser nursing system for skin surgery, which solve the problem that a large amount of analgesic is used to have adverse effect on the body of a patient by controlling a laser dot array generated by a laser generating device.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides a laser nursing device for skin surgery, which comprises:
the laser generating mechanism is used for generating a laser spot array;
the limb fixing mechanism is used for fixing the limb of the patient and keeping the relative stability of the position and the shape of the surface of the skin; and the number of the first and second groups,
the epidermis image acquisition mechanism is used for acquiring an image of the surface of the skin;
wherein, the position distribution of the free nerve endings in the skin is obtained according to the image of the surface of the skin;
the skin area to be treated is defined, the laser generating mechanism is controlled to form a laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and the laser spot array is kept away from the free nerve endings.
In one embodiment of the invention, the step of obtaining a distribution of the positions of free nerve endings in the skin from the image of the skin surface comprises,
acquiring color values of pixel points in the image of the skin surface;
extracting a contour of a hair color in the image of the skin surface according to a color value of the hair color;
extracting a thin strip-shaped part in the outline of the hair color in the image, and marking the part as a body hair region;
extracting the outline of the skin color in the image of the skin surface according to the color value of the skin color, and marking the outline as a skin area;
acquiring the spatial position of each point of the skin according to the skin area;
marking the body hair region and the skin region as pore regions;
extracting the spatial position of the sweat pores in the skin region according to the image characteristics of the sweat pore region;
marking the superficial layer of the skin and hair follicles in the pores as the free nerve terminal distribution area, and acquiring the position distribution of the free nerve terminals according to the spatial position of each point of the skin and the spatial position of the pores.
In one embodiment of the invention, the epidermal image capture mechanism begins to continuously capture images of the skin surface after the limb immobilization mechanism immobilizes the limb;
continuously comparing the image of the skin surface acquired in real time with the previously acquired image of the skin surface,
if the figure comparison result changes, continuously acquiring the position distribution of the free nerve endings in the skin according to the image on the surface of the skin;
and if the figure comparison result is not changed, taking the position distribution of the free nerve endings corresponding to the previously acquired image of the skin surface consistent with the image of the skin surface acquired in real time as the position distribution of the free nerve endings corresponding to the image of the skin surface acquired in real time.
In one embodiment of the invention, the laser generating mechanism generates a rectangular array consisting of a plurality of laser points under the working state, the laser points are in the same plane, and each laser point can independently control a switch;
the step of defining the skin area to be nursed, controlling the laser generating mechanism to form a laser dot array in the skin according to the position distribution of the free nerve endings in the skin and keeping the laser dot array away from the free nerve endings comprises the following steps,
establishing a skin care space model according to the skin area to be treated, the image of the skin surface and the position distribution of the free nerve endings in the skin;
selecting any point in the skin care space model as a skin reference point, and carrying out gridding division on the skin care space model by taking the minimum distance of the laser generating mechanism for controlling the movement of the laser point as a unit to obtain a skin care gridding space model;
acquiring the position coordinates of hair follicles in the skin care rasterization space model, selecting any hair follicle as a reference hair follicle, and taking the space between the reference hair follicle and an adjacent hair follicle as a simulation test space;
taking any laser point in the laser point array as a laser reference point, and moving the laser reference point in grids of the simulation test space one by taking the minimum distance of the movement of the laser point as a unit;
counting the intersection conditions of other laser points of the laser point array and hair follicles when the laser reference points move in the grids of the simulation test space;
selecting a state with the least number of the intersection points of other laser points of the laser point array and hair follicles as a pre-execution state;
closing the laser points which are intersected with the hair follicle in the pre-execution state to obtain an execution state;
and generating laser array points by the laser generating mechanism according to the execution state.
In one embodiment of the invention, the step of defining the skin area to be treated, controlling the laser generating mechanism to form a laser spot array in the skin according to the position distribution of free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings further comprises the steps of,
if the plurality of positions of the reference laser spot in the simulation test space can reach the state that the number of the intersections of other laser spots of the laser spot array and hair follicles is minimum, namely the pre-execution state, respectively acquiring the space distance between the laser spot and the hair follicle in each pre-execution state;
calculating the variance and the sum of the spatial distance between each laser point and each hair follicle in each pre-execution state;
and calculating scores of the variances and the sums according to a set weight, sequencing each pre-execution state according to score results, and selecting the pre-execution state with the optimal score.
In an embodiment of the present invention, the step of calculating the scores of the variances and the sums according to a set weight, sorting each pre-execution state according to the score result, and selecting the pre-execution state with the best score includes,
acquiring the average value of the sum of the spatial distances between each laser point and each hair follicle in each pre-execution state;
calculating the multiple of the mean value of the sum of the spatial distances between each laser point and each hair follicle and the sum of the spatial distances between each laser point and each hair follicle in each pre-execution state;
acquiring the mean value of the variance of the spatial distance between each laser point and each hair follicle in each pre-execution state;
calculating the reciprocal of the multiple of the spatial distance variance of each laser point and each hair follicle and the mean value of the spatial distance variance of each laser point and each hair follicle in each pre-execution state;
adding the multiple of the sum of the spatial distance between each laser point and each hair follicle and the mean of the sum of the spatial distance between each laser point and each hair follicle and the reciprocal of the multiple of the variance of the spatial distance between each laser point and each hair follicle and the mean of the variance of the spatial distance between each laser point and each hair follicle in each pre-execution state to obtain a score;
and sequencing each pre-execution state according to the value, and selecting the pre-execution state with the highest value.
In one embodiment of the invention, the step of defining the skin area to be treated, controlling the laser generating mechanism to form a laser spot array in the skin according to the position distribution of free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings further comprises the steps of,
if the skin areas to be nursed are not in the same plane, calculating the spatial slope of each point in the skin areas to be nursed;
dividing the skin area to be nursed into a plurality of skin pretreatment subareas to be nursed according to an initial setting interval of the spatial slope;
calculating the maximum distance of the cross section direction of each sub-area of the skin pretreatment to be treated along the cross section direction of the skin, and narrowing the set interval of the spatial slope if the maximum distance of the cross section direction of any sub-area of the skin pretreatment to be treated is larger than the thickness of the dermis;
repeating the steps until the maximum distance of the section direction of any sub-area of the skin pretreatment to be nursed is smaller than the thickness of the dermis, and marking the set interval at the moment as an execution set interval;
dividing a skin area to be treated with a spatial slope in an execution setting interval into a plurality of skin subareas to be treated;
and respectively establishing a skin care space model according to a plurality of skin sub-areas to be treated, the images of the skin surface and the position distribution of the free nerve endings in the skin.
In one embodiment of the invention, the step of defining the skin area to be treated, controlling the laser generating mechanism to form a laser spot array in the skin according to the position distribution of free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings further comprises the steps of,
the epidermis image acquisition mechanism acquires an image of the skin surface containing all skin areas to be nursed;
and planning the laser generating mechanism to generate the laser point array according to the image of the skin surface containing all the skin areas to be nursed, so that the laser generating mechanism generates the laser point array to cover all the skin areas to be nursed.
In one embodiment of the invention, the skin care device further comprises a muscle electrode patch, wherein the muscle electrode patch is applied to the muscle epidermis adjacent to the skin area to be treated, and when the muscle electrode patch detects a muscle movement electric signal, the laser generating mechanism is controlled to close the laser spot array.
The invention also discloses a skin surgery laser nursing system, which comprises the skin surgery laser nursing device; and the number of the first and second groups,
a control module that remotely and/or locally controls the dermal surgical laser treatment device.
According to the invention, the position distribution of the free nerve endings in the skin is obtained through the image of the skin surface obtained by the epidermal image acquisition mechanism, then the laser point array is generated by the laser generation mechanism, and on the premise that medical personnel demarcate the skin area to be nursed, the laser generation mechanism is controlled to form the laser point array in the skin according to the position distribution of the free nerve endings in the skin, and the laser point array is kept to avoid the free nerve endings. The pain in the nursing process is reduced through the mode, namely the dosage of anesthetic in the nursing process is reduced.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first schematic view of a module connection of an embodiment of a laser treatment device for skin surgery of the present invention;
FIG. 2 is a schematic view of the operation of a laser treatment apparatus for skin surgery according to an embodiment of the present invention;
FIG. 3 is a first flowchart illustrating the step of obtaining the distribution of the positions of the free nerve endings in the skin according to the image of the skin surface in step S1 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a second step of obtaining the location distribution of the free nerve endings in the skin according to the image of the skin surface in step S1 according to an embodiment of the present invention;
FIG. 5 is a first flowchart illustrating the steps of defining the skin area to be treated, controlling the laser generating mechanism to form the laser spot array in the skin according to the location distribution of the free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings in step S2 according to an embodiment of the present invention;
FIG. 6 is a second flowchart illustrating the steps of defining the skin area to be treated, controlling the laser generating mechanism to form the laser spot array in the skin according to the location distribution of the free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings in one embodiment of the present invention at step S2;
fig. 7 is a flowchart illustrating a step of calculating scores according to the set weights in step S223, sorting each pre-execution state according to the score result, and selecting a pre-execution state with an optimal score according to an embodiment of the present invention;
FIG. 8 is a third flowchart illustrating the steps of defining the skin area to be treated, controlling the laser generating mechanism to form the laser spot array in the skin according to the location distribution of the free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings according to the step S2;
FIG. 9 is a second schematic view of a module connection of the laser treatment device for skin surgery according to an embodiment of the present invention;
fig. 10 is a schematic view of a module connection of a laser treatment system for skin surgery according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1-a skin surgery laser nursing device, 11-a laser generating mechanism, 12-a limb fixing mechanism, 13-an epidermis image collecting mechanism and 14-a muscle electrode patch;
2-skin surgery laser nursing system, 21-control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the rehabilitation care process of the burned skin by using the micro-peeling type fractional skin changing technology, micro-beam energy of carbon dioxide laser is utilized to vaporize part of subcutaneous tissues, and a plurality of small holes are formed in the skin. The carbon dioxide laser stimulates the skin to produce new, healthier collagen to promote healing. The operation helps repair scar tissue, normalizing its texture and thickness, and the laser improves the elasticity of scar skin and the firmness of the tissue. However, the pain nerves in the skin are not avoided in the above process, so that the patient needs an analgesia pump to continuously pump large doses of analgesic during the treatment process, and the body of the patient is adversely affected.
Referring to fig. 1 to 2, the present invention provides a laser nursing device 1 for skin surgery, which may include a laser generating mechanism 11, a limb fixing mechanism 12, and an epidermis image collecting mechanism 13. The laser generating means 11 can be used to generate a laser spot array. The limb immobilization mechanism 12 may be used to immobilize a patient's limb, maintaining a relatively stable skin surface position and shape. The epidermal image acquisition mechanism 13 may be used to acquire images of the skin surface. In operation of the device, step S1 may be performed to obtain the location distribution of the free nerve endings in the skin according to the image of the skin surface. Step S2 may then be executed to define a skin area to be treated, control the laser generating mechanism 11 to form a laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and keep the laser spot array away from the free nerve endings. By controlling the laser generating mechanism 11 to form a laser spot array in the skin, the microbeam energy formed by the laser spots is vaporized into small holes to avoid free nerve endings for sensing pain, so that the pain of a patient is avoided, the use of narcotics is reduced, and the adverse effect on the body of the patient is avoided.
Referring to fig. 3, in order to accurately obtain the position of the free nerve endings in the skin, the step of obtaining the position distribution of the free nerve endings in the skin according to the image of the skin surface in step S1 may specifically be to first perform step S111 to obtain the color values of the pixel points in the image of the skin surface, and then perform step S112 to extract the contour of the hair color in the image of the skin surface according to the color values of the hair color. Step S113 may be performed next to extract a thin bar-shaped portion in the outline of the hair color in the image, labeled as a body hair region. Step S114 may be performed next to extract the contour of the skin color in the image of the skin surface, labeled as a skin region, according to the color value of the skin color. Step S115 may be performed next to acquire the spatial position of each point of the skin from the skin area. Step S116 may then be performed to mark the body hair region and the skin region as pore regions. Step S117 may be performed next to extract the spatial position of the sweat pores in the skin region from the image features of the sweat pore region. Finally, step S118 may be executed to mark the superficial layer of the skin and the hair follicle in the pore as a free nerve end distribution region, and obtain the position distribution of the free nerve end according to the spatial position of each point of the skin and the spatial position of the pore. Through the mode, the free nerve endings wrapping the hair follicles are identified, and the pain caused by the pain in the laser nursing process is effectively avoided.
Referring to fig. 4, in order to further improve the accuracy of acquiring the position of the free nerve endings in the skin, step S121 may be executed first, after the limb fixing mechanism 12 fixes the limb, the epidermal image acquisition mechanism 13 starts to continuously acquire the image of the skin surface. Step S122 may be performed to continuously compare the image of the skin surface acquired in real time with the image of the skin surface acquired in the past, and if the result of the graph comparison changes, step S123 may be performed to continuously acquire the position distribution of the free nerve endings in the skin according to the image of the skin surface. If the pattern comparison result is not changed, step S124 may be executed to use the position distribution of the free nerve endings corresponding to the previously acquired image of the skin surface that is consistent with the image of the skin surface acquired in real time as the position distribution of the free nerve endings corresponding to the image of the skin surface acquired in real time. By means of the method, the position of the free nerve ending in the skin can be accurately acquired.
Referring to fig. 5, in order to avoid the laser points from the position of the free nerve endings, the laser generating mechanism 11 generates a rectangular array composed of a plurality of laser points in the working state, the plurality of laser points are in the same plane, and each laser point can independently control the switch. The step S2 of defining the skin area to be treated, controlling the laser generating mechanism 11 to form the laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and keeping the laser spot array away from the free nerve endings can also be executed first to establish a skin treatment space model according to the image of the skin area to be treated, the skin surface and the position distribution of the free nerve endings in the skin in step S211. Next, step S212 may be executed to select any point in the skin care spatial model as a skin reference point, and perform meshing division on the skin care spatial model by using the minimum distance that the laser generating mechanism 11 controls the movement of the laser point as a unit, so as to obtain a skin care rasterization spatial model. Step S213 may be executed to acquire the coordinates of the positions of the hair follicles in the skin care rasterization space model, select any hair follicle as a reference hair follicle, and use the space between the reference hair follicle and the adjacent hair follicle as a simulation test space. Step S214 may be performed to use any laser point in the laser point array as a laser reference point, and move the laser reference point from grid to grid within the grid of the simulation test space in units of the minimum distance moved by the laser point. Next, step S215 may be performed to count the intersection condition of the hair follicle of other laser points of the laser point array when the laser reference point moves in the grid of the simulation test space. Next, step S216 may be executed to select a state with the least number of intersections between the other laser points of the laser spot array and the hair follicle as a pre-execution state. Step S217 may be performed to turn off the laser spot intersected with the hair follicle in the pre-execution state, resulting in an execution state. Finally, step S218 may be executed to enable the laser generating mechanism 11 to generate laser array spots according to the execution status. By the mode, pain caused by stimulation of the laser burning small holes formed by the laser spot array to the free nerve endings is avoided.
Referring to fig. 6, in order to improve the treatment effect, i.e. improve the uniformity of the formation of the laser spot into the vesicle in the skin area to be treated, the step S2 defines the skin area to be treated, controls the laser generating mechanism 11 to form the laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and keeps the laser spot array away from the free nerve endings may further include the step S221, if the plurality of positions of the reference laser spot in the simulation test space can reach a state where the number of the intersection between other laser spots of the laser spot array and the hair follicle is the minimum, i.e. a pre-execution state is reached, then the spatial distance between the laser spot and the hair follicle in each pre-execution state is respectively obtained. Step S222 may be performed next to calculate the variance and sum of the spatial distances of each laser point from each hair follicle in each pre-execution state. Finally, step S223 may be executed to calculate the score according to the set weight, sort each pre-execution state according to the score result, and select the pre-execution state with the best score. Through the mode, the uniformity of the bubbles formed by the laser points in the skin area to be nursed is improved, the imbalance of the color and the thickness of the skin area to be nursed after rehabilitation is avoided, and the nursing effect is improved.
Referring to fig. 7, in order to further improve the uniformity of the formation of the vesicles by the laser spots in the skin region to be treated, in step S223, the variance and the sum are calculated according to the set weight as the standard, each pre-execution state is sorted according to the score result, and the step of selecting the pre-execution state with the optimal score may first perform step S2231 to obtain the average value of the sum of the spatial distances between each laser spot and each hair follicle in each pre-execution state. Step S2232 may be performed next to calculate a multiple of the mean of the sum of the spatial distances of each laser point from each hair follicle and the sum of the spatial distances of each laser point from each hair follicle in each pre-execution state. Step S2233 may then be performed to obtain a mean of the variance of the spatial distance of each laser spot from each hair follicle in each pre-execution state. Step S2234 may then be performed to calculate the inverse of the multiple of the mean of the spatial distance variance of each laser point from each hair follicle and the spatial distance variance of each laser point from each hair follicle in each pre-execution state. Step S2235 may be performed next to add, in each pre-execution state, a multiple of the sum of the spatial distances of each laser point and each hair follicle and a mean of the sum of the spatial distances of each laser point and each hair follicle, and an inverse of the variance of the spatial distances of each laser point and each hair follicle and a mean of the variance of the spatial distances of each laser point and each hair follicle, to obtain a score. Step S2236 may be performed next to sort each pre-execution state according to the score, and select the pre-execution state with the highest score. Through the mode, the nursing and rehabilitation effect of the skin area to be nursed is improved.
Referring to fig. 8, since the skin areas to be treated are likely not in the same plane, in order to achieve comprehensive treatment of the skin areas to be treated, step S231 may be performed first, and if the skin areas to be treated are not in the same plane, the spatial slope of each point in the skin areas to be treated is calculated. Next, step S232 may be executed to divide the skin area to be treated into a plurality of skin pretreatment sub-areas to be treated according to the initial setting interval of the spatial slope. Step S233 may be performed to calculate the maximum distance in the cross-sectional direction of each sub-area of the skin pretreatment to be treated along the cross-sectional direction of the skin, and if the maximum distance in the cross-sectional direction of any sub-area of the skin pretreatment to be treated is greater than the thickness of the dermis, step S234 may be performed to narrow the set interval of the spatial slope. Repeating the steps until the maximum distance of the cross section direction of any sub-area of the skin pretreatment to be treated is smaller than the thickness of the dermis, and marking the set interval at the moment as the execution set interval. Step S235 may be executed to divide the skin area to be treated with the spatial slope within the execution setting interval into a plurality of skin sub-areas to be treated. Finally, step S237 may be executed to respectively establish a skin care spatial model according to the plurality of skin sub-areas to be treated, the image of the skin surface, and the position distribution of the free nerve endings in the skin. By the aid of the mode, comprehensive care of the skin area to be treated can be achieved.
Referring to fig. 1 to 8, in order to comprehensively plan the overall comprehensive care of the skin area to be treated of the whole body of the patient, the epidermal image collecting mechanism 13 may be used to collect the image of the skin surface including the skin area to be treated. Then, the laser generating mechanism 11 is planned to generate a laser spot array according to the image of the skin surface containing all the skin areas to be treated, so that the laser generating mechanism 11 generates the laser spot array to cover all the skin areas to be treated. The whole comprehensive nursing of the whole skin area to be nursed of the whole body of the patient is realized through the mode.
As shown in fig. 9, it further includes a muscle electrode patch 14, which is applied to the muscle epidermis adjacent to the skin area to be treated, and when the muscle electrode patch 14 detects the electric signal of muscle movement, the laser generating mechanism 11 is controlled to close the laser spot array. When the patient has muscle twitch in the nursing process due to sudden accidents, the laser spot array can be closed immediately, and the harm to the body of the patient is avoided.
Referring to fig. 10, the present invention further provides a skin surgery laser treatment system 2, which includes the skin surgery laser treatment apparatus 1, and further includes a control module 21. The control module 21 can remotely and/or locally control the dermatological laser treatment apparatus 1.
In summary, the limb fixing mechanism 12 is used to fix the patient, the position distribution of the free nerve endings in the skin is obtained according to the image of the skin surface obtained by the epidermis image collecting mechanism 13, the laser generating mechanism 11 is used to generate the laser spot array, and on the premise that the medical care personnel demarcate the skin area to be treated, the laser generating mechanism 11 is controlled to form the laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and the laser spot array is kept to avoid the free nerve endings. The pain in the nursing process is reduced through the mode, namely the dosage of anesthetic in the nursing process is reduced.
The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.
The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.
Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.
Claims (10)
1. A laser nursing device for skin surgery is characterized by comprising,
the laser generating mechanism is used for generating a laser spot array;
the limb fixing mechanism is used for fixing the limb of the patient and keeping the relative stability of the position and the shape of the surface of the skin; and (c) a second step of,
the epidermis image acquisition mechanism is used for acquiring an image of the surface of the skin;
wherein the position distribution of free nerve endings in the skin is obtained according to the image of the skin surface;
the skin area to be treated is defined, the laser generating mechanism is controlled to form a laser spot array in the skin according to the position distribution of the free nerve endings in the skin, and the laser spot array is kept away from the free nerve endings.
2. The apparatus according to claim 1, wherein the step of obtaining a distribution of the positions of free nerve endings in the skin based on the image of the skin surface includes,
acquiring color values of pixel points in the image of the skin surface;
extracting a contour of a hair color in the image of the skin surface according to a color value of the hair color;
extracting a thin strip-shaped part in the outline of the hair color in the image, and marking the part as a body hair region;
extracting the outline of the skin color in the image of the skin surface according to the color value of the skin color, and marking the outline as a skin area;
acquiring the spatial position of each point of the skin according to the skin area;
marking the body hair region and the skin region as pore regions;
extracting the spatial position of the sweat pores in the skin region according to the image characteristics of the sweat pore region;
marking the superficial layer of the skin and hair follicles in the pores as the free nerve terminal distribution area, and acquiring the position distribution of the free nerve terminals according to the spatial position of each point of the skin and the spatial position of the pores.
3. The device according to claim 1 or 2, wherein the epidermal image acquisition mechanism starts to continuously acquire images of the skin surface after the limb fixation mechanism fixes the limb;
continuously comparing the image of the skin surface acquired in real time with the previously acquired image of the skin surface,
if the figure comparison result changes, continuously acquiring the position distribution of the free nerve endings in the skin according to the image on the surface of the skin;
and if the figure comparison result is not changed, taking the position distribution of the free nerve endings corresponding to the previously acquired image of the skin surface consistent with the image of the skin surface acquired in real time as the position distribution of the free nerve endings corresponding to the image of the skin surface acquired in real time.
4. The apparatus of claim 1,
the laser generating mechanism generates a rectangular array consisting of a plurality of laser points in a working state, the laser points are in the same plane, and each laser point can independently control a switch;
the step of defining the skin area to be treated, controlling the laser generating mechanism to form a laser spot array in the skin according to the position distribution of the free nerve endings in the skin and keeping the laser spot array away from the free nerve endings comprises the following steps,
establishing a skin care space model according to the skin area to be treated, the image of the skin surface and the position distribution of the free nerve endings in the skin;
selecting any point in the skin care space model as a skin reference point, and carrying out gridding division on the skin care space model by taking the minimum distance of the laser generating mechanism for controlling the movement of the laser point as a unit to obtain a skin care gridding space model;
acquiring the position coordinates of hair follicles in the skin care rasterization space model, selecting any hair follicle as a reference hair follicle, and taking the space between the reference hair follicle and an adjacent hair follicle as a simulation test space;
taking any laser point in the laser point array as a laser reference point, and moving the laser reference point in grids of the simulation test space one by taking the minimum distance of the movement of the laser point as a unit;
counting the intersection conditions of other laser points of the laser point array and hair follicles when the laser reference points move in the grids of the simulation test space;
selecting a state with the least number of the intersection points of other laser points of the laser point array and hair follicles as a pre-execution state;
closing the laser points which are intersected with the hair follicle in the pre-execution state to obtain an execution state;
and generating laser array points by the laser generating mechanism according to the execution state.
5. The apparatus according to claim 4, wherein said step of defining the skin area to be treated, controlling said laser generating mechanism to form an array of laser spots in the skin according to the location distribution of free nerve endings in the skin, and keeping said array of laser spots away from said free nerve endings, further comprises,
if the multiple positions of the reference laser point in the simulation test space can reach the state that the number of the intersection of other laser points of the laser point array and hair follicles is minimum, namely the pre-execution state, respectively acquiring the space distance between the laser points and the hair follicles in each pre-execution state;
calculating the variance and the sum of the spatial distance between each laser point and each hair follicle in each pre-execution state;
and calculating the score of the variance and the sum according to a set weight as a standard, sequencing each pre-execution state according to the score result, and selecting the pre-execution state with the optimal score.
6. The apparatus of claim 5, wherein the step of calculating the scores of the variances and the sums according to the set weights, sorting each pre-execution state according to the score results, and selecting the pre-execution state with the best score comprises,
acquiring the average value of the sum of the spatial distances between each laser point and each hair follicle in each pre-execution state;
calculating the multiple of the mean value of the sum of the spatial distances between each laser point and each hair follicle and the sum of the spatial distances between each laser point and each hair follicle in each pre-execution state;
acquiring the mean value of the variance of the spatial distance between each laser point and each hair follicle in each pre-execution state;
calculating the reciprocal of the multiple of the spatial distance variance of each laser point and each hair follicle and the mean value of the spatial distance variance of each laser point and each hair follicle in each pre-execution state;
adding the multiple of the sum of the spatial distance between each laser point and each hair follicle and the mean of the sum of the spatial distance between each laser point and each hair follicle and the reciprocal of the multiple of the variance of the spatial distance between each laser point and each hair follicle and the mean of the variance of the spatial distance between each laser point and each hair follicle in each pre-execution state to obtain a score;
and sequencing each pre-execution state according to the value of the score, and selecting the pre-execution state with the highest score.
7. The apparatus according to claim 4, wherein said step of defining a skin area to be treated, controlling said laser generating mechanism to form an array of laser spots in the skin according to the distribution of the positions of free nerve endings in the skin, and keeping said array of laser spots away from said free nerve endings, further comprises,
if the skin areas to be nursed are not in the same plane, calculating the spatial slope of each point in the skin areas to be nursed;
dividing the skin area to be nursed into a plurality of skin pretreatment subareas to be nursed according to an initial setting interval of the spatial slope;
calculating the maximum distance of the cross section direction of each sub-area of the skin pretreatment to be treated along the cross section direction of the skin, and narrowing the set interval of the spatial slope if the maximum distance of the cross section direction of any sub-area of the skin pretreatment to be treated is larger than the thickness of the dermis;
repeating the steps until the maximum distance of the section direction of any sub-area of the skin pretreatment to be nursed is smaller than the thickness of the dermis, and marking the set interval at the moment as an execution set interval;
dividing a skin area to be treated with a spatial slope in an execution setting interval into a plurality of skin subareas to be treated;
and respectively establishing a skin care space model according to a plurality of skin sub-areas to be treated, the images of the skin surface and the position distribution of the free nerve endings in the skin.
8. The apparatus according to claim 4, wherein said step of defining the skin area to be treated, controlling said laser generating mechanism to form an array of laser spots in the skin according to the location distribution of free nerve endings in the skin, and keeping said array of laser spots away from said free nerve endings, further comprises,
the epidermis image acquisition mechanism acquires an image of the skin surface containing all the skin areas to be nursed;
and planning the laser generating mechanism to generate a laser spot array according to the image of the skin surface containing all the skin areas to be treated, so that the laser generating mechanism generates the laser spot array to cover all the skin areas to be treated.
9. The device of claim 1, further comprising a muscle electrode patch applied to the skin adjacent to the skin area to be treated, wherein the muscle electrode patch is configured to control the laser generating mechanism to turn off the array of laser spots when an electrical muscle movement signal is detected.
10. A laser skin treatment system, characterized by a laser skin treatment device according to any one of claims 1 to 9; and the number of the first and second groups,
a control module that remotely and/or locally controls the dermal surgical laser treatment device.
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| CN117503062A (en) * | 2023-11-21 | 2024-02-06 | 欣颜时代(广州)技术有限公司 | Neural detection control method, device, equipment and storage medium of beauty instrument |
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| CN117503062A (en) * | 2023-11-21 | 2024-02-06 | 欣颜时代(广州)技术有限公司 | Neural detection control method, device, equipment and storage medium of beauty instrument |
| CN117503062B (en) * | 2023-11-21 | 2024-04-09 | 欣颜时代(广州)技术有限公司 | Neural detection control method, device, equipment and storage medium of beauty instrument |
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